Dynamic pose measuring method of AGV based on spatial multi-point constraint

Abstract

The invention discloses a dynamic pose measuring method of an AGV based on spatial multi-point constraint. The method comprises that (1) a transmitting station and spatial constraint points are arranged, the transmitting station is fixed to the AGV, and 3D coordinate information of a receiver is known; (2) coordinates of the spatial constraint points in a coordinate system of the transmitting system as well as in a global navigation coordinate system are obtained; and (3) a conversion relation between the coordinate system of the transmitting system and the global navigation coordinate systemis resolved from the coordinates of the spatial constraint points therein, a dynamic pose of the transmitting station in the global navigation coordinate system is resolved, and further the dynamic pose of the AGV is obtained. According to the method, the pose of the transmitting station is measured mainly via a rear meeting principle, the cost is reduced effectively, data tends not to lose, the measuring continuity is ensured, and a tedious calibration process among transmitting stations can be omitted.

Description

technical field [0001] The invention relates to the field of space wMPS pose measurement, in particular to the problem of dynamic pose measurement of a space transmitting station. Background technique [0002] With the development of industrial automation and flexible manufacturing technology, there is an increasing demand for high-precision and automated indoor AGVs in warehouses and other places, and the demand for AGV navigation and dynamic pose measurement continues to increase. For example, in the automatic handling and loading and unloading process in the automotive and aerospace fields, it is necessary to obtain the position and attitude information of the AGV in real time to accurately complete the assembly or handling process. At present, the mainstream indoor AGV positioning methods are mainly divided into two categories: dead reckoning and absolute positioning. The dead reckoning method relies on internal sensors to determine the current position and orientation ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the problems existing in the fixed mode of the transmitting station. When the transmitting station is fixed, if a larger AGV movement range is to be satisfied, the number of transmitting stations needs to be increased, and the cost is high. Moreover, when the transmitting station is fixed, There should be no occlusion between it and the receiver on the AGV body, otherwise it will cause data loss, so the adaptability and anti-interference ability of this mode is not strong

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