Vision measurement and calibration-based AGV automatic posture adjusting and positioning method

A technology of visual measurement and positioning method, which is applied in the direction of measuring device, attitude control, surveying and navigation, etc., and can solve the problems of docking speed and accuracy affecting production efficiency, etc.

Inactive Publication Date: 2018-02-27
ZHEJIANG UNIV
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Problems solved by technology

The speed and accuracy of docking seri

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  • Vision measurement and calibration-based AGV automatic posture adjusting and positioning method
  • Vision measurement and calibration-based AGV automatic posture adjusting and positioning method
  • Vision measurement and calibration-based AGV automatic posture adjusting and positioning method

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[0183] Example

[0184] Calibration test of pose measurement system:

[0185] (1) Complete all the work required for calibration in advance.

[0186] (2) Complete the calibration work according to the calibration steps described in the above specific implementation, and record relevant data.

[0187] (3) Calculate the coordinates of the center of all the large circular holes of the calibration plate in the AGV coordinate system when the AGV is in different poses according to the calibration results, and compare with the data measured by the laser tracker.

[0188] Table 1 Measuring system accuracy

[0189]

[0190] Table 1 shows the coordinate values ​​of the center of the large circular hole of the calibration plate in the AGV coordinate system under different attitudes of the AGV, which are the values ​​measured by the measurement system and the values ​​measured by the laser tracker. L is the calibration board corresponding to the left camera, and R represents the calibration board c...

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Abstract

The invention discloses a vision measurement and calibration-based AGV automatic posture adjusting and positioning method. The method comprises the following steps: (1) calibrating AGV according to anindustrial CCD camera, a calibrating plate, displacement sensors, a laser tracker and a telescopic column in an AGV automatic posture adjusting system to obtain relation between a camera coordinate system and an AGV coordinate system (the formula is as shown in the description); (2) acquiring the current coordinates of the centers of two big round holes in the calibrating plate under the AGV coordinate system by using the relation (the formula is as shown in the description), calculating according to the current positions and postures of the four displacement sensors and the centers of the two big round holes as well as the target position and posture to obtain a transformation matrix to obtain the current position and posture of the AGV; (3) planning the posture adjusting route accordingto the current position and posture of the AGV, the target position and posture of the AGV and the current coordinates of the 6 supporting positioners under the AGV coordinate system; and (4) performing posture adjustment on the AGV according to the posture adjusting route obtained by planning. With the method, the AGV is subjected to posture adjustment and positioning to a proper position at thetransferring position and the automatic and rapid transferring function is achieved.

Description

technical field [0001] The invention belongs to the field of aviation manufacturing, and in particular relates to an AGV automatic attitude adjustment and positioning method based on visual measurement and calibration. Background technique [0002] Today, AGV is widely used in the industrial field. The introduction of AGV can not only reduce the manual workload, but also greatly improve the automation level of the factory, reduce costs and reduce the possibility of damage to workpieces during transportation, so AGV systems are widely used in material transportation systems. In addition, AGVs are indispensable in certain highly automated manufacturing processes, especially for transferring products between different assembly stations on the production line. [0003] For the AGV system, in order to achieve the purpose of automated transportation, how to transfer products to the AGV at a certain station more smoothly and quickly is a problem that must be considered in depth. ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/20G05D1/08
CPCG01C21/005G01C21/20G05D1/0891
Inventor 毕运波李江雄王青曲巍崴柯映林
Owner ZHEJIANG UNIV
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