Two-dimensional space guiding and positioning method based on laser range finding

A laser ranging and guidance positioning technology, applied in attitude control and other directions, can solve the problems such as the inability to accurately position the mobile platform, the high cost of positioning equipment, and the slow positioning speed, and achieve the effect of low equipment cost, improved accuracy and increased speed

Active Publication Date: 2019-05-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of poor positioning accuracy, slow positioning speed, high cost of positioning equipment, and complicated structure of the existing mobile platform, and to invent a l

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  • Two-dimensional space guiding and positioning method based on laser range finding
  • Two-dimensional space guiding and positioning method based on laser range finding
  • Two-dimensional space guiding and positioning method based on laser range finding

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[0057] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

[0058] like Figure 1-5 shown.

[0059] A two-dimensional space guidance positioning method based on laser ranging, such as figure 1 As shown, it includes a mobile platform 2 (mobile trolley AGV) and a laser ranging unit 3 . The laser ranging unit 3 includes four laser displacement sensors 4, 5, 6, 7, and their installation positions are as follows: figure 2 As shown, the laser displacement sensors 4, 5, 6, and 7 are respectively installed on the top of the front end, the top of the side front end, the top of the side rear end, and the top of the rear end of the mobile platform 2 for real-time measurement of the mobile platform and the positioning seat 1 (the The ...

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Abstract

A two-dimensional space guiding and positioning method based on laser range finding is disclosed. A main device is a laser range finding unit installed on a moving platform and comprises four laser displacement sensors used for measuring the distance of the moving platform and a positioning seat. The positioning method comprises: constantly calculating required rotation angles and yaw directions by the moving platform through continuously obtaining the actual measurement values of the laser displacement sensors; according to a calculated result, moving to a target position; and realizing the accurate positioning of the moving platform in the positioning seat. The method has advantages that 1) a laser range finding sensor is used as a positioning measuring device, positioning accuracy is high, usage adaptability is good and cost is low; 2) the combination mode of coarse adjustment and fine adjustment is adopted in a positioning process, and the rapidity of positioning and the accuracy of positioning can be ensured; and 3) a suitable object range is wide, and the function of precise positioning is provided for the automatic transfer transportation of large parts in aviation and automobile fields.

Description

technical field [0001] The invention relates to the field of positioning of an automatic transport transfer station for aircraft components, in particular to a two-dimensional space guidance and positioning method based on laser ranging. Background technique [0002] In today's information age, with the rapid development of computer software and hardware technology, robot technology has effectively combined artificial intelligence technology, computer technology, automatic control and other technologies in many fields, and has made great breakthroughs. Both of them have been widely used, setting off a revolution in machine substitution. At present, in the field of aircraft assembly, due to a series of requirements such as the large size of aircraft components and the need to accurately reach the target position during the transfer process, the traditional manual transfer method has problems such as high labor intensity and poor safety. The positioning accuracy of the transf...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 黄翔李泷杲李俊杰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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