CN112731431A - Positioning detection device and method for van truck - Google Patents
Positioning detection device and method for van truck Download PDFInfo
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- CN112731431A CN112731431A CN202011578822.XA CN202011578822A CN112731431A CN 112731431 A CN112731431 A CN 112731431A CN 202011578822 A CN202011578822 A CN 202011578822A CN 112731431 A CN112731431 A CN 112731431A
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- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
The invention relates to a positioning detection device and method for a van truck. The method comprises the following steps: calculating 3 first corner point coordinates of one side surface of a container of the van and the tail of the van by taking the first laser range finder as a first standard coordinate system; calculating the coordinates of the other side surface of the container of the van and 3 second angular points of the tail of the van by taking the second laser range finder as a second standard coordinate system; determining actual edge contour points of the actual parking position of the van according to the first angular point coordinates and the second angular point coordinates based on the first standard coordinate system and the second standard coordinate system; acquiring standard edge contour points of a standard parking position of the van, and determining parking position deviation and angle deviation according to the standard edge contour points and the actual edge contour points; and dynamically adjusting the goods taking and placing position and the travelling path of the unmanned transport vehicle according to the parking position deviation and the angle deviation so as to ensure that the unmanned transport vehicle performs the goods taking and placing operation.
Description
Technical Field
The invention relates to the field of positioning detection of van trucks, in particular to a positioning detection device and method of a van truck.
Background
The goods loading and unloading work of the van truck is mainly operated in a manual or manual forklift mode at present, a large amount of labor cost is consumed by complex and simple repeated work, the efficiency is low, and the problems gradually become the outstanding problems faced by enterprises in improving the efficiency and reducing the labor cost.
In order to solve the above problems, some equipment purchasers have proposed the functional requirements for automatically loading and unloading goods to the van by using unmanned equipment such as an AGV. The precision of the goods taking and placing operation of the intelligent loading equipment such as the AGV and the like at the fixed position can be controlled within +/-1 cm generally, and the target work can be completed generally under an ideal state. However, the van parking operation is manually completed, and it cannot be guaranteed that the parking is performed in a standard parking space every time, that is, the van parking always deviates from a scheme standard parking space in application. When the deviation is too big, the equipment of loading will fail to accomplish accurate goods and get and put. As shown in fig. 1. Therefore, the loading equipment must acquire the parking position deviation of the van and dynamically adjust the goods taking and placing target position to complete the subsequent operation.
Disclosure of Invention
The invention aims to provide a positioning detection device and a positioning detection method for a van, and aims to solve the problem that the parking operation of the van is finished manually, and the situation that the accurate goods taking and placing operation cannot be performed because the parking at each time cannot be guaranteed to be in a standard parking space is solved.
In order to achieve the purpose, the invention provides the following scheme:
a van positioning detection device comprises: the system comprises a first laser range finder component, a second laser range finder component and a data processing module;
the first laser range finder component and the second laser range finder component are respectively connected with the data processing module; the first laser range finder component and the second laser range finder component are respectively fixed in the rear area of the parking side of the van; the first laser range finder component is used for detecting the contour of one side surface of the van container and the tail contour of the van; the second laser range finder assembly is used for detecting the profile of the other side face of the van container and the tail profile of the van; the data processing module is used for collecting profile information detected by the first laser range finder assembly and the second laser range finder assembly, calculating the deviation between the actual parking position and the standard parking position of the van according to the profile information, and dynamically adjusting the goods taking and placing position and the walking path of the unmanned carrying vehicle according to the deviation so as to ensure that the unmanned carrying vehicle executes goods taking and placing operation.
Optionally, the first laser range finder component specifically includes: a laser range finder and a support rod;
the laser range finder is arranged on the supporting rod; the scanning plane height of the laser range finder is within the height range of a container of the van;
the second laser range finder component has the same structure as the first laser range finder component.
A van positioning detection method comprises the following steps:
calculating 3 first corner point coordinates of one side surface of a container of the van and the tail of the van by taking the first laser range finder as a first standard coordinate system;
calculating the coordinates of the other side surface of the container of the van and 3 second angular points of the tail of the van by taking the second laser range finder as a second standard coordinate system;
determining actual edge contour points of the actual parking position of the van according to the first angular point coordinates and the second angular point coordinates based on the first standard coordinate system and the second standard coordinate system;
acquiring standard edge contour points of a standard parking position of the van, and determining parking position deviation and angle deviation according to the standard edge contour points and the actual edge contour points;
and dynamically adjusting the goods taking and placing position and the travelling path of the unmanned transport vehicle according to the parking position deviation and the angle deviation so as to ensure that the unmanned transport vehicle executes the goods taking and placing operation.
Optionally, the determining, based on the first standard coordinate system and the second standard coordinate system, an actual edge contour point of an actual parking position of the van according to the first corner coordinate and the second corner coordinate specifically includes:
calculating a coordinate transformation equation from the second standard coordinate system to the first coordinate system according to the relative positions of the first laser distance meter and the second laser distance meter;
converting the second corner point coordinate into a third corner point coordinate under a first standard coordinate system based on the coordinate transformation equation;
fitting the first corner point coordinate and the third corner point coordinate based on a least square algorithm to determine an actual edge contour point of an actual parking position of the van.
Optionally, the coordinate transformation equation is:
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides a van positioning detection device and a van positioning detection method, wherein a laser ranging assembly is used for detecting the peripheral outline of a van, a data processing module is used for collecting outline information of a laser range finder, calculating the deviation between the actual parking position and the standard parking position of the van, and dynamically adjusting the goods taking and placing position and the walking path of an unmanned carrier according to the deviation so as to ensure that the unmanned carrier executes goods taking and placing operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of a standard parking car profile and an actual parking car profile location;
FIG. 2 is a schematic view of the measurement of a first laser range finder and a second laser range finder;
FIG. 3 is a schematic structural view of the first laser tester assembly or the second laser range finder assembly;
fig. 4 is a flowchart of a positioning and detecting method for a van of the present invention;
FIG. 5 is a schematic diagram of the measurement of the first laser range finder and the second laser range finder in the first standard coordinate system;
FIG. 6 is a schematic diagram of the measurement of the first laser range finder and the second laser range finder in the second standard coordinate system;
fig. 7 is a schematic position diagram of the first laser tester assembly or the second laser range finder assembly.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a positioning detection device and a positioning detection method for a van, which are used for realizing accurate goods taking and placing operation.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 2, a positioning and detecting device for a van includes: the system comprises a first laser range finder component, a second laser range finder component and a data processing module; the first laser range finder component and the second laser range finder component are respectively connected with the data processing module; the first laser range finder component and the second laser range finder component are respectively fixed in the rear area of the parking side of the van; the first laser range finder component is used for detecting the contour of one side surface of the van container and the tail contour of the van; the second laser range finder assembly is used for detecting the profile of the other side face of the van container and the tail profile of the van; the data processing module is used for collecting the first laser range finder assembly and the profile information that the second laser range finder assembly detected, according to the profile information calculates the deviation of the actual parking position and the standard parking position of van, and according to get put goods position and walking route of unmanned transport vehicle (AGV) are adjusted to the deviation developments, in order to guarantee unmanned transport vehicle carries out and gets the goods operation of putting.
As shown in fig. 3, the first laser range finder assembly specifically includes: a laser range finder and a support rod; the laser range finder is arranged on the supporting rod; the scanning plane height of the laser range finder is within the height range of a container of the van; the second laser range finder component has the same structure as the first laser range finder component.
2 groups of laser range finder assemblies are respectively fixed in the rear area of the parking side of the van, and the laser range finder 1 is required to be ensured to scan the edge 1 and the edge 2 of the carriage at the same time; the laser range finder 2 can scan the edge 1 and the edge 3 of the carriage at the same time; there is no requirement for the relative positions of the laser rangefinders 1, 2.
Fig. 4 is a flowchart of a positioning and detecting method for a van in the present invention, and as shown in fig. 4, the positioning and detecting method for a van includes:
step 401: calculating 3 first corner point coordinates of one side surface of a container of the van and the tail of the van by taking the first laser range finder as a first standard coordinate system; the first laser range finder is a laser range finder in the first laser range finder component.
Step 402: calculating the coordinates of the other side surface of the container of the van and 3 second angular points of the tail of the van by taking the second laser range finder as a second standard coordinate system; the second laser range finder is a laser range finder in the second laser range finder assembly.
Step 403: and determining the actual edge contour point of the actual parking position of the van according to the first corner coordinate and the second corner coordinate based on the first standard coordinate system and the second standard coordinate system.
The step 403 specifically includes: calculating a coordinate transformation equation from the second standard coordinate system to the first coordinate system according to the relative positions of the first laser distance meter and the second laser distance meter; converting the second corner point coordinate into a third corner point coordinate under a first standard coordinate system based on the coordinate transformation equation; fitting the first corner point coordinate and the third corner point coordinate based on a least square algorithm to determine an actual edge contour point of an actual parking position of the van.
The coordinate transformation equation is as follows:
wherein, P1Is a first angular coordinate, P, in a first standard coordinate system2Is the second corner point coordinate under the second standard coordinate system, E is the unit matrix,
and the coordinates of the second laser range finder under a first standard coordinate system are obtained.
Step 404: acquiring standard edge contour points of a standard parking position of the van, and determining parking position deviation and angle deviation according to the standard edge contour points and the actual edge contour points;
step 405: and dynamically adjusting the goods taking and placing position and the travelling path of the unmanned transport vehicle according to the parking position deviation and the angle deviation so as to ensure that the unmanned transport vehicle executes the goods taking and placing operation.
In practical application, the detection method of the edge contour points of the van is as follows:
as shown in fig. 5, the laser rangefinder 1 is taken as a standard coordinate system and is denoted as a coordinate system 1. Identifying and calculating edge point coordinates of 3 van trucks
As shown in fig. 6, the laser distance measuring device 2 is used as a standard coordinate system, which is recorded as a coordinate system 2, and coordinates of edge points of 3 van trucks are identified and calculated
Calculating a coordinate transformation equation from the coordinate system 2 to the coordinate system 1 according to the relative positions of the laser range finder 1 and the laser range finder 2:
Based on the coordinate transformation equation
Conversion to coordinate points under coordinate system 1:
using least square algorithm will
And
fitting calculation is carried out to obtain the final edge contour point p of the actual parking of the van1,p2,p3,p4。
In summary, as shown in fig. 7, the overall application of the present invention is as follows:
the laser navigation assembly 1, 2 is installed.
Stopping the van at the standard parking position of the scheme, and detecting and calculating the vehicle body contour point p at the standard parking position1,p2,p3,p4。
After the van is parked in production, the contour point of the van body at the parking position is detected and calculated
Calculating p using the ICP Algorithm1,p2,p3,p4And
obtaining the parking position deviation ex,eyAnd an angle deviation eang。
The invention discloses a van truck positioning device and method based on a laser range finder, wherein the device comprises 2 groups of laser range finder components and 1 data processing module; the system comprises a laser ranging assembly, a data processing module and an unmanned carrier, wherein the laser ranging assembly is used for detecting the peripheral outline of the van, the data processing module is used for collecting the outline information of the laser ranging instrument, calculating the deviation between the actual parking position and the standard parking position of the van, and dynamically adjusting the goods taking and placing position and the walking path of the unmanned carrier according to the parking position deviation and the angle deviation so as to ensure that the unmanned carrier executes the goods taking and placing operation.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The utility model provides a van location detection device which characterized in that includes: the system comprises a first laser range finder component, a second laser range finder component and a data processing module;
the first laser range finder component and the second laser range finder component are respectively connected with the data processing module; the first laser range finder component and the second laser range finder component are respectively fixed in the rear area of the parking side of the van; the first laser range finder component is used for detecting the contour of one side surface of the van container and the tail contour of the van; the second laser range finder assembly is used for detecting the profile of the other side face of the van container and the tail profile of the van; the data processing module is used for collecting profile information detected by the first laser range finder assembly and the second laser range finder assembly, calculating the deviation between the actual parking position and the standard parking position of the van according to the profile information, and dynamically adjusting the goods taking and placing position and the walking path of the unmanned carrying vehicle according to the parking position deviation and the angle deviation so as to ensure that the unmanned carrying vehicle executes goods taking and placing operation.
2. The van positioning detection device according to claim 1, wherein the first laser range finder component specifically comprises: a laser range finder and a support rod;
the laser range finder is arranged on the supporting rod; the scanning plane height of the laser range finder is within the height range of a container of the van;
the second laser range finder component has the same structure as the first laser range finder component.
3. A positioning and detecting method for a van, wherein the positioning and detecting method for a van is applied to the positioning and detecting device for a van according to any one of claims 1 to 2, and the positioning and detecting method for a van includes:
calculating 3 first corner point coordinates of one side surface of a container of the van and the tail of the van by taking the first laser range finder as a first standard coordinate system;
calculating the coordinates of the other side surface of the container of the van and 3 second angular points of the tail of the van by taking the second laser range finder as a second standard coordinate system;
determining actual edge contour points of the actual parking position of the van according to the first angular point coordinates and the second angular point coordinates based on the first standard coordinate system and the second standard coordinate system;
acquiring standard edge contour points of a standard parking position of the van, and determining parking position deviation and angle deviation according to the standard edge contour points and the actual edge contour points;
and dynamically adjusting the goods taking and placing position and the travelling path of the unmanned transport vehicle according to the parking position deviation and the angle deviation so as to ensure that the unmanned transport vehicle executes the goods taking and placing operation.
4. The positioning and detecting method for a van according to claim 3, wherein the determining an actual edge contour point of an actual parking position of the van according to the first corner coordinate and the second corner coordinate based on the first standard coordinate system and the second standard coordinate system specifically comprises:
calculating a coordinate transformation equation from the second standard coordinate system to the first coordinate system according to the relative positions of the first laser distance meter and the second laser distance meter;
converting the second corner point coordinate into a third corner point coordinate under a first standard coordinate system based on the coordinate transformation equation;
fitting the first corner point coordinate and the third corner point coordinate based on a least square algorithm to determine an actual edge contour point of an actual parking position of the van.
5. The van positioning detection method according to claim 4, wherein the coordinate transformation equation is as follows:
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Application publication date: 20210430 |