CN113847868B - Positioning method and system for material bearing device with rectangular support legs - Google Patents
Positioning method and system for material bearing device with rectangular support legs Download PDFInfo
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- CN113847868B CN113847868B CN202110898583.4A CN202110898583A CN113847868B CN 113847868 B CN113847868 B CN 113847868B CN 202110898583 A CN202110898583 A CN 202110898583A CN 113847868 B CN113847868 B CN 113847868B
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- 239000000463 material Substances 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention provides a positioning method and a system of a material bearing device with rectangular supporting legs, wherein the positioning method comprises the following steps: the carrying equipment controls the lifting mechanism to lift up to jack up the material bearing device and carry the material bearing device to a target area, and then controls the lifting mechanism to descend to place the material bearing device in the target area; the carrying equipment drives the image acquisition device to rotate so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first edge of the rectangular support leg and a second edge of the corresponding positioning mark, and the first edge and the second edge are corresponding and complete; processing the positioning image to obtain a transverse error value, a longitudinal error value and a corner error value of the rectangular support leg relative to the positioning mark, and further processing to obtain a positioning signal; the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device is overlapped with the corresponding positioning mark, and accurate positioning is realized. The cost is reduced and the positioning accuracy is high.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a positioning method and a positioning system for a material bearing device with rectangular supporting legs.
Background
Logistics carrying operations of unmanned workshops and intelligent manufacturing factories are generally performed by adopting a mode that an AGV autonomous robot carries a material carrying device on top, and the material carrying device can be a material frame. Existing AGV navigation and positioning techniques are well established and widely used. However, in the logistic transportation process, the positioning accuracy of the material frame is a concern for users of manufacturing enterprises and AGVs. The prior technical scheme is that firstly, a material frame is positioned on an AGV body in a visual or mechanical bolt mode, and then the AGV body is guided and driven to position relative to an operation environment by adopting a visual technology. Although the combination of the two positioning can meet the positioning technical requirement of the material frame in theory, the former technical measure of the technical scheme can cause some problems in practical application: (1) The material frame is positioned on the AGV body in a visual mode, the technology is advanced, the hardware structure is simple, but the visual positioning error is still too low compared with the mechanical manufacturing requirement, and the manufacturing cost is high; (2) The mechanical bolt mode is used for positioning the material frame on the AGV body, so that the positioning precision of the material frame relative to the AGV body is ensured from the hardware structure, the original precision can be damaged due to abrasion in the use process, the bolt interface is additionally arranged on the lower bottom surface of the material frame, and the material placing function of the bottom of the material frame is also damaged; (3) The combination of the two positioning methods inevitably has accumulation of positioning errors, so that the positioning error of the final material frame is larger, and the method is unsuitable for application scenes with higher precision requirements.
Disclosure of Invention
The invention provides a positioning method of a material bearing device with rectangular supporting legs, aiming at the problems in the prior art, wherein a carrying device is pre-configured, and is provided with a jacking mechanism and at least one image acquisition device, wherein the jacking mechanism is used for bearing the material bearing device with a plurality of rectangular supporting legs; setting a positioning mark corresponding to each rectangular support leg in advance of a target area;
the positioning method comprises:
step S1, after the lifting mechanism is controlled by the conveying equipment to lift up to jack up the material bearing device and convey the material bearing device to the target area, the material bearing device is controlled to descend by the lifting mechanism so as to be placed in the target area;
step S2, the carrying equipment drives the image acquisition device to rotate so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first side of the rectangular support leg and a second side of the corresponding positioning mark, and the first side and the second side are corresponding and complete;
step S3, processing the positioning image to obtain a transverse error value, a longitudinal error value and a rotation angle error value of the rectangular support leg relative to the positioning mark, and processing to obtain a positioning signal according to the transverse error value, the longitudinal error value and the rotation angle error value;
and S4, the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device is overlapped with the corresponding positioning mark, and accurate positioning is realized.
Preferably, the actual side length of the cross section of the rectangular support leg is obtained in advance;
the step S3 includes:
step S31, a pixel coordinate system is established on the positioning image, and a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second edge, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first edge are respectively obtained;
and S32, respectively processing the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the fourth pixel coordinate according to the actual side length of the rectangular support leg corresponding to the first side and the second side to obtain the transverse error value, the longitudinal error value and the corner error value, and processing the transverse error value, the longitudinal error value and the corner error value to obtain the positioning signal.
Preferably, in the step S32, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 For representing the second pixel coordinatesIs a vertical coordinate value of (2); l is used to represent the actual side length.
Preferably, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 An ordinate value representing the second pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; l is used to represent the actual side length.
Preferably, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotational angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing the fourth pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; y is 4 And an ordinate value representing the fourth pixel coordinate.
The invention also provides a positioning system of the material bearing device with the rectangular supporting legs, which is applied to the positioning method, and a positioning mark corresponding to each rectangular supporting leg is preset in a target area; the positioning system comprises:
the carrying equipment is provided with a jacking mechanism and at least one image acquisition device, and the jacking mechanism is used for bearing a material bearing device with a plurality of rectangular supporting legs;
the control module is connected with the carrying equipment, and the control module comprises:
the first control unit is used for generating a carrying signal, and the carrying equipment controls the lifting mechanism to lift according to the carrying signal so as to lift the material bearing device and carry the material bearing device to the target area, and then controls the lifting mechanism to descend so as to place the material bearing device in the target area;
the second control unit is used for controlling the carrying equipment to drive the image acquisition device to rotate after the material bearing device is placed in the target area so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first side of the rectangular support leg and a second side of the corresponding positioning mark, and the first side and the second side are corresponding and complete;
the image processing unit is connected with the image acquisition device and is used for processing the positioning image to obtain a transverse error value, a longitudinal error value and a rotation angle error value of the rectangular support leg relative to the positioning mark, and processing to obtain a positioning signal according to the transverse error value, the longitudinal error value and the rotation angle error value;
the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device coincides with the corresponding positioning mark, and accurate positioning is realized.
Preferably, the image processing unit includes:
a storage subunit, configured to store an actual side length of a cross section of the rectangular leg acquired in advance;
the first processing subunit is used for establishing a pixel coordinate system on the positioning image, and respectively acquiring a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second side, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first side;
the second processing subunit is respectively connected with the storage subunit and the first processing subunit, and is used for respectively processing the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the fourth pixel coordinate according to the actual side length of the rectangular support leg corresponding to the first side and the second side to obtain the transverse error value, the longitudinal error value and the corner error value, and processing the transverse error value, the longitudinal error value and the corner error value to obtain the positioning signal.
Preferably, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 An ordinate value representing the second pixel coordinate; l is used to represent the actual side length.
Preferably, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; y is 1 For representing the first pixelA ordinate value of the coordinates; y is 2 An ordinate value representing the second pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; l is used to represent the actual side length.
Preferably, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotational angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing the fourth pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; y is 4 And an ordinate value representing the fourth pixel coordinate.
The technical scheme has the following advantages or beneficial effects: the original vehicle-mounted visual hardware of the carrying equipment is directly adopted to shoot and process the positioning image, the carrying equipment is driven to carry out position correction, the accurate positioning of the material bearing device is realized, on one hand, the hardware is not required to be added, the cost is reduced, on the other hand, the positioning error between the material bearing device and the positioning mark in the operation environment is directly measured, the error accumulation caused by various indirect positioning is fundamentally avoided, and the positioning accuracy is high.
Drawings
FIG. 1 is a schematic view of a handling apparatus and a material carrying device according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view showing the positional relationship between the current position of each rectangular leg and the corresponding positioning mark according to the preferred embodiment of the present invention;
FIG. 3 is a schematic view of rectangular legs and positioning marks in a captured positioning image according to a preferred embodiment of the present invention;
FIG. 4 is a flow chart of a method for positioning a material carrying device with rectangular legs according to a preferred embodiment of the present invention;
FIG. 5 is a flow chart of processing a positioning image according to a preferred embodiment of the present invention;
fig. 6 is a schematic structural view of a positioning system of a material carrying device with rectangular legs according to a preferred embodiment of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present invention is not limited to the embodiment, and other embodiments may fall within the scope of the present invention as long as they conform to the gist of the present invention.
In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, a positioning method of a material carrying device with rectangular legs is provided, as shown in fig. 1 to 3, a carrying device 1 is pre-configured, a lifting mechanism 11 and at least one image capturing device 12 are disposed on the carrying device 1, and the lifting mechanism 11 is used for carrying a material carrying device 2 with a plurality of rectangular legs 21; positioning marks 3 corresponding to the rectangular support legs 21 are arranged in advance of a target area;
as shown in fig. 4, the positioning method includes:
step S1, after a carrying device controls a lifting mechanism to lift up to jack up a material carrying device and carry the material carrying device to a target area, controlling the lifting mechanism to descend to place the material carrying device in the target area;
step S2, the carrying equipment drives the image acquisition device to rotate so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first edge of the rectangular support leg and a second edge of the corresponding positioning mark, and the first edge and the second edge are corresponding and complete;
step S3, processing the positioning image to obtain a transverse error value, a longitudinal error value and a rotation angle error value of the rectangular support leg relative positioning mark, and processing to obtain a positioning signal according to the transverse error value, the longitudinal error value and the rotation angle error value;
and S4, the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device is overlapped with the corresponding positioning mark, and accurate positioning is realized.
Specifically, in the present embodiment, the material carrying device 2 includes, but is not limited to, material frames, the number of the corresponding rectangular supporting legs 21 is not limited, the main material frames with four rectangular supporting legs 21 are taken as examples to describe the positioning method of the present technical solution, the positioning method of the material frames with other rectangular supporting legs is similar.
Preferably, the handling device 1 may be an autonomous navigation handling robot, and the autonomous navigation handling robot is provided with vehicle-mounted vision hardware, and includes at least one image acquisition device 12 and a control module 4 connected to the image acquisition device 12, where the control module 4 may be integrated on the handling device 1, or may be implemented by an external upper computer.
The positioning mark 3 may be a paint frame, by spraying paint having a distinct color and brightness from the rectangular leg 21 and the working environment on the target area, and the positioning mark 3 may be formed by enclosing a boundary line where the rectangular leg 21 intersects with a surface of the working environment, such as the ground.
When the material carrying device 2 needs to be transported to the target area, at this time, the transporting apparatus 1 controls the lifting mechanism 11 to lift up the material carrying device 2, so that the rectangular legs 21 of the material carrying device 2 are lifted off the ground, so that the transporting apparatus 1 transports the material carrying device 2 to the target area. In the ideal state, the carrying device 1 can accurately transport the material carrying device 2 to the target position by arranging the positioning mark 3 corresponding to the rectangular support leg 21 of the material carrying device 2 in the target area in advance, and determining the target position of the material carrying device 2 through the positioning mark 3, but positioning errors may be caused by various factors in the actual carrying process, so that the material carrying device 2 can be transported to the target area, but certain deviation exists between the positioning errors and the actual target position, as shown in fig. 2, and inconvenience is brought to the orderly progress of other procedures. In this embodiment, the material carrying device 2 is transported to the target area by using the navigation mode of the handling device 1, then the lifting mechanism 11 is controlled to descend, at this time, the material carrying device 2 is placed in the target area, the deviation between the current placement position and the target position is represented by capturing a corresponding positioning image, so that the corresponding transverse error value, the longitudinal error value and the corner error value are obtained by processing the positioning image, and further, a corresponding positioning signal is generated based on the transverse error value, the longitudinal error value and the corner error value, so as to control the handling device 1 to perform deviation adjustment, and finally, all rectangular legs of the material carrying device 2 fall into the limit range of the corresponding positioning mark 3. Preferably, the positioning marks 3 correspond to the number of positions of the rectangular legs 21, and more preferably, the positioning marks 3 are rectangular and coincide with the cross sections of the rectangular legs 21.
Further, the above-mentioned positioning image needs to include both the rectangular legs 21 and the corresponding complete sides of the positioning mark 3, as shown in fig. 3, so that the positioning image can be processed later. When the positional relationship between each rectangular leg 21 and the corresponding positioning mark 3 is as shown in fig. 2, the image pickup device 12 picks up an image from the intermediate position of the area surrounded by each rectangular leg 21 and the corresponding positioning mark 3, and it can be seen that when the two sets of rectangular legs 21 and the corresponding positioning marks 3 in the first row as shown in fig. 2 are picked up an image, a positioning image containing the respective complete sides can be obtained, and when the two sets of rectangular legs 21 and the corresponding positioning marks 3 in the second row as shown in fig. 2 are picked up an image, the respective sides are blocked, which is not satisfied. In this embodiment, the image capturing device may be controlled to rotate for capturing the image, and the capturing of the image after being captured by taking the rectangular support leg 21 as four example may be controlled, so that at least four positioning images are captured, each positioning image includes a rectangular support leg and a corresponding positioning mark, and after the four positioning images are obtained, one image satisfying the condition may be selected from the four positioning images by means of image recognition. The image acquisition device can be controlled to rotate, each positioning image is uploaded in real time for image identification, and if the positioning image meets the conditions, the subsequent image shooting is not needed.
In summary, it can be seen that the original vehicle-mounted visual hardware of the carrying device is directly adopted to shoot and process the positioning image, so that the carrying device is driven to carry out position correction, and accurate positioning of the material bearing device is realized.
In a preferred embodiment of the invention, the actual side length of the cross section of the rectangular support leg is obtained in advance;
as shown in fig. 5, step S3 includes:
step S31, a pixel coordinate system is established on the positioning image, and a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second side, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first side are respectively obtained;
and S32, respectively processing the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the fourth pixel coordinate according to the actual side length of the rectangular support leg corresponding to the first side and the second side to obtain a transverse error value, a longitudinal error value and a corner error value, and processing the transverse error value, the longitudinal error value and the corner error value to obtain a positioning signal.
Specifically, in this embodiment, as shown in fig. 3, the positioning image includes a first side 211 of the rectangular leg 21 and a corresponding second side 31 of the positioning mark 3, the first side 211 and the second side 31 are corresponding and complete, and then a first pixel coordinate (x 1 ,y 1 ) Second pixel coordinates (x 2 ,y 2 ) And a third pixel coordinate (x 3 ,y 3 ) Third pixel coordinate (x) of fourth vertex P4 4 ,y 4 ) Subsequently, the lateral error value and the longitudinal error are obtained according to the actual side length of the first side 211 and the coordinates of each pixelThe value and the angle error value are used for representing the position deviation between the rectangular support leg 21 and the positioning mark 3.
In a preferred embodiment of the present invention, in step S32, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula for the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinates; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value for representing the first pixel coordinate; y is 2 An ordinate value for representing the second pixel coordinates; l is used to represent the actual side length.
In a preferred embodiment of the present invention, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinates; y is 1 An ordinate value for representing the first pixel coordinate; y is 2 An ordinate value for representing the second pixel coordinates; y is 3 An ordinate value for representing the third pixel coordinate; l is used to represent the actual side length.
In a preferred embodiment of the present invention, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotation angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing a fourth pixel coordinate; y is 3 An ordinate value for representing the third pixel coordinate; y is 4 And an ordinate value for representing the fourth pixel coordinate.
The invention also provides a positioning system of the material bearing device with rectangular supporting legs, which is applied to the positioning method, as shown in fig. 2, a positioning mark 3 corresponding to each rectangular supporting leg 21 is preset in a target area; as shown in fig. 1 to 3 and 6, the positioning system includes:
the equipment for carrying 1, wherein the equipment for carrying 1 is provided with a lifting mechanism 11 and at least one image acquisition device 12, and the lifting mechanism 11 is used for carrying a material carrying device 2 with a plurality of rectangular supporting legs 21;
the control module 4 is connected with the conveying equipment 1, and the control module 4 comprises:
a first control unit 41, configured to generate a carrying signal, and after the carrying apparatus 1 controls the lifting mechanism 11 to lift up to jack up the material carrying device 2 and carry the material carrying device to the target area according to the carrying signal, control the lifting mechanism 11 to descend to place the material carrying device 2 in the target area;
the second control unit 42 is configured to control the handling device 1 to drive the image acquisition device 12 to rotate to capture at least one positioning image after the material carrying device 2 is placed in the target area, where the positioning image includes a first side of the rectangular support leg 21 and a second side of the corresponding positioning mark 3, and the first side and the second side are corresponding and complete;
an image processing unit 43, connected to the image acquisition device 12, for processing the positioning image to obtain a horizontal error value, a vertical error value and a rotation angle error value of the rectangular support leg 21 relative to the positioning mark 3, and processing to obtain a positioning signal according to the horizontal error value, the vertical error value and the rotation angle error value;
the carrying equipment 1 controls the lifting mechanism 11 to lift up according to the positioning signal so as to jack up the material bearing device 2 and correct the position of the material bearing device 2, so that each rectangular support leg 21 of the material bearing device 2 coincides with the corresponding positioning mark 3, and accurate positioning is realized.
In the preferred embodiment of the present invention, the image processing unit 43 includes:
a storage subunit 431 for storing the actual side lengths of the cross-sections of the rectangular legs acquired in advance;
the first processing subunit 432 is configured to establish a pixel coordinate system on the positioning image, and obtain a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second edge, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first edge, respectively;
the second processing subunit 433 is respectively connected to the storage subunit 431 and the first processing subunit 432, and is configured to respectively process the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the fourth pixel coordinate according to the actual side lengths of the rectangular supporting legs corresponding to the first side and the second side to obtain a horizontal error value, a vertical error value and a corner error value, and process the first pixel coordinate, the second pixel coordinate, the third pixel coordinate and the fourth pixel coordinate according to the horizontal error value, the vertical error value and the corner error value to obtain a positioning signal.
In a preferred embodiment of the present invention, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula for the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinates; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value for representing the first pixel coordinate; y is 2 An ordinate value for representing the second pixel coordinates; l is used to represent the actual side length.
In a preferred embodiment of the present invention, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinates; y is 1 An ordinate value for representing the first pixel coordinate; y is 2 An ordinate value for representing the second pixel coordinates; y is 3 An ordinate value for representing the third pixel coordinate; l is used to represent the actual side length.
In a preferred embodiment of the present invention, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotation angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing a fourth pixel coordinate; y is 3 An ordinate value for representing the third pixel coordinate; y is 4 And an ordinate value for representing the fourth pixel coordinate.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and drawings, and are intended to be included within the scope of the present invention.
Claims (10)
1. A positioning method of a material bearing device with rectangular supporting legs is characterized in that a carrying device is pre-configured, a jacking mechanism and at least one image acquisition device are arranged on the carrying device, and the jacking mechanism is used for bearing a material bearing device with a plurality of rectangular supporting legs; setting a positioning mark corresponding to each rectangular support leg in advance of a target area;
the positioning method comprises:
step S1, after the lifting mechanism is controlled by the conveying equipment to lift up to jack up the material bearing device and convey the material bearing device to the target area, the material bearing device is controlled to descend by the lifting mechanism so as to be placed in the target area;
step S2, the carrying equipment drives the image acquisition device to rotate so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first side of the rectangular support leg and a second side of the corresponding positioning mark, and the first side and the second side are corresponding and complete;
step S3, processing the positioning image to obtain a transverse error value, a longitudinal error value and a rotation angle error value of the rectangular support leg relative to the positioning mark, and processing to obtain a positioning signal according to the transverse error value, the longitudinal error value and the rotation angle error value;
and S4, the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device is overlapped with the corresponding positioning mark, and accurate positioning is realized.
2. The positioning method according to claim 1, wherein an actual side length of a cross section of the rectangular leg is obtained in advance;
the step S3 includes:
step S31, a pixel coordinate system is established on the positioning image, and a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second edge, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first edge are respectively obtained;
step S32, processing the horizontal error value and the vertical error value according to the actual side lengths of the rectangular supporting legs corresponding to the first side and the second side, the first pixel coordinate, the second pixel coordinate and the third pixel coordinate respectively, processing the corner error value according to the third pixel coordinate and the fourth pixel coordinate, and processing the positioning signal according to the horizontal error value, the vertical error value and the corner error value.
3. The positioning method according to claim 2, wherein in the step S32, the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 An ordinate value representing the second pixel coordinate; l is used to represent the actual side length.
4. The positioning method according to claim 2, wherein the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 For representing the second pixel sittingA target abscissa value; y is 1 An ordinate value representing the first pixel coordinate; y is 2 An ordinate value representing the second pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; l is used to represent the actual side length.
5. The positioning method according to claim 2, wherein the first vertex corresponds to the fourth vertex, and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotational angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing the fourth pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; y is 4 And an ordinate value representing the fourth pixel coordinate.
6. A positioning system of a material carrying device with rectangular support legs, characterized in that the positioning system is applied to the positioning method as claimed in any one of claims 1 to 5, and positioning marks corresponding to the rectangular support legs are arranged in advance in a target area; the positioning system comprises:
the carrying equipment is provided with a jacking mechanism and at least one image acquisition device, and the jacking mechanism is used for bearing a material bearing device with a plurality of rectangular supporting legs;
the control module is connected with the carrying equipment, and the control module comprises:
the first control unit is used for generating a carrying signal, and the carrying equipment controls the lifting mechanism to lift according to the carrying signal so as to lift the material bearing device and carry the material bearing device to the target area, and then controls the lifting mechanism to descend so as to place the material bearing device in the target area;
the second control unit is used for controlling the carrying equipment to drive the image acquisition device to rotate after the material bearing device is placed in the target area so as to shoot and obtain at least one positioning image, wherein the positioning image comprises a first side of the rectangular support leg and a second side of the corresponding positioning mark, and the first side and the second side are corresponding and complete;
the image processing unit is connected with the image acquisition device and is used for processing the positioning image to obtain a transverse error value, a longitudinal error value and a rotation angle error value of the rectangular support leg relative to the positioning mark, and processing to obtain a positioning signal according to the transverse error value, the longitudinal error value and the rotation angle error value;
the carrying equipment controls the lifting mechanism to lift up according to the positioning signal so as to jack up the material bearing device and correct the position of the material bearing device, so that each rectangular support leg of the material bearing device coincides with the corresponding positioning mark, and accurate positioning is realized.
7. The positioning system of claim 6, wherein the image processing unit comprises:
a storage subunit, configured to store an actual side length of a cross section of the rectangular leg acquired in advance;
the first processing subunit is used for establishing a pixel coordinate system on the positioning image, and respectively acquiring a first pixel coordinate of a first vertex and a second pixel coordinate of a second vertex of the second side, and a third pixel coordinate of a third vertex and a fourth pixel coordinate of a fourth vertex of the first side;
the second processing subunit is respectively connected with the storage subunit and the first processing subunit, and is used for respectively processing the horizontal error value and the longitudinal error value according to the actual side length, the first pixel coordinate, the second pixel coordinate and the third pixel coordinate of the rectangular support leg corresponding to the first side and the second side, processing the corner error value according to the third pixel coordinate and the fourth pixel coordinate, and processing the corner error value according to the horizontal error value, the longitudinal error value and the corner error value to obtain the positioning signal.
8. The positioning system of claim 7, wherein the first vertex corresponds to the fourth vertex and the second vertex corresponds to the third vertex; the calculation formula of the lateral error value is as follows:
wherein Δx is used to represent the lateral error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; x is x 3 An abscissa value for representing the third pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 An ordinate value representing the second pixel coordinate; l is used to represent the actual side length.
9. The positioning system of claim 7, wherein the first vertex corresponds to the fourth vertex and the second vertex corresponds to the third vertex; the longitudinal error value is calculated as follows:
wherein Δy is used to represent the longitudinal error value; x is x 1 An abscissa value for representing the first pixel coordinate; x is x 2 An abscissa value for representing the second pixel coordinate; y is 1 An ordinate value representing the first pixel coordinate; y is 2 For representing the second pixel coordinatesIs a vertical coordinate value of (2); y is 3 An ordinate value representing the third pixel coordinate; l is used to represent the actual side length.
10. The positioning system of claim 7, wherein the first vertex corresponds to the fourth vertex and the second vertex corresponds to the third vertex; the calculation formula of the rotation angle error value is as follows:
wherein θ is used to represent the rotational angle error value; x is x 3 An abscissa value for representing the third pixel coordinate; x is x 4 An abscissa value for representing the fourth pixel coordinate; y is 3 An ordinate value representing the third pixel coordinate; y is 4 And an ordinate value representing the fourth pixel coordinate.
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