Integrated positioning device and method based on AGV and laser tracker

Abstract

The invention relates to an integrated positioning device and method based on AGV and a laser tracker. The device and the method employ an AGV platform which can achieve the autonomous navigation andpositioning as a mobile platform to carry various types of three-dimensional measurement equipment, so the full-automatic transfer of a measurement position in a large-scale measurement process is achieved, and the overall measurement efficiency is improved. Fusion processing is carried out on measurement data of the laser tracker and positioning data of the AGV, recognition and numbering of auxiliary datum points are achieved through a datum point matching algorithm, measurement errors of the auxiliary datum points are optimized through an adjustment method, and a high-precision measurement field is automatically constructed, so the overall precision of the measurement field is guaranteed, and frequent data export and data arrangement are avoided. The AGV is combined with a binocular photogrammetry device to automatically measure the reference point, and the measurement coordinates of the measurement reference point are projected to the global coordinate system of the measurement field by means of an auxiliary reference point matching method, so that the problem of measurement error accumulation caused by measurement position transfer is avoided, and high-precision positioning ofparts can be realized.

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...

Examples

Embodiment Construction

[0038] The combined positioning device and method based on the AGV and the laser tracker in the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] like figure 1As shown, a combined positioning device based on an AGV and a laser tracker includes a mobile platform 1 and a laser tracker 4. The upper end of the mobile platform 1 is fixedly equipped with a lifting platform 2, a system control module 5 and a system power supply module 6. The laser tracker 4 is fixedly arranged on the lifting platform 2. The mobile platform 1 is an AGV platform with a laser radar positioning system (indoor positioning accuracy is 100 mm), the system power supply module 6 supplies power for the combined positioning device, and the mobile platform 1, lifting platform 2 and laser tracker 4 communicate with the system control module 5 signals respectively. connect. The system control module 5 is used to control th...

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...

Examples

Embodiment Construction

[0038] The combined positioning device and method based on the AGV and the laser tracker in the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0039] like figure 1As shown, a combined positioning device based on an AGV and a laser tracker includes a mobile platform 1 and a laser tracker 4. The upper end of the mobile platform 1 is fixedly equipped with a lifting platform 2, a system control module 5 and a system power supply module 6. The laser tracker 4 is fixedly arranged on the lifting platform 2. The mobile platform 1 is an AGV platform with a laser radar positioning system (indoor positioning accuracy is 100 mm), the system power supply module 6 supplies power for the combined positioning device, and the mobile platform 1, lifting platform 2 and laser tracker 4 communicate with the system control module 5 signals respectively. connect. The system control module 5 is used to control th...

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