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

A space constraint, pose measurement technology, applied in the direction of measuring devices, instruments, optical devices, etc., can solve the problems of weak adaptability and anti-interference ability, no occlusion, missing data, etc., to achieve the acquisition of pose information Complete, not easy to lose, strong anti-interference ability

Active Publication Date: 2018-09-04
TIANJIN UNIV
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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 i

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

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Embodiment Construction

[0051] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.

[0052] The present invention is an AGV dynamic pose measurement method based on space multi-point constraints, which is used to measure the dynamic pose of the launching station on an automatic guided vehicle (AGV). Since the launching station is fixed at a specific position of the AGV, it is relatively The pose of the AGV is fixed and known, and the dynamic pose of the AGV can be obtained from the measured dynamic pose of the transmitting station. The feature of the present invention is that the number of the launch station is single, and the launch station is fixed on the AGV to move with the car body. The launch station is composed of a rotating platform and a fixed base...

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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 ...

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 任永杰邾继贵林嘉睿杨凌辉赵显
Owner TIANJIN UNIV
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