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Laser radar position calibration method and system and data processing method and system thereof

A laser radar and data processing technology, applied in the field of AGV, can solve problems such as improper automatic guidance, and achieve the effect of improving efficiency and accuracy

Inactive Publication Date: 2019-08-16
上海宾通智能科技有限公司
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Problems solved by technology

[0007] The present invention provides a laser radar position calibration method, system and its data processing method, system to solve the problem that if the theoretical position at the time of installation is used to assist automatic guidance in AGV, it is easy to cause improper automatic guidance

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  • Laser radar position calibration method and system and data processing method and system thereof
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  • Laser radar position calibration method and system and data processing method and system thereof

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Embodiment Construction

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work all belong to the protection scope of the present invention.

[0066] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustra...

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Abstract

The invention provides a laser radar position calibration method and system and a data processing method and system thereof. The laser radar position calibration method comprises the following steps of: acquiring measurement point cloud data, wherein the measurement point cloud data is generated by scanning a calibration piece arranged on a vehicle by a laser radar arranged on the vehicle, the projection of the calibration piece on the horizontal plane is matched with the projection of the vehicle on the horizontal plane, and the height of the calibration piece after adjustment is matched withthe height of the laser radar; determining a target matching relation between the measurement point cloud data and the theoretical point cloud data according to the measurement point cloud data and the theoretical point cloud data; and determining radar position information of the laser radar according to the target matching relation and the position information of the calibration piece, whereinthe radar position information is used for representing the position of the laser radar relative to the AVG center. During AVG guiding, the laser radar position calibration method and system and the data processing method and system thereof are not influenced by factors such as machining precision, assembly tolerance, manual operation and the like during installation.

Description

technical field [0001] The present invention relates to the field of AGVs, in particular to a laser radar position calibration method, system and data processing method and system thereof. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle, which means "automatically guided transport vehicle". AGV is a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, and has safety protection and various transfer functions. Lidar is a radar system that emits laser beams to detect target-related information. Through lidar, point cloud data can be collected. [0003] In the existing related technologies, the information detected by the laser radar can be used as one of the basis for the automatic guidance of the vehicle. At this time, the position of the laser radar relative to the center of the AGV is particularly important. Specifically, the AGV can be based on t...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/005
Inventor 温从标蒋祖武
Owner 上海宾通智能科技有限公司
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