PSD range finding-based AGV accurate positioning method

A precise positioning and rough positioning technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problem of low positioning accuracy of AGV, and achieve the goal of improving layout and modification Flexibility, achieve precise positioning, and ensure the effect of accuracy

Active Publication Date: 2017-07-11
BEIJING SATELLITE MFG FACTORY
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Problems solved by technology

[0004] The technical problem solved by the present invention is: overcome the deficiencies of the prior art, provide a kind of AGV accurate positioning method based on PSD ranging, be used to solve the problem of low positioning accuracy of the AGV in the prior art

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  • PSD range finding-based AGV accurate positioning method
  • PSD range finding-based AGV accurate positioning method

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Embodiment Construction

[0050] The basic idea of ​​the present invention is: propose a kind of AGV accurate positioning method based on PSD distance measurement as follows: (1) adopt visual guidance mode, make the positioning accuracy of AGV reach within ± 10mm; PSD ranging, measuring the coordinates of two reference points, so as to determine the current horizontal and vertical offset distance and deflection angle of the AGV according to the straight line equation, and obtain the current pose of the AGV; (3) the current attitude of the AGV and the target attitude are used as input, Establish the motion equation of the AGV, calculate the yaw angle and rotation angle of the AGV; (4) through the omnidirectional movement of the AGV through the mecanum wheel (go straight forward and backward, move left and right laterally, and travel obliquely at any angle, 0 gyration radius in situ rotation and the combination of the above movements) to realize the attitude adjustment of the AGV; (5) During the attitude ...

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Abstract

A PSD (position sensitive detector) range finding-based AGV (automated guided vehicle) accurate positioning method comprises the following steps: (1) allowing the positioning precision of the AGV to be in + / - 10 mm in a visual guidance manner; (2) using PSD range finding to measure the coordinates of two reference points after the coarse positioning of the AGV is completed, and determining the current transverse and longitudinal offset distance and the offset angle of the AGV according to a linear equation in order to obtain the current pose of the AGV; (3) inputting the current pose and the target pose of the AGV, establishing the motion equation of the AGV, and calculating the yaw angle and the rotating angle of the AGV; (4) realizing the pose adjustment through the Mecanum wheel-based omnidirectional movement (forward and backward straight movement, leftward and rightward traverse movement, oblique movement at any angle, 0-revolution radius in-place rotation, and combination of all above movements) of the AGV; and (5) resolving the pose of the AGV in real-time in the AGV pose adjustment process until the positioning accuracy reaches up to + / - 0.3mm. The method has the advantages of high positioning accuracy, simplicity in calculation, and easiness in engineering realization.

Description

technical field [0001] The invention relates to an AGV precise positioning method based on PSD ranging, and relates to detection, positioning, attitude adjustment, etc. in the fields of mechanical engineering and electronic engineering. Background technique [0002] AGV is an important part of the flexible manufacturing system. It plays an indispensable and important role in the automation and intelligence of the production process, especially in discrete manufacturing enterprises. The automation of the manufacturing industry includes processing, assembly, etc., so the positioning accuracy of the AGV directly affects the processing and assembly accuracy of the product, and affects the characteristics of the product. [0003] At present, AGV navigation and positioning methods include: inertial positioning, visual positioning, laser positioning, GPS positioning, photoelectric positioning, etc., with low positioning accuracy, which cannot meet the requirements of precision manu...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/04G01C21/20G05D1/02
CPCG01C21/04G01C21/20G05D1/0236G05D1/0248
Inventor 于荣荣刘净瑜漆嘉林王颜张仰成张加波张文捷刘鑫
Owner BEIJING SATELLITE MFG FACTORY
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