Research On Magnetic Navigation Sensor

With the development of industrial automation,AGV automatic guided vehicle is more and more widely used in warehousing and logistics,and tape navigation is one of the most widely used AGV navigation methods.Compared with other navigation mode,its low requirements for environment,installation of magnetic stripe is simple,easy maintenance,low cost,laying on the ground as AGV car navigation path,magnetic navigation sensor is installed in the bottom of the AGV,judging AGV's relative offset through inducting magnetic field of magnetic nail or magnetic strip,magnetic navigation sensor as the key equipment of AGV,how to improve the detection accuracy becomes an important subject.As described in this paper,the sensing module of sensor is made of one-dimensional array coil,a single coil is independent of the magnetic signal detection unit,the multiple magnetic detection unit small distant interval arrangement increases the detection range and accuracy of induction module.In this paper,the coil magnetic core materials and parameters affecting the sensor sensitivity are analyzed theoretically and experimentally,The i-shaped coil framework and winding clamp are designed to improve the consistency of the self-made coil,the magnetic field distribution of the navigation magnetic strip and nails is studied,the design and debugging of the hardware and software of the magnetic navigation sensor are completed,and the algorithm of the sensor is designed to reduce the response time of the system.The communication protocol of upper and lower computers was developed,and a calibration and debugging platform was set up to calibrate the sensor,so that the deviation output error of the sensor was reduced to within 10 mv.Finally,it was verified that the sensor could achieve deviation output,and its navigation accuracy could reach ±5mm.