CN112525125A - Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) - Google Patents
Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) Download PDFInfo
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- CN112525125A CN112525125A CN202011431874.4A CN202011431874A CN112525125A CN 112525125 A CN112525125 A CN 112525125A CN 202011431874 A CN202011431874 A CN 202011431874A CN 112525125 A CN112525125 A CN 112525125A
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
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Abstract
The invention discloses a method, a device and equipment for AGV consistency calibration, wherein the method comprises the following steps: acquiring coordinates of the root of the pallet fork; converting the coordinates of the roots of the forks into coordinates taking the moving center of the AGV car as the origin of a coordinate system; calculating the offset of the moving center of the AGV relative to the root of the fork; calculating a calibration coordinate of the root of the pallet fork according to the AGV vehicle control point; and calibrating the AGV according to the calibration coordinates. According to the method, only one AGV needs to be calibrated, and a plurality of AGV cars do not need to be calibrated relatively; the calibration process is slightly influenced by manpower, and the precision of the calibration result is high; when an AGV is calibrated, the AGV can be used on any project, and the use environment is not depended. The method can be used for directly calibrating the AGV in a workshop without being calibrated after arriving at the site.
Description
Technical Field
The invention relates to a method, a device and equipment for AGV vehicle consistency calibration, and belongs to the technical field of AGV calibration.
Background
With the gradual change of the working environment of the AGV, the requirement that a plurality of vehicles need to get from and put in the same platform in the same area is met. However, when only one type of vehicle works, the coordinate of the movement center of the AGV when the AGV reaches the platform is recorded when the AGV reaches the platform, and then when the AGV needs to reach the platform, the coordinate is sent to the AGV by the upper computer.
In the prior art, a vehicle is used as a reference, the motion center of the vehicle is used for point acquisition at a platform, the deviation between the other vehicles and the reference vehicle is measured, and the deviation is added during position calculation, namely, all vehicles lean against one vehicle.
However, when a new vehicle needs to be added, the previous method needs to perform accurate measurement on the new vehicle and the reference vehicle, and if the reference vehicles are different in different projects, even the same vehicle needs to be measured again; in addition, the measurement process of the previous method completely depends on manual operation, and accurate data is difficult to acquire.
Disclosure of Invention
In order to solve the problems, the invention provides a method, a device and equipment for calibrating the consistency of an AGV, which are not only slightly influenced by manual work in the calibration process, but also have high accuracy of the calibration result.
The technical scheme adopted for solving the technical problems is as follows:
in a first aspect, an AGV consistency calibration method provided in an embodiment of the present invention includes the following steps:
acquiring coordinates of the root of the pallet fork;
converting the coordinates of the roots of the forks into coordinates taking the moving center of the AGV car as the origin of a coordinate system;
calculating the offset of the moving center of the AGV relative to the root of the fork;
calculating a calibration coordinate of the root of the pallet fork according to the AGV vehicle control point;
and calibrating the AGV according to the calibration coordinates.
As a possible implementation manner of this embodiment, the obtaining coordinates of the root of the fork includes:
two reflecting columns are tightly attached to two sides of the root of the pallet fork by using a fixed support;
and acquiring position data of the two reflecting columns as the coordinates of the root parts of the pallet forks.
As a possible implementation manner of this embodiment, the converting the coordinates of the root of the fork into coordinates with the moving center of the AGV as the origin of the coordinate system includes:
establishing a coordinate system with the AGV vehicle motion center as an original point;
and converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
As a possible implementation manner of this embodiment, the calculating an offset of a center of motion of the AGV with respect to a root of the fork includes:
calculating coordinates (xm, ym) of the midpoint of a coordinate connecting line L of the two reflecting columns;
and taking the vector of the midpoint coordinate in the x-axis direction as the offset distance of the center of the AGV car motion relative to the root of the fork, namely, the distance is equal to xm.
As a possible implementation manner of this embodiment, the calculating calibration coordinates of the fork root according to the AGV control point includes:
and acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
In a second aspect, an apparatus for AGV vehicle consistency calibration according to an embodiment of the present invention includes:
the pallet fork coordinate acquisition module is used for acquiring the coordinates of the root part of the pallet fork;
the coordinate conversion module is used for converting the pallet fork root coordinates into coordinates taking the AGV car motion center as the origin of a coordinate system;
the offset calculation module is used for calculating the offset of the moving center of the AGV relative to the root of the fork;
the calibration coordinate calculation module is used for calculating the calibration coordinate of the pallet fork root according to the AGV car control point;
and the AGV car alignment module is used for aligning the AGV car according to the calibration coordinates.
As a possible implementation manner of this embodiment, the fork coordinate acquiring module includes:
the reflecting column setting module is used for tightly attaching the two reflecting columns to two sides of the root part of the pallet fork by using the fixing support;
and the position acquisition module is used for acquiring position data of the two reflective columns as the coordinates of the root of the pallet fork.
As a possible implementation manner of this embodiment, the coordinate transformation module includes:
the coordinate system establishing module is used for establishing a coordinate system with the AGV vehicle motion center as an origin;
and the position conversion module is used for converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
As a possible implementation manner of this embodiment, the offset calculation module includes:
the midpoint coordinate calculation module is used for calculating midpoint coordinates (xm, ym) of a coordinate connecting line L of the two reflecting columns;
and the offset module is used for taking the vector of the midpoint coordinate in the x-axis direction as the offset distance of the center of the AGV movement relative to the root of the fork, namely distance is xm.
As a possible implementation manner of this embodiment, the calibration coordinate calculation module includes:
and the control point acquisition module is used for acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And the coordinate calculation module is used for calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
In a third aspect, embodiments of the present invention provide a computer device, including a processor, a memory and a bus, where the memory stores machine-readable instructions executable by the processor, and when the apparatus is operating, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any of the methods for AGV vehicle consistency calibration described above.
In a fourth aspect, embodiments of the present invention provide a storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of any of the above-described methods for AGV vehicle consistency calibration.
The technical scheme of the embodiment of the invention has the following beneficial effects:
according to the method, only one AGV needs to be calibrated, and a plurality of AGV cars do not need to be calibrated relatively; the calibration process is slightly influenced by manpower, and the precision of the calibration result is high; when an AGV is calibrated, the AGV can be used on any project, and the use environment is not depended. The method can be used for directly calibrating the AGV in a workshop without being calibrated after arriving at the site.
Description of the drawings:
FIG. 1 is a flow chart illustrating a method for AGV vehicle consistency calibration according to an exemplary embodiment;
FIG. 2 is a block diagram of an AGV consistency calibration apparatus according to an exemplary embodiment;
FIG. 3 is a block diagram illustrating a computer device according to an example embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
The goods of different types of vehicles are taken from the same platform, and the pallets are taken from the same position, but the centers of the vehicles are in different positions because the vehicles of different types have different body structures. However, it is possible to find the point where the different types of vehicles are located in the same position, that is the position of the root of the fork. At the moment, the root parts of the forks of different types of vehicles are the outermost sides of the goods shelves, and the position is not changed, so the invention introduces the offset from the control points to the root parts of the forks and the position coordinates of the root parts of the forks of the vehicles on the basis of the control points of the vehicles. When goods need to be taken, the position of the root of the fork of any one vehicle is used for picking points, and the position of the root of the fork is used by the vehicle to judge whether the terminal point is reached. Therefore, when entering the platform, the control point of the vehicle yield reaches the preset point, and the point of the root of the fork of the vehicle yield reaches the preset point, so that all vehicles can reach the same position when getting goods from the same platform.
FIG. 1 is a flow chart illustrating a method for AGV vehicle consistency calibration according to an exemplary embodiment. As shown in fig. 1, an AGV consistency calibration method provided by an embodiment of the present invention includes the following steps:
acquiring coordinates of the root of the pallet fork;
converting the coordinates of the roots of the forks into coordinates taking the moving center of the AGV car as the origin of a coordinate system;
calculating the offset of the moving center of the AGV relative to the root of the fork;
calculating a calibration coordinate of the root of the pallet fork according to the AGV vehicle control point;
and calibrating the AGV according to the calibration coordinates.
As a possible implementation manner of this embodiment, the obtaining coordinates of the root of the fork includes:
two reflecting columns are tightly attached to two sides of the root of the pallet fork by using a fixed support;
and acquiring position data of the two reflecting columns as the coordinates of the root parts of the pallet forks.
In order to reduce errors caused by manual operation, the invention uses a fixed bracket to calibrate the position of the motion center of the vehicle relative to the root of the fork, sliding columns which can slide left and right and fix two reflecting columns respectively cling to the two sides of the fork at the left and right sides, and the bracket clings to the root of the fork.
As a possible implementation manner of this embodiment, the converting the coordinates of the root of the fork into coordinates with the moving center of the AGV as the origin of the coordinate system includes:
establishing a coordinate system with the AGV vehicle motion center as an original point;
and converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
The coordinates of the reflective columns are converted to coordinates with the center of motion of the vehicle as the origin of the coordinate system, rather than coordinates relative to the laser. Thus, the deviation of the laser connecting line relative to the motion center of the vehicle can be directly calculated.
As a possible implementation manner of this embodiment, the calculating an offset of a center of motion of the AGV with respect to a root of the fork includes:
calculating coordinates (xm, ym) of the midpoint of a coordinate connecting line L of the two reflecting columns;
and taking the vector of the midpoint coordinate in the x-axis direction as the offset distance of the center of the AGV car motion relative to the root of the fork, namely, the distance is equal to xm.
Because the reflective cylinder coordinates have been converted to coordinates relative to the center of motion of the vehicle, theoretically line L should be perpendicular to the positive direction of the vehicle, ym for the midpoint coordinates should be 0, and xm is the offset of the center of motion relative to the fork root. In the actual operation process, the smaller the angle error and the ym error are, the more accurate the result is.
As a possible implementation manner of this embodiment, the calculating calibration coordinates of the fork root according to the AGV control point includes:
and acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
After the offset of the control point of the truck relative to the root of the fork of the truck exists, the coordinate of the control point of the truck can be converted into the coordinate of the root of the fork of the truck. In the specific calculation process, only a vector with an angle of the positive direction of the vehicle body and a length of the calculated deviation value is needed to be added to the control point coordinates (x, y, a).
Let the calculated deviation be distance, and trans _ x and trans _ y be the x and y values of the coordinates of the fork root.
Trans_x＝x+distance*Cos(a)
Trans_y＝Y+distance*Sin(a)
At station pick-up, the pallet fork root coordinates are used. When the upper computer sends a task to the truck, the coordinate of the root of the pallet fork is sent. When the vehicle enters the station, whether the vehicle reaches the destination is judged according to the coordinates of the root of the fork and the coordinates of the server.
As shown in fig. 2, an apparatus for AGV vehicle consistency calibration according to an embodiment of the present invention includes:
the pallet fork coordinate acquisition module is used for acquiring the coordinates of the root part of the pallet fork;
the coordinate conversion module is used for converting the pallet fork root coordinates into coordinates taking the AGV car motion center as the origin of a coordinate system;
the offset calculation module is used for calculating the offset of the moving center of the AGV relative to the root of the fork;
the calibration coordinate calculation module is used for calculating the calibration coordinate of the pallet fork root according to the AGV car control point;
and the AGV car alignment module is used for aligning the AGV car according to the calibration coordinates.
As a possible implementation manner of this embodiment, the fork coordinate acquiring module includes:
the reflecting column setting module is used for tightly attaching the two reflecting columns to two sides of the root part of the pallet fork by using the fixing support;
and the position acquisition module is used for acquiring position data of the two reflective columns as the coordinates of the root of the pallet fork.
As a possible implementation manner of this embodiment, the coordinate transformation module includes:
the coordinate system establishing module is used for establishing a coordinate system with the AGV vehicle motion center as an origin;
and the position conversion module is used for converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
As a possible implementation manner of this embodiment, the offset calculation module includes:
the midpoint coordinate calculation module is used for calculating midpoint coordinates (xm, ym) of a coordinate connecting line L of the two reflecting columns;
and the offset module is used for taking the vector of the midpoint coordinate in the x-axis direction as the offset distance of the center of the AGV movement relative to the root of the fork, namely distance is xm.
As a possible implementation manner of this embodiment, the calibration coordinate calculation module includes:
and the control point acquisition module is used for acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And the coordinate calculation module is used for calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
According to the method, only one AGV needs to be calibrated, and a plurality of AGV cars do not need to be calibrated relatively; the calibration process is slightly influenced by manpower, and the precision of the calibration result is high; when an AGV is calibrated, the AGV can be used on any project, and the use environment is not depended. The method can be used for directly calibrating the AGV in a workshop without being calibrated after arriving at the site.
FIG. 3 is a block diagram illustrating a computer device according to an example embodiment. As shown in fig. 3, an embodiment of the present invention provides a computer device, which includes a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, when the apparatus is operating, the processor and the memory communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of the method for AGV vehicle consistency calibration.
Specifically, the memory and the processor can be general purpose memory and processor, and are not limited thereto, and the AGV vehicle consistency calibration method can be executed when the processor runs a computer program stored in the memory.
The coordinates issued by the computer equipment to different AGV vehicles are the same, but each AGV vehicle calibrates the final coordinate according to the vehicle body structure of the AGV vehicle, so that all AGV vehicles can reach the preset position.
Those skilled in the art will appreciate that the configuration of the computer device shown in fig. 3 does not constitute a limitation of the computer device and may include more or fewer components than shown, or some components may be combined, or some components may be split, or a different arrangement of components.
In some embodiments, the computer device may further include a touch screen operable to display a graphical user interface (e.g., a launch interface for an application) and receive user operations with respect to the graphical user interface (e.g., launch operations with respect to the application). A particular touch screen may include a display panel and a touch panel. The Display panel may be configured in the form of an LCD (Liquid Crystal Display), an OLED (Organic Light-Emitting Diode), and the like. The touch panel may collect contact or non-contact operations on or near the touch panel by a user and generate preset operation instructions, for example, operations of the user on or near the touch panel using any suitable object or accessory such as a finger, a stylus, etc. In addition, the touch panel may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction and gesture of a user, detects signals brought by touch operation and transmits the signals to the touch controller; the touch controller receives touch information from the touch detection device, converts the touch information into information capable of being processed by the processor, sends the information to the processor, and receives and executes commands sent by the processor. In addition, the touch panel may be implemented by various types such as a resistive type, a capacitive type, an infrared ray, a surface acoustic wave, and the like, and may also be implemented by any technology developed in the future. Further, the touch panel may overlay the display panel, a user may operate on or near the touch panel overlaid on the display panel according to a graphical user interface displayed by the display panel, the touch panel detects an operation thereon or nearby and transmits the operation to the processor to determine a user input, and the processor then provides a corresponding visual output on the display panel in response to the user input. In addition, the touch panel and the display panel can be realized as two independent components or can be integrated.
Corresponding to the method for starting the application program, the embodiment of the invention further provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor to execute the steps of the method for calibrating the consistency of any AGV.
The starting device of the application program provided by the embodiment of the application program can be specific hardware on the device or software or firmware installed on the device. The device provided by the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments where no part of the device embodiments is mentioned. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments provided in the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A method for calibrating AGV vehicle consistency is characterized by comprising the following steps:
acquiring coordinates of the root of the pallet fork;
converting the coordinates of the roots of the forks into coordinates taking the moving center of the AGV car as the origin of a coordinate system;
calculating the offset of the moving center of the AGV relative to the root of the fork;
calculating a calibration coordinate of the root of the pallet fork according to the AGV vehicle control point;
and calibrating the AGV according to the calibration coordinates.
2. The AGV vehicle uniformity calibration method of claim 1, wherein said obtaining fork root coordinates includes:
two reflecting columns are tightly attached to two sides of the root of the pallet fork by using a fixed support;
and acquiring position data of the two reflecting columns as the coordinates of the root parts of the pallet forks.
3. The AGV vehicle consistency calibration method of claim 2 wherein said converting the fork root coordinates to coordinates with the center of motion of the AGV vehicle as the origin of the coordinate system comprises:
establishing a coordinate system with the AGV vehicle motion center as an original point;
and converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
4. The AGV consistency calibration method of claim 3 wherein calculating the offset of the center of motion of the AGV relative to the root of the forks comprises:
calculating coordinates (xm, ym) of the midpoint of a coordinate connecting line L of the two reflecting columns;
and taking the vector of the midpoint coordinate in the x-axis direction as the offset distance of the center of the AGV car motion relative to the root of the fork, namely, the distance is equal to xm.
5. The AGV vehicle consistency calibration method of claim 4 wherein said calculating calibrated coordinates for the fork roots from the AGV vehicle control points comprises:
and acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
6. The utility model provides a device of AGV car uniformity calibration which characterized by includes:
the pallet fork coordinate acquisition module is used for acquiring the coordinates of the root part of the pallet fork;
the coordinate conversion module is used for converting the pallet fork root coordinates into coordinates taking the AGV car motion center as the origin of a coordinate system;
the offset calculation module is used for calculating the offset of the moving center of the AGV relative to the root of the fork;
the calibration coordinate calculation module is used for calculating the calibration coordinate of the pallet fork root according to the AGV car control point;
and the AGV car alignment module is used for aligning the AGV car according to the calibration coordinates.
7. The AGV vehicle consistency calibration apparatus of claim 6 wherein said fork coordinate acquisition module comprises:
the reflecting column setting module is used for tightly attaching the two reflecting columns to two sides of the root part of the pallet fork by using the fixing support;
the position acquisition module is used for acquiring position data of the two reflecting columns as pallet fork root coordinates;
the coordinate conversion module includes:
the coordinate system establishing module is used for establishing a coordinate system with the AGV vehicle motion center as an origin;
and the position conversion module is used for converting the positions of the two reflecting columns into coordinates in a coordinate system, wherein the coordinates of the two reflecting columns are (x1, y1) and (x2, y 2).
8. The AGV vehicle consistency calibration apparatus of claim 7, wherein said offset calculation module comprises:
the midpoint coordinate calculation module is used for calculating midpoint coordinates (xm, ym) of a coordinate connecting line L of the two reflecting columns;
the offset module is used for taking a vector of the midpoint coordinate in the x-axis direction as an offset distance of the center of motion of the AGV car relative to the root of the fork, namely distance is xm;
the calibration coordinate calculation module includes:
and the control point acquisition module is used for acquiring control point data (x, y, a) of the AGV, wherein the (x, y) is the positioning coordinate of the control point of the AGV, and the a is the movement angle of the AGV.
And the coordinate calculation module is used for calculating the calibration coordinates (Trans _ x, Trans _ y) of the fork root, wherein Trans _ x is x + distance Cos (a), and Trans _ y is y + distance sin (a).
9. A computer apparatus comprising a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating over said bus when said device is operating, said processor executing said machine readable instructions to perform the steps of the method for AGV vehicle uniformity calibration according to any of claims 1-5.
10. A storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method for AGV vehicle consistency calibration according to any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011431874.4A CN112525125B (en) | 2020-12-07 | 2020-12-07 | Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011431874.4A CN112525125B (en) | 2020-12-07 | 2020-12-07 | Method, device and equipment for calibrating consistency of AGV (automatic guided vehicle) |
Publications (2)
| Publication Number | Publication Date |
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