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.