4/5/2024 0 Comments Seer agv robotThe QR code is generally pasted on the ground. Note: If the calibration item related to the odometer is displayed as uncalibrated, perform the corresponding calibration and set the calibration result currently, the calibration of PGV depends on the laser, and the laser must be calibrated before the robot can be calibrated. ③ Check the calibration to perform the calibration, and set the calibration result after completion ② Turn the front of the car to the center of the area where the QR code can be detected, so that the car can detect the QR code within the longest possible straight distance ① Move the car to the center position where the PGV can detect the QR code, and the QR code can always be detected when the robot rotates in place Instructions about the operation of PGV calibration: After calibration starts, the robot will perform the following operations: adjust the position of the robot to align the PGV to the center of the initial QR code move forward and back several times rotate in place counterclockwise and clockwise several times. In the initial state, the robot can use the PGV to be calibrated to detect the initial QR code. The simplest form of this area is a continuous bar-shaped QR code area, as shown in the figure below: In the PGV-odometer calibration process, it is necessary to obtain as much positioning data as possible from the pose information of the QR code detected by the PGV, so a dense area of the QR code is required for calibration. PGV-odometer calibration needs to collect: car positioning data and encoder data of walking motor from PGV. Each lower-view PGV corresponds to a calibration item of this type. PGV-odometer calibration is suitable for two-wheel differential cars that are not equipped with laser radar equipment that is ticked for positioning and equipped with a lower-view PGV (such cars always rely on the detection of QR codes for positioning). To enable the robot to detect the QR code with the PGV to be calibrated in the initial state, the robot will perform the following operations: adjust the position of the robot to align the PGV to the center of the QR code advance and retreat several times rotate around the center of the PGV a circle (Described in the model file). PGV calibration needs to collect: the QR code pose data and odometer output detected by PGV. Each PGV equipment corresponds to a calibration item of this type. PGV calibration applies to cars equipped with PGV (upper-view or lower-view) equipment. The units xUnit and yUnit are the coordinate values configured in PGV, which are filled in according to the actual configuration the coordinate unit configured in this document is 0.1mm, so fill in 0.0001m. After the calibration, you can see the parameter list as shown in the figure below. The yaw (r) angle of the PGV needs to be read from the PGV by paralleling the QR code with the car, and then the yaw in the PGV configuration is -angle.Īfter filling in the yaw value correctly, perform PGV calibration. When installing, first ensure that the height of the PGV from the ground is moderate, and ensure that the PGV can see the QR code completely when the QR code is directly below the PGV secondly, you need to pay attention to the installation direction and angle of the PGV and try to ensure that the PGV is installed horizontally. Generally, PGV is installed at the bottom of the trolley, and it is vertically illuminated to the ground. PGV: Position Guided Vision, which can be used to support QR code navigation or ribbon navigation. In a narrow, open, or environment with severe changes, accurate and stable positioning and navigation can be achieved by pasting the QR code for navigation and the PGV reader installed under the AGV body. SEER Intelligent's AGV supports multiple navigation methods, and QR code navigation is one of them.
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |