CN110986904A - Laser calibration system and method for automatic transport vehicle - Google Patents
Laser calibration system and method for automatic transport vehicle Download PDFInfo
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- CN110986904A CN110986904A CN201911326644.9A CN201911326644A CN110986904A CN 110986904 A CN110986904 A CN 110986904A CN 201911326644 A CN201911326644 A CN 201911326644A CN 110986904 A CN110986904 A CN 110986904A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
The invention discloses a laser calibration system of an automatic transport vehicle, which comprises: the automatic transport vehicle is provided with a multi-line laser; the first reflector is a circular reflector and is placed in front of the multi-line laser; the second light reflecting sheet is detachably arranged on the side surface of the automatic transport vehicle; a total station placed at a location where coordinate measurements can be made of the first and/or second reflectors. The laser calibration system of the automatic transport vehicle can simply and quickly complete the calibration of the laser of the automatic transport vehicle, shortens the calibration time and improves the calibration precision. The invention also discloses a laser calibration method of the automatic transport vehicle.
Description
Technical Field
The invention relates to the field of automatic transport vehicles, in particular to a laser calibration system and method of an automatic transport vehicle.
Background
At present, the environment for carrying aviation containers in the airport logistics industry is relatively single, logistics transfer equipment is relatively laggard, the efficiency is low, and a large amount of labor needs to be invested. In order to improve the transportation capacity and the automation degree of airport logistics, an automatic transport vehicle for transporting the air container is produced.
The automatic transport vehicle is provided with the laser, so that functions of roadblock sensing, collision avoidance and the like can be conveniently achieved in the running process, the object coordinate measured under the laser coordinate system needs to be converted into the vehicle body coordinate system of the automatic transport vehicle, namely the conversion relation between the laser coordinate system and the vehicle body coordinate system needs to be found, and the laser of the automatic transport vehicle is calibrated. The calibration system and method adopted by the prior automatic transport vehicle for the aviation container are troublesome, time-consuming and labor-consuming, and the calibration precision is not high by a direct measurement mode. Therefore, a laser calibration system and method for an automatic transport vehicle, which can be quickly, simply and rapidly completed, are urgently needed, so that the calibration time is shortened, and the calibration precision is improved.
Disclosure of Invention
The invention aims to solve the problems of long calibration time and low precision of a laser of an automatic transport vehicle in the prior art. The invention provides a laser calibration system and method for an automatic transport vehicle, which can simply and quickly complete the calibration of the laser of the automatic transport vehicle, shorten the calibration time and improve the calibration precision.
In order to solve the above technical problem, an embodiment of the present invention discloses a laser calibration system for an automatic transport vehicle, including:
the automatic transport vehicle is provided with a multi-line laser;
the first reflector is a circular reflector and is placed in front of the multi-line laser;
the second light reflecting sheet is detachably arranged on the side surface of the automatic transport vehicle;
and the total station is placed at a position where the coordinate measurement can be carried out on the first reflector and/or the second reflector.
By adopting the technical scheme, the calibration of the laser of the automatic transport vehicle can be simply and quickly completed, the calibration time is shortened, and the calibration precision is improved.
Optionally, the multi-line laser is a 16-line laser.
Optionally, the distance between the first reflector and the multi-line laser is less than or equal to 100 cm.
Optionally, the number of the first reflective sheets is not less than three.
Optionally, the second light-reflecting pieces are square light-reflecting pieces, the number of the second light-reflecting pieces is not less than three, and the second light-reflecting pieces are detachably arranged at the centers of the front axle and the rear axle on the two sides of the automatic transport vehicle respectively.
Optionally, the number of the multi-line lasers is two, and the two multi-line lasers are respectively arranged at the front end and the rear end of the automatic transport vehicle along the diagonal direction of the automatic transport vehicle.
The embodiment of the invention also discloses a laser calibration method of the automatic transport vehicle, the calibration system comprises the automatic transport vehicle, a total station, a first reflector and a second reflector, the automatic transport vehicle is provided with the multi-line laser, the first reflector is a circular reflector, and the calibration method comprises the following steps:
placing the first reflector in front of the multi-line laser, and detachably arranging the second reflector on the side surface of the automatic transport vehicle;
respectively measuring coordinate data of at least three groups of first reflectors at non-collinear positions in a laser coordinate system and a total station coordinate system by using a multi-line laser and the total station;
measuring coordinate data of at least three groups of second reflectors at non-collinear positions in a coordinate system of the total station by using the total station;
obtaining coordinate data of at least three groups of second reflectors at non-collinear positions under a vehicle body coordinate system of the automatic transport vehicle according to vehicle parameters of the automatic transport vehicle;
and obtaining a conversion relation between the vehicle body coordinate system and the laser coordinate system.
By adopting the technical scheme, the calibration of the laser of the automatic transport vehicle can be simply and quickly completed, the calibration time is shortened, and the calibration precision is improved.
Optionally, the step of placing the first reflector in front of the multi-line laser and detachably disposing the second reflector on the side of the automatic transport vehicle includes: adjusting the position of the first reflector to make at least two beams of laser emitted by the multi-line laser on the first reflector; and placing the second light reflecting sheets at the centers of two sides of a front axle and a rear axle of the automatic transport vehicle.
Optionally, the number of the first reflectors is at least three, and the step of respectively measuring coordinate data of the first reflectors at least three groups of non-collinear positions in a laser coordinate system and a total station coordinate system by using a multi-line laser and a total station includes: the method comprises the steps of finding out coordinates of at least three boundary points of a first reflector according to the intensity of reflected light of the first reflector obtained by a multi-line laser, determining coordinates of the circle center of the first reflector according to the coordinates of the boundary points, and obtaining coordinate data of at least three groups of first reflectors in a laser coordinate system; and measuring the first light reflecting sheets with the measured coordinate data in the laser coordinate system in situ by using the total station to obtain the coordinate data of at least three groups of first light reflecting sheets in the total station coordinate system at the same position.
Optionally, the step of obtaining the conversion relationship between the coordinates of the vehicle body coordinate system and the coordinates of the laser coordinate system includes obtaining a rotation matrix a and a translation matrix α between the total station coordinate system and the laser coordinate system according to the coordinate data of the first reflector in the laser coordinate system and the coordinate data in the total station coordinate system, obtaining a rotation matrix B and a translation matrix β between the total station coordinate system and the vehicle body coordinate system according to the coordinate data of the second reflector in the total station coordinate system and the coordinate data in the vehicle body coordinate system, and obtaining a rotation matrix and a translation matrix between the vehicle body coordinate system and the laser coordinate system by combining the rotation matrix a, the translation matrix α, the rotation matrix B and the translation matrix β.
Drawings
FIG. 1 shows a schematic diagram of a calibration system according to an embodiment of the invention;
FIG. 2 shows a schematic view of a first retroreflective sheeting in accordance with one embodiment of the present invention;
fig. 3 shows a flowchart of a calibration method according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or coordinate relationships based on the orientations or coordinate relationships shown in the drawings or orientations or coordinate relationships that the products of the present invention usually place when in use, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operated, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, an embodiment of the present invention discloses a laser calibration system for an automatic transport vehicle, including: the automatic transport vehicle 1 is provided with a multi-line laser 2; the first reflector 4 is a circular reflector, and the first reflector 4 is placed in front of the multi-line laser 2; the second reflector 5 is detachably arranged on the side surface of the automatic transport vehicle 1; a total station 3, the total station 3 being placed at a position where it is possible to perform coordinate measurements on the first reflector 4 and/or the second reflector 5.
The multi-line laser 2 of the automatic transport vehicle 1 is used for realizing functions of roadblock sensing, anti-collision protection and the like, is generally installed at the head of the automatic transport vehicle 1, is convenient for sensing obstacles in the front in the advancing process, and in the calibrating process, the first reflection sheet 4 is positioned in the advancing direction of the head where the multi-line laser 2 is calibrated. The first reflector 4 is a circular reflector and is used for measuring to obtain a conversion relation between a laser coordinate system and a total station coordinate system. The second reflector 5 is used for measuring and obtaining a conversion relation between the vehicle body coordinate system and the total station coordinate system. The total station 3 can be placed on the side surface of the automatic transport vehicle 1, and is close to one side of the first reflector 4 and the second reflector 5, so that the measurement is convenient, and when the total station 3 cannot measure the coordinate data of the required groups at one time in one position, the data of the corresponding groups can be measured in a station moving measurement mode. The placing position of the first reflector 4 is adjusted, so that at least two beams of laser light irradiate on the first reflector 4, and the boundary points of at least four first reflectors 4 are found out according to the intensity and position information of the reflected light in the 360-degree measurement process of the multi-line laser 2. As shown in fig. 2, at least three boundary points are selected according to the principle that a circle can be determined by three points, so that the coordinates of the circle center under the laser coordinate system can be accurately measured to represent the coordinate data of the first reflector 4 under the laser coordinate system, and the calibration precision is improved. The total station coordinate system, the laser coordinate system and the vehicle body coordinate system are all three-dimensional coordinate systems, the original point position of the coordinate system and the directions of coordinate axes are not limited, the total station coordinate system, the laser coordinate system and the vehicle body coordinate system can be selectively arranged according to actual needs, and the coordinate system is ensured to be unchanged in the process of one-time measurement and calibration.
The total station 3 is used to measure the coordinates M (Xstationa, Ystationa, zstatation) of the first reflector 4 in the total station coordinate system and the coordinates N (Xstationb, Ystationb, zstatation) of the second reflector 5 in the total station coordinate system, the multi-line laser 2 is used to measure the coordinates M ' (Xlaser, Ylaser, Zlaser) of the first reflector 4 in the laser coordinate system, the coordinates N ' (Xagv, Yagv, Zagv) of the second reflector 5 in the body coordinate system of the autonomous transport carriage 1 can be determined according to vehicle data such as the axle distance, axle width, tire radius of the autonomous transport carriage 1, the principle of determining a plane according to three points which are not collinear, and by the coordinates of at least three sets of M and M ' which are not collinear, the conversion relationship between the total station coordinate system and the laser coordinate system, i.e. the rotation matrix a and the translation matrix α between the two coordinate systems can be solved according to the following equations:
similarly, with at least three sets of non-collinear coordinates N and N', the transformation between the total station coordinate system and the body coordinate system can be solved according to the following equations, i.e. the rotation matrix B and the translation matrix β between the two coordinate systems:
according to the two conversion relations, a rotation matrix BA and a translation matrix B α + β between the vehicle body coordinate system and the laser coordinate system can be obtained as follows:
therefore, laser calibration of the automatic transport vehicle 1 is completed, and in the application process of the automatic transport vehicle 1, the coordinates of an object measured by the multi-line laser 2 under a laser coordinate system can be converted into a vehicle body coordinate system, so that the functions of obstacle avoidance, collision avoidance and the like are realized.
The data of the three groups M and M' can be obtained by measuring three non-collinearly arranged first reflectors 4, or by measuring one first reflector 4 at three non-collinearly positions. The coordinates of the same group M and M' are in one-to-one correspondence, namely, the measurement results placed in the same geographic position. Similarly, the data of the three groups N and N 'can be obtained by measuring three second reflectors 5 placed in different collinearity, or by measuring one second reflector 5 at three different collinearity positions, and the coordinates of the same group N and N' are in one-to-one correspondence, that is, the measurement results placed at the same geographic position. The second reflector 5 is detachably arranged on the automatic transport vehicle 1, so that the coordinates of the second reflector 5 obtained through the vehicle data of the automatic transport vehicle 1 under the vehicle body coordinate system are more accurate, extra repeated measurement is not needed, and the calibration time is shortened. The second reflector 5 is arranged on the side face of the body of the automatic transport vehicle 1, is not easy to be shielded, and the total station 3 can measure a plurality of second reflectors 5 at the same position, so that the calibration time is shortened. When the total station 3 cannot complete the coordinate measurement of at least three groups of the first reflector 4 and the second reflector 5 at one time at one position, the measurement can be completed by adopting a station-shifting measurement mode.
The laser calibration system of the automatic transport vehicle provided by the invention has the advantages that required calibration equipment is simple and easy to obtain, the laser calibration of the automatic transport vehicle of the aviation container can be simply and quickly completed by adopting the multi-line laser, the laser calibration system can be used for factory calibration of the automatic transport vehicle and calibration in the using process, the calibration time is shortened, the vehicle does not need to be moved in the calibration process, and the calibration precision is improved by taking a total station coordinate system as an intermediate coordinate system.
Optionally, the multi-line laser 2 is a 16-line laser. 16 line laser instrument can send 16 laser simultaneously, adjusts to two bundles at least laser irradiation more easily on first reflector panel 4 for the position of placing of first reflector panel 4 is more nimble, reduces the time of adjusting first reflector panel 4 position of placing, thereby has shortened calibration time.
Optionally, the distance between the first reflector 4 and the multi-line laser 2 is less than or equal to 100 cm. As shown in fig. 1, L is a distance between one of the first reflective sheets 4 and the multi-line laser 2 being calibrated, and L is less than or equal to 100cm, and similarly, distances between the other first reflective sheets 4 and the multi-line laser 2 are also less than or equal to 100 cm. With the increase of the distance L between the first reflector 4 and the multi-line laser, the actual distance between each light spot in one laser beam is increased according to the light transmission principle of the total station 3. The distance L between the first reflector 4 and the multi-line laser 2 which is being calibrated is controlled to be less than or equal to 100cm, so that at least two beams of laser can be effectively guaranteed to be irradiated on the first reflector 4, and the distance between every two light spots irradiated on the first reflector 4 in 360-degree measurement can be guaranteed to be smaller, so that the coordinate of the boundary point is more accurate, the coordinate measurement of the circle center under a laser coordinate system is more accurate, and the calibration precision is further improved.
As shown in fig. 1, optionally, the number of the first reflective sheets 4 is not less than three.
In the calibration process, at least three sets of coordinate data of the first reflectors 4 are needed, so that when the number of the first reflectors 4 is not less than three, the measurement can be completed by one-time placement without repeatedly moving the positions of the reflectors, and the calibration time can be further shortened. Further alternatively, the number of the first reflectors 4 may be five, any three of which are not collinear, and the five first reflectors 4 may further improve the accuracy of the calibration. Optionally, the first reflector 4 is a circular reflector with a radius of 25cm, and the first reflector with the size is convenient to place, so that the calibration time is shortened, the first reflector is easy to store and obtain, and the production cost is saved.
As shown in fig. 1, optionally, the second reflector 5 is a square reflector, the number of the second reflectors 5 is not less than three, and the second reflectors 5 are respectively disposed at the centers of the front axle and the rear axle at two sides of the automatic transport vehicle 1.
The second reflector 5 can be set as a square reflector, on one hand, the reflector is convenient to distinguish from the first reflector 4, and is more convenient in the using process, so that the calibration time is reduced. On the other hand, when the coordinate data of the square reflector under the vehicle body coordinate system and the total station coordinate system are determined, the method is more convenient and faster, and the calibration time is shortened. The at least three second light-reflecting pieces 5 are detachably arranged at the centers of the front axle and the rear axle on the two sides of the automatic transport vehicle 1, so that the placing points can be found more easily, the automatic transport vehicle 1 can be placed at one time to complete measurement, the coordinate data of the automatic transport vehicle under the vehicle body coordinate system can be determined through vehicle data such as the wheelbase, the axle width and the tire radius, the calibration time is shortened, and the calibration precision is improved. Further optionally, the number of the square light-reflecting sheets 5 is four, and the four square light-reflecting sheets are symmetrically arranged at the centers of the front axle and the rear axle on two sides of the automatic transport vehicle 1, so that the calibration precision is further improved. Optionally, the second reflector 5 is a square reflector with a width of 2cm, and the second reflector 5 with the size is convenient to mount and dismount, so that the calibration time is shortened, the calibration error is reduced, and the calibration precision is improved.
As shown in fig. 1, the number of the multi-line lasers 2 is optionally two, and the two lasers are respectively arranged at the front end and the rear end of the automatic transport vehicle 1 along the diagonal direction of the automatic transport vehicle. The quantity is two and can guarantee the perception and keep away the barrier, the realization of anticollision protect function. Especially, in some embodiments, when the automatic transport vehicle 1 is designed to be capable of running in two directions, the two multi-line lasers 2 are installed diagonally, which is beneficial to ensuring that the automatic transport vehicle 1 can effectively avoid obstacles in the two-direction running process. In the calibration process, the two lasers need to be calibrated respectively, so that the calibration accuracy is ensured. When necessary, the total station 3 can adopt a station-shifting measurement mode to carry out measurement, so that the calibration precision is improved.
The embodiment of the invention also discloses a laser calibration method of the automatic transport vehicle, the calibration system comprises the automatic transport vehicle 1, a total station 3, a first reflector 4 and a second reflector 5, the automatic transport vehicle 1 is provided with the multi-line laser 2, the first reflector 4 is a circular reflector, and the calibration method comprises the following steps: placing a first reflector 4 in front of the multi-line laser 2, and detachably arranging a second reflector 5 on the side surface of the automatic transport vehicle 1; respectively measuring coordinate data of at least three groups of first reflectors 4 at non-collinear positions in a laser coordinate system and a total station coordinate system by using a multi-line laser 2 and the total station 3; measuring coordinate data of at least three groups of second reflectors 5 at non-collinear positions in a total station coordinate system by using the total station 3; obtaining coordinate data of at least three groups of second reflectors 5 at non-collinear positions under a vehicle body coordinate system of the automatic transport vehicle 1 according to vehicle parameters of the automatic transport vehicle 1; and obtaining a conversion relation between the vehicle body coordinate system and the laser coordinate system.
The calibration process can be performed according to the foregoing, wherein the specific sequence of the coordinate measurement is not limited in the present invention, as long as coordinate data of at least three groups of first reflectors 4 in the laser coordinate system and the total station coordinate system, respectively, and coordinate data of at least three groups of second reflectors 5 in the total station coordinate system and the vehicle body coordinate system, respectively, can be obtained. Similarly, the calculation sequence is not limited. For example, the total station 3 may be used to measure the first reflector 4 and the second reflector 5 to obtain M and N, and then the multi-line laser 2 may be used to measure the first reflector 4 to obtain M ', only data is recorded during the process, no calculation is performed, and after all the M, M ' and N data are obtained, calculation is performed in combination with N '. Or the total station 3 and the multi-line laser 2 may be used to measure the first reflector 4 to obtain M and M ', and the total station 3 is used to measure the second reflector 5 to obtain N, and in the process, only data is recorded without calculation, and after all M, M ' and N data are obtained, calculation is performed by combining N '. And calculating after at least three groups of M and M 'are obtained through measurement to obtain the conversion relation between the laser coordinate system and the total station coordinate system, then measuring N, and combining N' to obtain the conversion relation between the total station coordinate system and the vehicle body coordinate system. Alternatively, as shown in fig. 3, when the multi-line laser 2 and the total station 3 are used to measure the coordinate data of the first reflectors 4 at least three non-collinear positions in the laser coordinate system and the total station coordinate system, the total station 3 is used to measure the coordinate data of the second reflectors 5 at least three other non-collinear positions in the total station coordinate system, the vehicle parameters of the automatic transport vehicle 1 are used to obtain the coordinate data of the second reflectors 5 at least three other non-collinear positions in the vehicle coordinate system of the automatic transport vehicle 1, and finally the conversion relationship between the vehicle coordinate system and the laser coordinate system is obtained through calculation, the measurement order and convenience are facilitated, and the calibration time is shortened.
According to the laser calibration method for the automatic transport vehicle, disclosed by the invention, the laser of the automatic transport vehicle of the aviation container can be calibrated simply, quickly and accurately by adopting the multi-line laser, so that the laser can be used for factory calibration of the automatic transport vehicle and calibration in the using process, the calibration method is simple and easy to operate, the calibration time is shortened, the vehicle does not need to be moved in the calibration process, and the calibration accuracy is improved by taking a total station coordinate system as an intermediate coordinate system.
Alternatively, in the step of placing the first reflector 4 in front of the multi-line laser 2 and detachably disposing the second reflector 5 on the side of the automatic transportation vehicle 1, the steps include: adjusting the position of the first reflector 4 to ensure that at least two beams of laser emitted by the multi-line laser 2 are arranged on the first reflector 4; the second reflector 5 is placed at the center of the two sides of the front and rear axles of the automatic transport vehicle 1.
During the calibration process, at least three sets of coordinate data of the first retroreflective sheet 4 and three sets of coordinate data of the second retroreflective sheet 5 are required. In the process of acquiring the coordinate data of the group of first reflectors 4 in the laser coordinate system, the reflectors need to be adjusted to enable at least two beams of laser to irradiate the first reflectors 4, and the center coordinates of the corresponding first reflectors 4 are acquired by combining the principle that three points determine the center of a circle, so that the coordinate data of the first reflectors 4 in the laser coordinate system are represented. When the first reflector 4 is placed, the multi-line laser 2 is opened, and the position of the first reflector 4 is adjusted to enable at least two beams of laser emitted by the multi-line laser 2 on the first reflector 4, so that the time required by subsequent measurement can be reduced, and the calibration time is shortened. With second reflector panel 5 detachably set up in the front and back axle center of automatic transport vechicle 1 both sides, it is also more accurate to be convenient for confirm its coordinate data under the automobile body coordinate system through vehicle data such as the wheel base of automatic transport vechicle 1, axle width, tire radius, shortens the time of demarcation, improves the precision of demarcation, can dismantle corresponding second reflector panel 5 after the completion of demarcation, conveniently carries out the demarcation next time.
Optionally, the number of the first reflectors 4 is at least three, and the step of measuring coordinate data of the first reflectors 4 at least three groups of non-collinear positions in the laser coordinate system and the total station coordinate system by using the multi-line laser 2 and the total station 3 respectively includes: finding out coordinates of at least three boundary points of one first reflector 4 according to the intensity of the reflected light of the first reflector 4 obtained by the multi-line laser 2, determining the coordinate of the circle center of the first reflector 4 according to the coordinates of the boundary points, and measuring the coordinates of a plurality of arbitrary three non-collinear first reflectors 4 according to the steps to obtain coordinate data of at least three groups of first reflectors 4 in a laser coordinate system; and measuring the first reflector 4 with the total station 3, which has measured the coordinate data in the laser coordinate system, in situ to obtain the coordinate data of at least three groups of first reflectors 4 in the total station coordinate system at the same position.
When the number of the first reflectors 4 is not less than three, the measurement of three groups of data can be completed by one-time placement, the positions of the reflectors do not need to be moved repeatedly, the calibration time is shortened, and the calibration precision is improved. The measurement of all the first reflectors 4 in the laser coordinate system is completed firstly, and then the measurement of all the first reflectors 4 in the total station coordinate system is performed, so that the orderliness and convenience in the measurement process are facilitated. Further alternatively, five first reflectors 4 may be disposed, wherein any three of the first reflectors 4 are not collinear, and the five first reflectors 4 may further improve the calibration accuracy. Further optionally, the number of the second reflectors 5 is four, the second reflectors 5 are symmetrically arranged at the centers of the front axle and the rear axle on two sides of the automatic transport vehicle 1, the calibration precision is further improved, the second reflectors 5 can be set to be square reflectors, on one hand, the second reflectors are convenient to distinguish from the first reflectors 4, the use is more convenient, and the calibration time is shortened. On the other hand, when the coordinate data of the square reflector under the vehicle body coordinate system and the total station coordinate system are determined, the method is more convenient and fast, and the calibration time is shortened.
Optionally, the step of obtaining the conversion relationship between the vehicle body coordinate system and the laser coordinate system includes obtaining a rotation matrix a and a translation matrix α between the total station coordinate system and the laser coordinate system according to the coordinate data of the first reflector 4 in the laser coordinate system and the coordinate data in the total station coordinate system, obtaining a rotation matrix B and a translation matrix β between the total station coordinate system and the vehicle body coordinate system according to the coordinate data of the second reflector 5 in the total station coordinate system and the coordinate data in the vehicle body coordinate system, and obtaining a rotation matrix BA and a translation matrix B α + β between the vehicle body coordinate system and the laser coordinate system by combining the rotation matrix a, the translation matrix α, the rotation matrix B and the translation matrix β.
The total station coordinate system is used as the intermediate coordinate system to obtain the conversion relation between the laser coordinate system and the vehicle body coordinate system, so that the problem of large error caused by direct measurement calibration can be solved, the problems of time and labor waste in traditional calibration can be solved, the automatic transport vehicle does not need to be moved, the calibration time is shortened, and the calibration precision is improved. The data are measured and recorded firstly, and then unified calculation is carried out, so that the calibration time is favorably shortened.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A laser calibration system of an automatic transport vehicle is characterized by comprising:
the automatic transport vehicle is provided with a multi-line laser;
the first reflector is a circular reflector and is placed in front of the multi-line laser;
the second light reflecting sheet is detachably arranged on the side surface of the automatic transport vehicle;
a total station placed at a location where coordinate measurements can be made of the first and/or second reflectors.
2. The calibration system of claim 1, wherein the multi-line laser is a 16-line laser.
3. The calibration system of claim 2, wherein the first reflector is located at a distance of 100cm or less from the multi-line laser.
4. The calibration system as recited in claim 1, wherein the number of said first reflectors is not less than three.
5. The calibration system according to claim 1, wherein the second reflector is a square reflector, the number of the second reflectors is not less than three, and the second reflectors are detachably disposed at the centers of the front axle and the rear axle on both sides of the automatic transportation vehicle.
6. The calibration system as claimed in claim 1, wherein the number of the multi-line lasers is two, and the two multi-line lasers are respectively disposed at the front end and the rear end of the automatic transportation vehicle along the diagonal direction of the automatic transportation vehicle.
7. The laser calibration method of the automatic transport vehicle is characterized in that a calibration system comprises the automatic transport vehicle, a total station, a first reflector and a second reflector, the automatic transport vehicle is provided with a multi-line laser, the first reflector is a circular reflector, and the calibration method comprises the following steps:
placing the first reflector in front of the multi-line laser, and detachably arranging the second reflector on the side surface of the automatic transport vehicle;
respectively measuring coordinate data of the first reflectors at least three groups of non-collinear positions under a laser coordinate system and a total station coordinate system by using the multi-line laser and the total station;
measuring coordinate data of the second reflector at least three other sets of non-collinear positions in the total station coordinate system using the total station;
obtaining coordinate data of the second reflectors at the at least three other groups of non-collinear positions in a body coordinate system of the automatic transport vehicle according to vehicle parameters of the automatic transport vehicle;
and obtaining a conversion relation between the vehicle body coordinate system and the laser coordinate system.
8. A calibration method according to claim 7, wherein the step of placing the first reflector in front of the multi-line laser and detachably placing the second reflector on the side of the automatic transportation vehicle comprises:
adjusting the position of the first reflector to make at least two beams of laser emitted by the multi-line laser on the first reflector;
and placing the second light reflecting sheets at the centers of two sides of a front axle and a rear axle of the automatic transport vehicle.
9. The calibration method according to claim 8, wherein said first reflectors are at least three, and the step of measuring the coordinate data of said first reflectors at least three sets of non-collinear positions in the laser coordinate system and the total station coordinate system using said multi-line laser and said total station, respectively, comprises:
finding out coordinates of at least three boundary points of the first reflector according to the intensity of the reflected light of the first reflector obtained by the multi-line laser, determining coordinates of the circle center of the first reflector according to the coordinates of the boundary points, and obtaining coordinate data of at least three groups of first reflectors in the laser coordinate system;
measuring the first light reflecting sheet with the measured coordinate data in the laser coordinate system in situ by using the total station to obtain at least three sets of coordinate data of the first light reflecting sheet in the total station coordinate system at the same position.
10. The calibration method according to claim 7, wherein the step of obtaining a transformation relationship between the vehicle body coordinate system and the laser coordinate system comprises:
obtaining a rotation matrix a and a translation matrix α between the total station coordinate system and the laser coordinate system according to the coordinate data of the first reflector in the laser coordinate system and the coordinate data in the total station coordinate system;
obtaining a rotation matrix B and a translation matrix β between the total station coordinate system and the vehicle body coordinate system according to the coordinate data of the second reflector in the total station coordinate system and the coordinate data in the vehicle body coordinate system;
and obtaining a rotation matrix and a translation matrix between the vehicle body coordinate system and the laser coordinate system by combining the rotation matrix A, the translation matrix α, the rotation matrix B and the translation matrix β.
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