The invention provides an AGV pose adjustment method and system. The AGV pose adjustment method comprises the following steps: determining a first transformation matrix according to a first feature point of a parking buffer area; determining a second feature point of the vehicle according to an image shot by a camera, and determining a second transformation matrix according to the second feature point; obtaining a third transformation matrix according to the first transformation matrix and the second transformation matrix; and calculating according to the third transformation matrix to obtain a first pose of the vehicle relative to the parking buffer area, and adjusting the pose of the AGV according to the first pose. According to the AGV pose adjusting method and system, the first pose of the vehicle in the parking buffer area is calculated after the vehicle is parked in the parking buffer area, so that the AGV can adjust the pose of the AGV according to the first pose, rough alignment of the AGV and the vehicle is achieved, and parking operation is completed.

    本申请提供了一种AGV位姿调整方法和系统。AGV位姿调整方法包括:根据泊车缓冲区的第一特征点确定第一变换矩阵;根据摄像机拍摄的图像确定所述车辆的第二特征点,根据所述第二特征点确定第二变换矩阵;根据所述第一变换矩阵和第二变换矩阵,得到第三变换矩阵;根据所述第三变换矩阵计算得到该车辆相对于所述泊车缓冲区的第一位姿,根据所述第一位姿调整AGV的位姿。上述的AGV位姿调整方法和系统在车辆停靠于泊车缓冲区后计算得到车辆在泊车缓冲区的第一位姿,从而AGV可以根据该第一位姿调整自身的位姿,实现了AGV和车辆的粗对齐,完成泊车操作。


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    Title :

    AGV pose adjustment method and system


    Additional title:

    AGV位姿调整方法和系统


    Contributors:
    WEN HUAFENG (author) / WANG JUN (author) / LI HAIPENG (author) / YANG MINGWEI (author) / ZHAO WEIPING (author) / ZHOU HAONAN (author) / ZHOU XIANGCHAO (author) / JI JIANTAO (author)

    Publication date :

    2023-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen / B62D MOTOR VEHICLES , Motorfahrzeuge



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