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发明授权
CN108773796B 一种叉车上任意两点坐标系的标定方法 有权

一种叉车上任意两点坐标系的标定方法
摘要：
本发明公开了一种叉车上任意两点坐标系的标定方法，其包括以下步骤：在叉车上取任意两点I和H，并建立该两点的坐标系OI‑xyz和OH‑xyz；在叉车的顶部安装一个激光传感器；建立叉车所在仓库的世界坐标系Ow‑xyz和激光传感器坐标系ON‑xyz；由世界坐标系与激光传感器坐标系转换方程：W·WTN＝N，求得世界坐标系与激光传感器坐标系的转换矩阵WTN；获得I点坐标系与激光传感器坐标系的转换矩阵NTI；取H点坐标系下的一点P，记录P在H点坐标系下的坐标为HP，在世界坐标系下的坐标为WP；将WTN、NTI、HP和WP代入到式(1)中得到叉车任意两点I和H坐标系之间转换矩阵ITH。本发明提高了信标坐标测量速度，避免了手工测量的误差，可得到智能叉车坐标系之间精准的转换关系。
摘要（英）：

The invention discloses a calibration method for coordinate systems of either points on a fork lift truck. The calibration method includes the following steps: selecting two either points I and H on the fork lift truck, and establishing the coordinate systems O and O of the two points; installing a laser sensor on the top of the fork lift truck; establishing a world coordinate systemO of a warehouse where the fork lift truck is located, and a laser sensor coordinate system O; obtaining a transfer matrix T from a transfer equation: W*T=N of the world coordinate system and the laser sensor coordinate system; obtaining a transfer matrix T of the I point coordinate system and the laser sensor coordinate system; selecting a point P in the H point coordinate system, recording a coordinate of P in the H point coordinate system as H

and the coordinate in the world coordinate system as W

; and substituting the T, the T, the H

and the W

into the equation (1) to obtain a transfer matrix T between the coordinate systems of the two either points I and H of the fork lift truck. According to the calibration method, coordinate measurement speed of a beacon is improved, an error of manual measurement is avoided, and a precise conversion relation between the coordinate systems of an intelligent fork lift truck can be obtained.

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