AGV charging pile positioning method and device

The invention provides a positioning method and device of an AGV charging pile. The method comprises the steps that point cloud data, a first distance and a target angle of a V-shaped groove are acquired, the first distance is the distance between end points of the two sides of a V shape correspondi...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	XING YANWEN, LIU JIAN, XU HANJING, ZHUO ZHONGSHUO, HUANG JIEJUN, WANG YUN, XUE JING
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION TESTING
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Beschreibung
Zusammenfassung:	The invention provides a positioning method and device of an AGV charging pile. The method comprises the steps that point cloud data, a first distance and a target angle of a V-shaped groove are acquired, the first distance is the distance between end points of the two sides of a V shape corresponding to the V-shaped groove, and the target angle is the vertex angle of the V shape corresponding to the V-shaped groove; determining a first candidate positioning point, a candidate charging point and a second candidate positioning point at least according to the point cloud data of the V-shaped groove, the first distance and the target angle; fitting two sides of the V-shaped groove at least according to the first candidate positioning point, the candidate charging point and the second candidate positioning point, and determining the coordinate of the intersection point of the two sides as the coordinate of the target charging point. According to the method, the points at least conforming to the geometrical charac