CN108773796B - The scaling method of any two points coordinate system on a kind of fork truck - Google Patents
The scaling method of any two points coordinate system on a kind of fork truck Download PDFInfo
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- CN108773796B CN108773796B CN201810360681.0A CN201810360681A CN108773796B CN 108773796 B CN108773796 B CN 108773796B CN 201810360681 A CN201810360681 A CN 201810360681A CN 108773796 B CN108773796 B CN 108773796B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
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Abstract
The invention discloses a kind of scaling methods of any two points coordinate system on fork truck comprising following steps: taking any two points I and H on fork truck, and establishes the coordinate system O of the two o'clockI‑xyzAnd OH‑xyz；One laser sensor is installed at the top of fork truck；The world coordinate system O in warehouse where establishing fork truckw‑xyzWith laser sensor coordinate system ON‑xyz；By world coordinate system and laser sensor coordinate system transfer equation: WWTN=N acquires the transition matrix of world coordinate system Yu laser sensor coordinate systemWTN；Obtain the transition matrix of I point coordinate system and laser sensor coordinate systemNTI；The point P under H point coordinate system is taken, recording coordinate of the P under H point coordinate system is HP, the coordinate under world coordinate system is WP；It willWTN、NTI、HPAnd WPIt is updated in formula (1) and obtains transition matrix between fork truck any two points I and H coordinate systemITH.The present invention improves beacon measurement of coordinates speed, avoids the error of hand dipping, and accurately transformational relation can be obtained between intelligent forklift coordinate system.
Description
Technical field
The present invention relates to space calibration technique fields, and in particular to the calibration side of any two points coordinate system on a kind of fork truck
Method.
Background technique
Fork truck is widely applied in industrial production very much at present, specifically, be widely used in harbour, station, airport,
Goods yard, factory floor, warehouse, Transfer center and home-delivery center etc. carry out the dress of pallet cargo in cabin, compartment and container
It unloads, transport operation, is palletized transport, essential equipment in Container Transport；With the development of industrial intelligent, to fork truck
Requirement it is also higher and higher.
Intelligent forklift has been had developed now, realizes the functions such as unmanned and cargo handling, transport operation, and existing
It plays an important role in some automation logistic warehousing and storaging device systems.For an independent intelligent forklift, carrying out
Work then according to reproduction instruction, can be completed by the operation procedure of intelligent forklift, position and other information in operation process
Make task.For intelligent forklift separate operaton, the above process can be met the requirements, but in automatic material flow storehouse
It stores up in the case where cooperating in device systems, intelligent forklift is not able to satisfy such complex job requirement then, needs to carry out coordinate system
It demarcates to complete complicated requirement.
At present robot measurement coordinate system calibration object be for mechanical structure it is relatively small or and mechanical structure join
Number it is known that but for big machinery equip, such as intelligent forklift, mechanical structure is unknown, should not measure, currently, be directed to mainframe
Tool equips scaling method, is all the method using hand dipping.But this method is that stated accuracy is artificially led there are problem
Sight factor is affected.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and insufficient, any two points coordinate system on a kind of fork truck is provided
Scaling method, accurately transformational relation can be obtained between intelligent forklift coordinate system.
To achieve the above object, The technical solution adopted by the invention is as follows:
The scaling method of any two points coordinate system on a kind of fork truck, comprising the following steps:
Any two points I and H are taken on fork truck, and establish the coordinate system O of the two o'clockI-xyzAnd OH-xyz；
One laser sensor is installed at the top of fork truck；
The world coordinate system O in warehouse where establishing fork truckw-xyzWith laser sensor coordinate system ON-xyz；
By world coordinate system and laser sensor coordinate system transfer equation: WWTN=N, acquires world coordinate system and laser
The transition matrix of sensor coordinate systemWTN；
Obtain the transition matrix of I point coordinate system and laser sensor coordinate systemNTI；
The point P under H point coordinate system is taken, recording coordinate of the P under H point coordinate system is HP, seat under world coordinate system
It is designated as WP；
It willWTN、NTI、HPAnd WPIt is updated in formula (1)
WP=WTN·NTI·ITH·HP (1)
Obtain transition matrix between fork truck any two points I and H coordinate systemITHAre as follows:
ITH=[WTN·NTI]-1·WP·(HP)-1。
The present invention utilizes world coordinate system, laser sensor by establishing world coordinate system and laser sensor coordinate system
The transformational relation for being converted on fork truck coordinate system between any two points of coordinate system and coordinate system to be measured, laser sensor have
It is quickly obtained the range capability of beacon and laser sensor, beacon measurement of coordinates speed is improved, avoids the mistake of hand dipping
Accurately transformational relation can be obtained between intelligent forklift coordinate system in difference.
Further, the step is " by world coordinate system and laser sensor coordinate system transfer equation: WWTN=N, is asked
Obtain the transition matrix of world coordinate system and laser sensor coordinate systemWTN" detailed process comprising steps of
It is arbitrarily evenly distributed on K beacon of fork truck surrounding under world coordinate system, records K beacon under world coordinate system
Coordinate, the coordinate of K beacon under recording laser coordinate system；
Obtain world coordinate system and laser sensor coordinate system transfer equation: WWTN=N substitutes into the coordinate of K beacon
Transfer equation WWTN=N, obtainsWTN=(W)-1·N。
As an improvement of the present invention, the step " obtains the conversion square of I point coordinate system and laser sensor coordinate system
Battle arrayNTI" detailed process comprising steps of
Beacon A, B and C are respectively equipped in the X-axis, Y-axis and Z axis of world coordinate system, beacon A, B and C are in identical height
Degree；
Beacon A is adjusted, makes abscissa value of the beacon A under I point coordinate system and the abscissa under world coordinate system first
Be worth it is identical after, then enable beacon A identical as laser sensor height；
Abscissa value of the beacon A under laser sensor coordinate system at this time is recorded with laser sensor, is denoted as Fnix；
Beacon B is adjusted, makes ordinate value of the beacon B under I point coordinate system and the ordinate under world coordinate system first
Be worth it is identical after, then enable beacon B identical as laser sensor height；
Ordinate value of the beacon B under laser sensor coordinate system at this time is recorded with laser sensor, is denoted as Fniy；
The elemental height H1 for recording beacon C, then enables beacon C identical as laser sensor height, is remembered with laser sensor
Beacon C height H2 at this time under record, then can be obtained Fniz=H2-H1；
To obtain the transition matrix of I point coordinate system and laser sensor coordinate systemNTIAre as follows:
As an improvement of the present invention, the beacon is the beacon of adjustable tilt angle and collapsing length, the letter
Mark includes chassis, telescopic rod and beacon ontology, and the lower end of telescopic rod is mounted on chassis by universal joint, the beacon ontology
It is fixed on telescopic rod upper end.
Compared with prior art, the invention has the following advantages that
The present invention utilizes world coordinate system, laser sensor by establishing world coordinate system and laser sensor coordinate system
The transformational relation for being converted on fork truck coordinate system between any two points of coordinate system and coordinate system to be measured, laser sensor have
It is quickly obtained the range capability of beacon and laser sensor, beacon measurement of coordinates speed is improved, avoids the mistake of hand dipping
Accurately transformational relation can be obtained between intelligent forklift coordinate system in difference.
Detailed description of the invention
Fig. 1 is the flow chart of the scaling method of any two points coordinate system on fork truck of the present invention；
Fig. 2 is the schematic diagram for the beacon that the present invention uses.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
The present invention utilizes world coordinate system, laser sensor by establishing world coordinate system and laser sensor coordinate system
The transformational relation for being converted on fork truck coordinate system between any two points of coordinate system and coordinate system to be measured, below with specific reality
Detailed process of the present invention and structure is described in detail in applying method.
Referring to FIG. 1, on a kind of fork truck any two points coordinate system scaling method, comprising the following steps:
S1, any two points I and H are taken on fork truck, and establish the coordinate system O of the two o'clockI-xyzAnd OH-xyz。
S2, one laser sensor is installed at the top of fork truck.
S3, the world coordinate system O for establishing fork truck place warehousew-xyzWith laser sensor coordinate system ON-xyz。
S4, by world coordinate system and laser sensor coordinate system transfer equation: WWTN=N acquires world coordinate system and swashs
The transition matrix of optical sensor coordinate systemWTN；
Specifically, the step is " by world coordinate system and laser sensor coordinate system transfer equation: WWTN=N, is acquired
The transition matrix of world coordinate system and laser sensor coordinate systemWTN" detailed process comprising steps of
S41, the K beacon that fork truck surrounding is arbitrarily evenly distributed under world coordinate system record under world coordinate system K
The coordinate of beacon, the coordinate of K beacon under recording laser coordinate system；
S42, world coordinate system and laser sensor coordinate system transfer equation: W are obtainedWTN=N, by the coordinate of K beacon
Substitute into transfer equation WWTN=N, obtainsWTN=(W)-1·N。
S5, the transition matrix for obtaining I point coordinate system and laser sensor coordinate systemNTI；
Specifically, the step " obtains the transition matrix of I point coordinate system and laser sensor coordinate systemNTI" specific mistake
Journey comprising steps of
S51, beacon A, B and C are respectively equipped in the X-axis, Y-axis and Z axis of world coordinate system, beacon A, B and C are in identical
Highly；
S52, adjustment beacon A, make abscissa value of the beacon A under I point coordinate system and the cross under world coordinate system first
After coordinate value is identical, then enable beacon A identical as laser sensor height；
S53, abscissa value of the beacon A under laser sensor coordinate system at this time is recorded with laser sensor, be denoted as
Fnix；
S54, adjustment beacon B, make ordinate value of the beacon B under I point coordinate system and indulging under world coordinate system first
After coordinate value is identical, then enable beacon B identical as laser sensor height；
S55, ordinate value of the beacon B under laser sensor coordinate system at this time is recorded with laser sensor, be denoted as
Fniy；
S56, the elemental height H1 for recording beacon C, then enable beacon C identical as laser sensor height, use laser sensing
Device records beacon C height H2 at this time, then F can be obtainedniz=H2-H1；
S57, to obtaining the transition matrix of I point coordinate system and laser sensor coordinate systemNTIAre as follows:
Since I point coordinate system, H point coordinate system are all parallel with world coordinate system, so translation relation is only existed, thus it is preceding
The coefficient in face is all 1.In entire step S5, all it is that actual range is measured using laser sensor, improves beacon measurement of coordinates
Speed avoids the error of hand dipping, and accurately transformational relation can be obtained between intelligent forklift coordinate system.
S6, a point P under H point coordinate system is taken, recording coordinate of the P under H point coordinate system is HP, under world coordinate system
Coordinate is WP。
S7, generalWTN、NTI、HPAnd WPIt is updated in formula (1)
WP=WTN·NTI·ITH·HP (1)
Obtain transition matrix between fork truck any two points I and H coordinate systemITHAre as follows:
ITH=[WTN·NTI]-1·WP·(HP)-1。
The present invention utilizes world coordinate system, laser sensor by establishing world coordinate system and laser sensor coordinate system
The transformational relation for being converted on fork truck coordinate system between any two points of coordinate system and coordinate system to be measured, laser sensor have
It is quickly obtained the range capability of beacon and laser sensor, beacon measurement of coordinates speed is improved, avoids the mistake of hand dipping
Accurately transformational relation can be obtained between intelligent forklift coordinate system in difference.
Referring to FIG. 2, in the present embodiment, the beacon is the beacon of adjustable tilt angle and collapsing length, described
Beacon includes chassis 10, telescopic rod 20 and beacon ontology 40, and the lower end of telescopic rod 20 is mounted on chassis 10 by universal joint 30
On, the beacon ontology 40 is fixed on 20 upper end of telescopic rod.
The tilt angle of telescopic rod can arbitrarily be adjusted by universal joint in the present embodiment, it can be with by telescopic rod
Rapidly adjust the height of beacon.Due to needing during obtaining the transition matrix of I point coordinate system and laser sensor coordinate system
It is consistent with laser sensor height to adjust beacon, using the beacon of adjustable tilt angle and collapsing length, can both protect
It holds that beacon is parallel with laser sensor short transverse, and can conveniently adjust the height of beacon, improve the convenient of measurement process
Property.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (2)
1. the scaling method of any two points coordinate system on a kind of fork truck, it is characterised in that the following steps are included:
Any two points I and H are taken on fork truck, and establish the coordinate system O of the two o'clockI-xyzAnd OH-xyz；
One laser sensor is installed at the top of fork truck；
The world coordinate system O in warehouse where establishing fork truckw-xyzWith laser sensor coordinate system ON-xyz；
By world coordinate system and laser sensor coordinate system transfer equation: WWTN=N, acquires world coordinate system and laser sensing
The transition matrix of device coordinate systemWTN；
Obtain the transition matrix of I point coordinate system and laser sensor coordinate systemNTI；
The point P under H point coordinate system is taken, recording coordinate of the P under H point coordinate system is HP, the coordinate under world coordinate system is
WP；
It willWTN、NTI、HPAnd WPIt is updated in formula (1)
WP=WTN·NTI·ITH·HP (1)
Obtain transition matrix between fork truck any two points I and H coordinate systemITHAre as follows:
ITH=[WTN·NTI]-1·WP·(HP)-1；
The step " obtains the transition matrix of I point coordinate system and laser sensor coordinate systemNTI" detailed process comprising steps of
Beacon A, B and C are respectively equipped in the X-axis, Y-axis and Z axis of world coordinate system, beacon A, B and C are in identical height；
Beacon A is adjusted, makes abscissa value of the beacon A under I point coordinate system and the abscissa value phase under world coordinate system first
With after, then enable beacon A identical as laser sensor height；
Abscissa value of the beacon A under laser sensor coordinate system at this time is recorded with laser sensor, is denoted as Fnix；
Beacon B is adjusted, makes ordinate value of the beacon B under I point coordinate system and the ordinate value phase under world coordinate system first
With after, then enable beacon B identical as laser sensor height；
Ordinate value of the beacon B under laser sensor coordinate system at this time is recorded with laser sensor, is denoted as Fniy；
The elemental height H1 for recording beacon C, then enables beacon C identical as laser sensor height, is recorded with laser sensor
Beacon C height H2 at this time, then can be obtained Fniz=H2-H1；
To obtain the transition matrix of I point coordinate system and laser sensor coordinate systemNTIAre as follows:
The beacon is the beacon of adjustable tilt angle and collapsing length, and the beacon includes chassis, telescopic rod and beacon sheet
The lower end of body, telescopic rod is mounted on chassis by universal joint, and the beacon ontology is fixed on telescopic rod upper end.
2. the scaling method of any two points coordinate system on fork truck according to claim 1, it is characterised in that: the step
" by world coordinate system and laser sensor coordinate system transfer equation: WWTN=N, acquires world coordinate system and laser sensor is sat
Mark the transition matrix of systemWTN" detailed process comprising steps of
It is arbitrarily evenly distributed on K beacon of fork truck surrounding under world coordinate system, records the seat of K beacon under world coordinate system
It marks, the coordinate of K beacon under recording laser coordinate system；
Obtain world coordinate system and laser sensor coordinate system transfer equation: WWTNThe coordinate of K beacon is substituted into conversion by=N
Equation WWTN=N, obtainsWTN=(W)-1·N。
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| CN112779830B (en) * | 2020-12-29 | 2023-03-24 | 廊坊市亿创科技有限公司 | Measuring method for positioning frog by using robot |
| CN113715062B (en) * | 2021-09-14 | 2023-07-07 | 西安交通大学 | Calibration method for connecting rod parameters of mechanical arm |
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