一款AGV磁导航传感器的设计  

Design of an AGV Magnetic Navigation Sensor

作　　者：凌俊 黄卓群 李陶胜 王淑芳 LING Jun;HUANG Zhuoqun;LI Taosheng;WANG Shufang(School of Electromechanical Engineering,Anqing Vocational and Technical College,Anqing,Anhui 246003,China;Anhui Telecom Planning and Design Co.Ltd.,Hefei,Anhui 230031,China)

机构地区：[1]安庆职业技术学院机电工程学院,安徽安庆246003 [2]安徽电信规划设计有限责任公司,安徽合肥230031

出　　处：《西昌学院学报（自然科学版）》2023年第1期98-104,共7页Journal of Xichang University(Natural Science Edition)

基　　金：安徽省质量工程教学研究项目(2018jyxm0645);安徽省高校自然科学研究项目(KJ2021A1437、 KJ2021A1439)。

摘　　要：在工业自动化的发展过程中,AGV(自动导引车辆)广泛投入使用,目前应用较广泛的导航方式之一是磁条导航,它具有对环境要求低、安装简单、易维护、成本低等优点。设计了一款AGV磁导航传感器,该传感器以ARM Cortex-M3为核心、RS232C线驱动和磁导航模拟前端设计硬件实验平台,实时采集磁导航信号,采集到的信号通过对数-双曲正切函数的鲁棒自适应滤波算法,减小AGV行驶过程中的偏差,在μC/OS Ⅲ微型操作系统进行任务循环调度,通过人机交互界面观测传感器实时状态,对AGV的运行轨迹进行修正。根据实验数据和仿真结果表明:使用该磁导航传感器的AGV行驶偏差较小,车身更加平稳。In the development process of industrial automation,AGV(automatic guided vehicle)is widely used,and one of the most widely used navigation methods is magnetic stripe navigation,which has the advantages of low environmental requirements,simple installation,easy maintenance and low cost.An AGV magnetic navigation sensor is designed,the sensor is designed with ARM Cortex-M3 as the core,RS232C line drive and magnetic navigation analog front-end design hardware experimental platform,real-time acquisition of magnetic navigation signals,the collected signal through the log-hyperbolic tangent function of the robust adaptive filtering algorithm,reduce the deviation during AGV driving,perform task cycle scheduling in theμC/OS III micro-operating system,and observe the real-time status of the sensor through the human-computer interaction interface,the running trajectory of AGV is corrected.The field experimental results show that according to the experimental data and simulation results,the AGV using the magnetic navigation sensor has less driving deviation and a smoother body.

关 键 词：AGV 磁导航传感器 模拟前端 μC/OSⅢ 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]