| 基于磁检测的AGV导引新方法 |
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| 引用本文： | 朱政,张世平,孙金玮.基于磁检测的AGV导引新方法[J].宇航计测技术,2008,28(4):12-15,47. |
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| 作者姓名： | 朱政 张世平 孙金玮 |
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| 作者单位： | 哈尔滨工业大学,电气工程及自动化学院,哈尔滨,150001 |
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| 摘 要： | 利用磁阻传感器作为磁导引路径的检测元件，实现了准确的磁路径定位，在此基础上实现了磁导引。详细介绍了磁检测方法、导引原理以及控制方案。当AGV产生一定范围的位置偏差时（水平偏移不大于±5cm，角度偏转不大于±25°），该方法可以准确的检测并计算出位置偏差并进行相应控制。实验结果表明，该磁导引方式定位准确且易于实现。
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| 关 键 词： | 自动导引车 磁制导 磁敏元件 |
New Guidance Method for AGV Based on Magnetic Detection |
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| ZHU Zheng,ZHANG Shi-ping,SUN Jin-wei.New Guidance Method for AGV Based on Magnetic Detection[J].Journal of Astronautic Metrology and Measurement,2008,28(4):12-15,47. |
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| Authors: | ZHU Zheng ZHANG Shi-ping SUN Jin-wei |
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| Institution: | ( School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001 ) |
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| Abstract: | Accurate magnetic route localization is achieved by using magnetoresistive sensors as the sensing elements to detect magnetic guide track, from which a magnetic-guided AGV （Automatic guided vehicle） is carried out. The overall structure, guidance principle and control program of the magnetic-guided AGV device are introduced in detail. When AGV has the certain scope position deviation （horizontal drift ≤± 5 cm, angle deflection ≤± 25°） , the method can accurately detect and calculate the position deviation and carries on thecorresponding control. Tests have shown this magnetic localization is accurate and easy is realized. |
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| Keywords: | Automatic guided vehicle （AGV） Magnetic guidance Magnetosensor |
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