一种AGV高精度空间定位的光电传感网络  

Photoelectric Sensor Network for AGV High-Precision Spatial Positioning

作　　者：刘净瑜 石卫江 党锦龙 武介成 王颜 刘志刚 LIU Jingyu;SHI Weijiang;DANG Jinlong;WU Jiecheng;WANG Yan;LIU Zhigang(Beijing Spacecrafts Co.,Ltd.,Beijing 100080,China;Institute of Design Science and Basic Components,School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]北京卫星制造厂有限公司,北京100080 [2]西安交通大学机械工程学院设计科学与基础部件研究所,西安710049

出　　处：《航空制造技术》2022年第22期80-86,93,共8页Aeronautical Manufacturing Technology

基　　金：国家重点研发计划项目(2018YFB1701300)。

摘　　要：AGV移动平台作为一种自动化装卸、搬运设备以及高精度运载平台,在智慧工厂、智能仓储和智慧物流等领域都有广泛的应用,对于AGV自动导航定位的研究具有十分重要的意义。针对AGV运动毫米级空间定位精度的应用场景,研究了一种正交线性激光扫描机构与光电传感网络感知的角度测量方法,提出了一种基于虚拟相机投影模型的空间定位方法,并对系统基于光束平差法的参数标定方法进行了研究,实现对AGV移动平台的高精度三维空间定位。As a kind of automated loading and unloading,handling equipment and high-precision transportation platform,the AGV mobile platform has a wide range of applications in the fields of smart factories,smart warehousing and smart logistics.It is of great significance for the research of AGV automatic navigation and positioning.Aiming at the application scenarios of AGV motion millimeter-level spatial positioning accuracy,this paper studies an angle measurement method of orthogonal line laser scanning mechanism and photoelectric sensor network perception,and proposes a spatial positioning method based on a virtual camera projection model.The system parameter calibration method that is based on the beam adjustment method is studied to realize the high-precision 3D positioning of the AGV mobile platform.

关 键 词：AGV移动平台 虚拟相机投影模型 空间定位 参数标定 光电传感网络 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]