Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF5 Cites 18 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The speed and accuracy of docking seriously affect the production efficiency

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0184] Calibration test of pose measurement system:

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

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

[0187] (3) According to the calibration results, calculate the coordinates of the centers of the large circular holes on the calibration board in the AGV coordinate system when the AGV is in different poses, and compare them with the data measured by the laser tracker.

[0188] Table 1 Measurement System Accuracy

[0189]

[0190] Table 1 shows the coordinate values ​​of the center of the large circular hole on the calibration plate in the AGV coordinate system under different attitudes of the AGV, which are measured by the measurement system and the laser tracker. L is the calibration plate corresponding to the left camera, and R is the calibration plate corresponding to the right camera. Among them, No....

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com