针对工业现场中工作空间大、环境复杂、系统运行时间长及测量精度高等特点,本文介绍了一种基于光电扫描的室内AGV位姿测定方法。实验及仿真结果表明,该方法测量精度高,数据更新速率快,能满足多任务、多目标实时测量要求。 In view of the large working space, complex environment, long system running time and high measuring accuracy in industrial field, this paper introduces a method of indoor AGV pose measurement based on photoelectric scanning. Experimental and simulation results show that this method has high measurement accuracy, fast data update rate, and can meet the requirements of real-time measurement with multi-task and multi-objective.