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A method for acquiring real-time running posture based on AGV trolley

A technology of real-time operation and acquisition method, which is applied in directions such as navigation, instrumentation, surveying and mapping, and navigation, and can solve problems such as real-time calculation of attitude of difficult vehicles during operation.

Active Publication Date: 2021-08-20
法睿兰达科技(武汉)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Existing technologies such as solutions based on inertial sensors are not suitable for environments with severe vibrations, so it is difficult to calculate the attitude of the car in real time when it is running

Method used

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  • A method for acquiring real-time running posture based on AGV trolley

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specific Embodiment

[0037] The specific embodiments are as follows: the present invention includes several laser heads, industrial cameras and industrial computer. The laser head is used to project parallel rays of light on the ground, and there are several laser heads in this solution. The industrial camera shoots the laser spot projected on the ground and transmits the picture to the industrial computer for analysis, and the industrial computer calculates and obtains the attitude. structured as figure 1 Shown:

[0038] Vanishing point: The position of the spot in the picture when the device is turned up high enough that all laser spots come together.

[0039] Lowest position: adjust the device to a low enough position, so that the camera field of view can see the position of all the light spots projected by the laser head

[0040] Edge spot: the position of each laser spot in the picture when the device is adjusted to the lowest position.

[0041] Physical Vanishing Point: The point at whic...

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Abstract

The invention discloses a method for acquiring the real-time running attitude of an AGV trolley, which can accurately and quickly detect the attitude of the trolley under conditions such as vibration and tilt, thereby providing an effective correction for the navigation system. On roads, uneven roads, and sloped roads, the attitude detection accuracy can be improved by adding multiple sets of laser heads.

Description

technical field [0001] The invention belongs to the field of methods for obtaining running postures, and in particular relates to a method for obtaining real-time running postures based on AGV trolleys. Background technique [0002] The attitude of the AGV car is very important for the navigation and positioning of the AGV. When the car is tilted, it will systematically interfere with various positioning systems. Perform real-time calculations and compensate positioning sensors based on attitude. Inertial sensors can be used for attitude calculation of AGV cars. [0003] Existing technologies such as solutions based on inertial sensors are not suitable for environments with severe vibrations, so it is difficult to calculate the attitude of the trolley in real time when it is running. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide a method for acquiring the real-time running attitude of the AGV car based on the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/00G01C21/20
Inventor 刘诗聪
Owner 法睿兰达科技(武汉)有限公司