CN109341582A - Goods and materials outline data acquisition device and method suitable for large scene of storing in a warehouse - Google Patents
Goods and materials outline data acquisition device and method suitable for large scene of storing in a warehouse Download PDFInfo
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- CN109341582A CN109341582A CN201811291732.5A CN201811291732A CN109341582A CN 109341582 A CN109341582 A CN 109341582A CN 201811291732 A CN201811291732 A CN 201811291732A CN 109341582 A CN109341582 A CN 109341582A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to artificial intelligence visual detection and data collecting fields, more particularly relate to the goods and materials outline data acquisition device and method of the large scene that is suitable for storing in a warehouse, pass through the multipoint data in angular range needed for automatic, orientation acquisition, and through effective data verification, to provide reliable data basis for subsequent automatic operation to the related data information of the large scene goods and materials profile of master control upper computer transmission high accuracy, pinpoint accuracy.
Description
Technical field
The present invention relates to large scene storage fields, more particularly to the artificial intelligence field of large scene storage, specifically
Say it is the goods and materials outline data acquisition device and method being related to applied to large scene.
Background technique
" artificial intelligence " is a big and wide in range concept actually as multi-field at present research emphasis and hot spot,
It has the different forms of expression in fact in different fields.
Artificial intelligence machine Visual identification technology replaces human eye to do various measurements and judgement using machine.It is to calculate
One important branch of machine subject, combines the technology of optics, machinery, electronics, computer software and hardware etc., is related to calculating
The multiple fields such as machine, image procossing, pattern-recognition, artificial intelligence, signal processing, optical, mechanical and electronic integration.Image procossing and mode
The fast development of the technologies such as identification, has also greatly pushed the development of machine vision.
Data acquire (DAQ), also known as data acquisition, refer to analog- and digital- tested from sensor and other Devices to test etc.
Automatic collection non electrical quantity or electric quantity signal in unit, are sent in host computer and are analyzed, handled.Data collection system is to combine
Flexible, the customized measurement system of user is realized based on the measurement software and hardware product of computer or other dedicated testing platforms
System.
Industrial automation is realized in storage large scene, especially realizes automation just during the handling goods and materials of storage
It must depend on and transport vehicle sweep and its loaded goods and materials are accurately identified.And to accurately identify transport vehicle sweep and
Its loaded goods and materials just can must precisely obtain the exact outline data of transport vehicle sweep and vehicle-mounted goods and materials first.Only obtain
The outline data of accurate transport vehicle sweep and vehicle-mounted goods and materials just can guarantee going on smoothly for subsequent automated operation.
There has been no the data acquisition technologys for being directed to large scene goods and materials profile in industry at present, while existing outline data is adopted
Collection technology and methods are also not suitable for the goods and materials under storage large scene.Therefore accurately identifying for large scene goods and materials profile is limitation
One of the main problem of goods and materials automation development under storage large scene.
To sum up, finding a kind of reliable large scene goods and materials outline data acquisition technique is current storage large scene and object
Provide urgent problem to be solved in storage process.
Summary of the invention
It is good that the first technical problem to be solved by the present invention is to provide a kind of versatility, and stability is high, high suitable of accuracy
Goods and materials outline data acquisition device for large scene of storing in a warehouse.
Meanwhile it being further based on this device, another technical problem to be solved by this invention is to provide a kind of general
Property it is good, stability is high, the goods and materials outline data acquisition method of the high large scene that is suitable for storing in a warehouse of accuracy.
In order to solve first technical problem to be solved by this invention, the invention discloses one kind to be suitable for big field of storing in a warehouse
The goods and materials outline data acquisition device of scape, the goods and materials outline data acquisition device mainly includes scanning sensor, described to sweep
The lower end that sensor is fixed on sliding bar is retouched, it further includes having that the sliding bar, which is slidably fixed on sliding rail,
Master control upper computer, the master control upper computer receive the signal of communication of sliding bar, and control scanning by way of signal communication and pass
Sensor starts or stops scanning work；It is provided with frequency converter on the sliding bar, and sliding bar walking is realized by frequency converter
The adjustment of speed is provided with invisible scanning region below the sliding rail.
Preferably, the scanning sensor is scanning laser sensor.
As it is another preferably, the sliding rail is arranged in above the symmetry axis in invisible scanning region.
Also, preferably, there are two the invention also discloses the large scene goods and materials outline data acquisition device further including
Running gear, the running gear is parallel to each other, and is each perpendicular to sliding rail, and the both ends of the sliding rail are respectively with can
The form of sliding is stuck in walking track, and is provided with driver at least one walking track.
By the running gear, sliding rail can enter, or far from scanning area.It is also possible to pass through the row
Walking apparatus controls position of the sliding rail above scanning area, to adjust scanning sensor according to different goods and materials states
The position of scanning, and then the accuracy and precision of scanning is improved, shorten data processing time.
Preferably, being provided with driver on two walking tracks.So as to realize the double positioning of double drive.So as to
To effectively reduce the walking error of sliding bar, it is contracted to walking error range within 2cm.
In a preferred technical solution, the communication protocol between the master control upper computer and sliding bar is modbus association
View.
In order to solve second technical problem of the invention, the invention discloses a kind of goods and materials suitable for large scene of storing in a warehouse
Outline data acquisition method, comprising the following steps:
Step 1: goods and materials are parked in invisible scanning region；
Step 2: scanning sensor reaches invisible scanning region origin calibration point under the drive of sliding bar；
Step 3: to terminal along sliding rail uniform motion, scanning sensor is even in sliding bar for Frequency Converter Control sliding bar
Data are constantly acquired during speed movement；Data processing system of the device in scanning sensor rejects data, only
Retain pre-set data of interest and corresponding actual scanning sensor scanning circle numerical value；
Step 4: preset scanning sensor in the actual scanning sensor scanning circle numerical value of acquisition and the system is scanned
Circle number standard value is compared, and error between the two is compared with default acceptable error range in systems,
If preset scanning sensor scanning circle number standard value error is can in actual scanning sensor scanning circle numerical value and the system
Receive in error range, then using corresponding data of interest as effective acquisition data；If actual scanning sensor scans
It encloses preset scanning sensor scanning circle number standard value error in numerical value and the system and exceeds acceptable error range, then it is assumed that its
Corresponding data of interest is invalid data, re-starts scanning, until obtaining effectively acquisition data；
Step 5: scanning sensor returns to invisible scanning region origin under the drive of sliding bar, into waiting scanning next time
The state of task.
Data of interest mentioned here refers in a series of discrete goods and materials section being made of multi-group data
Data packet.
Preferably, every group of data include the distance between scanning sensor and goods and materials in above-mentioned data of interest
The included angle value of value and the corresponding scanning sensor of the distance value and goods and materials this between line and vertical line.
The movement velocity with scanner frequency of sliding bar match in step 3 as a preferred technical solution,.To protect
The data that card scanning obtains are more accurate, accurate.
Further preferred technical solution is that several calibration points are additionally provided on the sliding rail, and the calibration point is set
It sets between origin and terminal.So as to which stroke is subdivided into multiple regions, multiple spot calibration, positioning are carried out to sliding bar.Energy
The precision of each test point coordinate transformation is enough effectively improved, so that scanning acquisition data are more accurate, it is also more accurate.
Using technical solution disclosed in this invention, can high accuracy, pinpoint accuracy automatic collection large scene goods and materials
Outline data, to provide reliable basic data for subsequent automatic operation.
Detailed description of the invention
Fig. 1 is large scene goods and materials outline data acquisition device top view of the present invention.
Fig. 2 is large scene goods and materials outline data acquisition device main view of the present invention.
Fig. 3 is the schematic diagram of scanner part.
Specific embodiment
In order to better understand the present invention, we in conjunction with specific embodiments further explain the present invention below
It states.
How the acquisition of large scene goods and materials outline data is realized to large scene goods and materials profile acquisition technology in the present embodiment
Purpose carries out specific illustration and description.
Embodiment 1
In the present embodiment, by taking a dollie as an example, while scanning sensor is by taking scanning laser sensor as an example.
The goods and materials outline data acquisition device of the large scene that is suitable for storing in a warehouse as shown in figs. 1-3, the goods and materials wheel
Wide data acquisition device mainly includes scanning sensor 1, and the scanning sensor 1 is fixed on the lower end of sliding bar 2, the sliding
Bar 2 is slidably fixed on sliding rail 3, further includes having master control upper computer 4, and the master control upper computer 4, which receives, to be slided
The signal of communication of lever 2, and control scanning sensor 1 by way of signal communication and start or stop scanning work；It is described
It is provided with frequency converter 5 on sliding bar 2, and realizes the adjustment of the sliding bar speed of travel by frequency converter 5, the sliding rail 3
Lower section is provided with invisible scanning region.
As shown in Figure 1, the sliding rail 3 is arranged in above the symmetry axis in invisible scanning region.
The dollie reversing storage of goods and materials is loaded to invisible scanning region, in the present embodiment the invisible scanning region
Width be 10 meters, length be 20 meters (length for depending primarily on dollie).
Master control upper computer issues start command, and transmits a signal to sliding bar by modbus agreement, and sliding bar drives
Scanning laser sensor movement, until stop motion, master control upper computer sends signal after reaching invisible scanning region origin calibration point
To scanning laser sensor, scanning laser sensor enters scanning mode, while master control upper computer is according to scanning laser sensor
Scan frequency, the movement speed for obtaining scanning laser sensor is calculated in system, and the movement speed data are transmitted to
Frequency converter, Frequency Converter Control sliding bar start to scan with movement speed dragging scanning laser sensor along sliding rail, simultaneously
Scanning laser sensor carries out sectoring in the form being repeated cyclically in angle of radiation.It should be noted that in this hair
In bright unless stated otherwise, otherwise general signal transport protocol is ICP/IP protocol.
System oriented acquires range information, angle information and timestamp letter in a series of discrete goods and materials section
Breath, and using the range information of each acquisition position, angle information and timestamp information as one group of data, it is transmitted in master control
Position machine.Simultaneously to guarantee scanning result, that is, the reliability and accuracy of data are acquired, system simultaneously can be by actual scanning sensor
Scanning circle numerical value and scanning sensor preset in the system scanning is enclosed number standard value and is compared, and by error between the two
It is compared with default acceptable error range in systems, if in actual scanning sensor scanning circle numerical value and the system
Preset scanning sensor scanning circle number standard value error then makees corresponding data of interest within the scope of acceptable error
Effectively to acquire data；If preset scanning sensor scanning circle number in actual scanning sensor scanning circle numerical value and the system
Standard value error exceeds acceptable error range, then it is assumed that its corresponding data of interest is invalid data, re-starts and sweeps
It retouches, until obtaining effectively acquisition data.
System can automatically verify acquisition data, and mainly setting scanning sensor scans circle number standard in systems
Value and acceptable error range determine this scan data by comparing the error range of actual scanning result and setting
Whether it is subjected to.
For example, it is assumed that sensor scan frequency is 50HZ, that is to say, that 50 circle of rotation sensor each second can scan 50
The data that row is made of target point data.Simultaneity factor sets the spacing distance between each row of data, for example is set as X centimeters,
The total length of so 50 row data is exactly 50X centimeters, then system can be 50X centimeters/second with the small vehicle speed of adjust automatically to match
Scan frequency.
The current scanning circle number of scanning sensor is obtained in a program, if there is more than 10 rows, then data verification does not conform to for jump
Lattice.That is, if number mark is enclosed in preset scanning sensor scanning in actual scanning sensor scanning circle numerical value and the system
Quasi- value (50 row) error exceeds acceptable error range (10 row), then it is assumed that and its corresponding data of interest is invalid data,
Scanning is re-started, until obtaining effectively acquisition data.
Embodiment 2
In the present embodiment, by taking a dollie as an example, while scanning sensor is by taking scanning laser sensor as an example.
It unlike the first embodiment, in the present embodiment, further include having running gear.As shown in fig. 1, the present invention is public
The large scene goods and materials outline data acquisition device opened further includes there are two running gear 6, and the running gear 6 is parallel to each other, and
And it is each perpendicular to sliding rail 3, the both ends of the sliding rail 3 are stuck in walking track 6 respectively in the form of slidable, and
Driver 7 is provided at least one walking track.
Preferably, being provided with driver 7 on two walking tracks in the present embodiment.
The dollie reversing storage of goods and materials is loaded to invisible scanning region, in the present embodiment the invisible scanning region
Width be 10 meters, length be 20 meters (length for depending primarily on dollie).
By the running gear, sliding rail can enter, or far from scanning area.It is also possible to pass through the row
Walking apparatus controls position of the sliding rail above scanning area, to adjust scanning sensor according to different goods and materials states
The position of scanning, and then the accuracy and precision of scanning is improved, shorten data processing time.
Sliding rail moves under the control of the driver of running gear along running gear, and from far from scanning area
Position steps into scanning area, controls the midline position that the sliding rail is parked in scanning area.
Then master control upper computer issues start command, and transmits a signal to sliding bar, sliding bar by modbus agreement
Scanning laser sensor movement is driven, until stop motion, master control upper computer is sent after reaching invisible scanning region origin calibration point
Signal is to scanning laser sensor, and scanning laser sensor enters scanning mode, while master control upper computer is passed according to laser scanning
The scan frequency of sensor calculates the movement speed for obtaining scanning laser sensor in system, and the movement speed data is passed
Frequency converter is transported to, Frequency Converter Control sliding bar starts to scan with movement speed dragging scanning laser sensor along sliding rail,
Scanning laser sensor carries out sectoring in the form being repeated cyclically in angle of radiation simultaneously.It should be noted that
In the present invention unless stated otherwise, otherwise general signal transport protocol is ICP/IP protocol.
System oriented acquires range information, angle information and timestamp letter in a series of discrete goods and materials section
Breath, and using the range information of each acquisition position, angle information and timestamp information as one group of data, it is transmitted in master control
Position machine.Simultaneously to guarantee scanning result, that is, the reliability and accuracy of data are acquired, system simultaneously can be by actual scanning sensor
Scanning circle numerical value and scanning sensor preset in the system scanning is enclosed number standard value and is compared, and by error between the two
It is compared with default acceptable error range in systems, if in actual scanning sensor scanning circle numerical value and the system
Preset scanning sensor scanning circle number standard value error then makees corresponding data of interest within the scope of acceptable error
Effectively to acquire data；If preset scanning sensor scanning circle number in actual scanning sensor scanning circle numerical value and the system
Standard value error exceeds acceptable error range, then it is assumed that its corresponding data of interest is invalid data, re-starts and sweeps
It retouches, until obtaining effectively acquisition data.
System can automatically verify acquisition data, and mainly setting scanning sensor scans circle number standard in systems
Value and acceptable error range determine this scan data by comparing the error range of actual scanning result and setting
Whether it is subjected to.
For example, it is assumed that sensor scan frequency is 50HZ, that is to say, that 50 circle of rotation sensor each second can scan 50
The data that row is made of target point data.Simultaneity factor sets the spacing distance between each row of data, for example is set as X centimeters,
The total length of so 50 row data is exactly 50X centimeters, then system can be 50X centimeters/second with the small vehicle speed of adjust automatically to match
Scan frequency.
The current scanning circle number of scanning sensor is obtained in a program, if there is more than 10 rows, then data verification does not conform to for jump
Lattice.That is, if number mark is enclosed in preset scanning sensor scanning in actual scanning sensor scanning circle numerical value and the system
Quasi- value (50 row) error exceeds acceptable error range (10 row), then it is assumed that and its corresponding data of interest is invalid data,
Scanning is re-started, until obtaining effectively acquisition data.
The foregoing is a specific embodiment of the present invention.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of goods and materials outline data acquisition device suitable for large scene of storing in a warehouse, it is characterised in that: the goods and materials number of contours
It mainly include scanning sensor according to acquisition device, the scanning sensor is fixed on the lower end of sliding bar, and the sliding bar is with can
The fixed mode of sliding further includes in the sliding track having master control upper computer, and the master control upper computer receives the communication of sliding bar
Signal, and control scanning sensor by way of signal communication and start or stop scanning work；It is arranged on the sliding bar
There is frequency converter, and realizes the adjustment of the sliding bar speed of travel by frequency converter.
2. the goods and materials outline data acquisition device of the large scene according to claim 1 that is suitable for storing in a warehouse, it is characterised in that: institute
Stating scanning sensor is scanning laser sensor.
3. the goods and materials outline data acquisition device of the large scene according to claim 1 that is suitable for storing in a warehouse, it is characterised in that: institute
Sliding rail is stated to be arranged in above the symmetry axis in invisible scanning region.
4. the goods and materials outline data acquisition device of the large scene according to claim 1 that is suitable for storing in a warehouse, it is characterised in that: institute
It states and is provided with several calibration points on sliding rail.
5. the goods and materials outline data acquisition device of the large scene according to claim 1 that is suitable for storing in a warehouse, it is characterised in that: also
Including there are two running gears, the running gear is parallel to each other, and is each perpendicular to sliding rail, and the two of the sliding rail
End is stuck in walking track respectively in the form of slidable, and is provided with driver at least one walking track.
6. the goods and materials outline data acquisition device of the large scene according to claim 5 that is suitable for storing in a warehouse, it is characterised in that: two
Driver is provided on a walking track.
7. a kind of goods and materials outline data acquisition method suitable for large scene of storing in a warehouse, it is characterised in that: the following steps are included:
Step 1: goods and materials are parked in invisible scanning region；
Step 2: scanning sensor reaches invisible scanning region origin under the drive of sliding bar；
Step 3: to terminal along sliding rail uniform motion, scanning sensor is in sliding bar uniform motion for Frequency Converter Control sliding bar
During constantly acquire data；Data processing system of the device in scanning sensor rejects data, only retains pre-
The data of interest being first arranged and corresponding actual scanning sensor scanning circle numerical value；
Step 4: by scanning sensor scanning circle number preset in the actual scanning sensor scanning circle numerical value of acquisition and the system
Standard value is compared, and error between the two is compared with default acceptable error range in systems, if
Preset scanning sensor scanning circle number standard value error is acceptable in actual scanning sensor scanning circle numerical value and the system
In error range, then using corresponding data of interest as effective acquisition data；If actual scanning sensor scanning circle number
Value exceeds acceptable error range with scanning sensor scanning circle number standard value error preset in the system, then it is assumed that it is opposite
The data of interest answered is invalid data, re-starts scanning, until obtaining effectively acquisition data；
Step 5: scanning sensor returns to invisible scanning region origin, into the state for waiting next scan task.
8. the goods and materials outline data acquisition method of the large scene according to claim 7 that is suitable for storing in a warehouse, it is characterised in that: sense
Interesting data refers to the data packet in a series of discrete goods and materials section being made of multi-group data.
9. the goods and materials outline data acquisition method of the large scene according to claim 7 that is suitable for storing in a warehouse, it is characterised in that: sense
Every group of data include that the distance between scanning sensor and goods and materials value and the corresponding scanning of the distance value pass in interesting data
The included angle value of sensor and goods and materials this between line and vertical line.
10. the goods and materials outline data acquisition method of the large scene according to claim 5 that is suitable for storing in a warehouse, it is characterised in that:
The movement velocity with scanner frequency of sliding bar match in step 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291732.5A CN109341582A (en) | 2018-10-31 | 2018-10-31 | Goods and materials outline data acquisition device and method suitable for large scene of storing in a warehouse |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811291732.5A CN109341582A (en) | 2018-10-31 | 2018-10-31 | Goods and materials outline data acquisition device and method suitable for large scene of storing in a warehouse |
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| CN109341582A true CN109341582A (en) | 2019-02-15 |
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| CN201811291732.5A Pending CN109341582A (en) | 2018-10-31 | 2018-10-31 | Goods and materials outline data acquisition device and method suitable for large scene of storing in a warehouse |
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Application publication date: 20190215 |