基于磁检测的AGV导引新方法  

New Guidance Method for AGV Based on Magnetic Detection

作　　者：朱政[1] 张世平[1] 孙金玮[1] 

机构地区：[1]哈尔滨工业大学电气工程及自动化学院,哈尔滨150001

出　　处：《宇航计测技术》2008年第4期12-15,47,共5页Journal of Astronautic Metrology and Measurement

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。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.

关 键 词：自动导引车 磁制导 磁敏元件 

分 类 号：TM936.6[电气工程—电力电子与电力传动]