A combined positioning device and method based on AGV and laser tracker

Abstract

The invention relates to a combined positioning device and method based on an AGV and a laser tracker, which adopts an AGV platform capable of autonomous navigation and positioning as a mobile platform, which can be equipped with various three-dimensional measurement equipment, and realizes full measurement of the measurement position in the process of large-scale measurement. Automatic transfer improves overall measurement efficiency. The measurement data of the laser tracker and the positioning data of the AGV are fused together, the identification and numbering of the auxiliary reference points are realized through the reference point matching algorithm, the measurement error of the auxiliary reference points is optimized by the adjustment method, and the high-precision measurement field is automatically constructed, which is guaranteed The overall accuracy of the measurement field avoids the advantages of frequent data export and data sorting. Through the combination of AGV and binocular photogrammetry device, the reference point is automatically measured. With the aid of the auxiliary reference point matching method, the measurement coordinates of the measurement reference point are projected into the global coordinate system of the measurement field to avoid the accumulation of measurement errors caused by the transfer of measurement positions. problems, high-precision positioning of components can be achieved.

Description

technical field [0001] The invention belongs to the field of high-precision positioning, and in particular relates to a combined positioning device and method based on an AGV and a laser tracker. Background technique [0002] In recent years, my country's aviation manufacturing industry has developed rapidly, and various new aircraft such as supersonic, super stealth, and super large have been successfully developed and put into mass production. However, many urgent problems have been exposed in the production process, such as the high-precision measurement of large aircraft parts and the overall shape of the aircraft. [0003] At present, the measurement of large aircraft parts and the shape of the whole machine is usually to place dense targets or target balls on the object to be measured as a public reference point, and then use a handheld laser scanner to scan and obtain local measurement point clouds , and use the method of local point cloud data splicing to generate t...

AI Technical Summary

Problems solved by technology

This positioning method has problems such as high price, poor flexibility, and low degree of automation, so it cannot be practically applied.

Moreover, this type of positioning system that is networked through multiple laser trackers often has problems such as complex control and high cost.

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