CN114056823A - Device and method for identifying goods position of stacker based on vision - Google Patents
Device and method for identifying goods position of stacker based on vision Download PDFInfo
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- CN114056823A CN114056823A CN202111184240.8A CN202111184240A CN114056823A CN 114056823 A CN114056823 A CN 114056823A CN 202111184240 A CN202111184240 A CN 202111184240A CN 114056823 A CN114056823 A CN 114056823A
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- stacker
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a device for identifying the goods position of a stacker based on vision, which comprises: the device comprises a recognition part, a support part and an adjustment part, wherein the recognition part comprises an intelligent camera and a camera base; the supporting part comprises a guide rail, a vertical sliding block, a connecting piece and an upright post; the adjusting part comprises a first clamping plate and a second clamping plate, and the first clamping plate is connected with the second clamping plate; the device is matched with a fork of a stacker, a mathematical model is established for a goods shelf of the stacker, the actual coordinate position of the stacker is compared with the theoretical position of the goods shelf, a relational expression is established, and the actual position of a tray is calculated by combining errors generated by comparison of photos by an intelligent camera; the invention can measure the stacker stereoscopic warehouse efficiently and accurately.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a device and a method for identifying a goods position of a stacker based on vision.
Background
With the continuous and rapid development of economy in China, the scale of industries such as industry, logistics, retail, e-commerce and the like is continuously enlarged. The stacker is used as a main component of an intelligent stereoscopic warehouse, the market development of the stacker is continuously good, and the stacker is mainly used for running back and forth in a channel of the stereoscopic warehouse and storing goods positioned at a road junction into a goods grid of a goods shelf or taking out goods in the goods grid and conveying the goods to the road junction. To increase efficiency, the cargo space needs to be monitored in real time.
The position measurement of the storage goods position of the existing three-dimensional storage mainly comprises manual measurement, photoelectric measurement and industrial intelligent camera matched positioning hole measurement; the manual measurement workload is large, the precision is not guaranteed, and the risk is large; the photoelectric measurement range is small, and the device has certain limitation and cannot identify all goods shelves; the industrial intelligent camera has large measuring workload and higher cost.
Therefore, it is necessary to design a device and a method for identifying the cargo space of a stacker based on vision to solve the above problems.
Disclosure of Invention
Therefore, the invention aims to solve the technical problems of safety risk, long construction period, large error, high cost and the like in the process of measuring the cargo space of the stacker in the prior art.
In order to solve the technical problem, the invention provides a device for identifying the goods position of a stacker based on vision, which comprises:
the identification part comprises an intelligent camera and a camera base, and the intelligent camera is connected with the camera base;
the supporting part, the supporting part includes connecting piece, horizontal slider, guide rail, perpendicular slider and perpendicular stand, camera base swing joint be in on the connecting piece, the connecting piece slides along the extending direction of guide rail through horizontal slider, the guide rail sets up on perpendicular slider, perpendicular slider is followed the extending direction of perpendicular stand slides.
The adjusting part comprises a sleeve for supporting the vertical upright post and a clamping base clamped on the fork.
In one embodiment of the invention, a connecting hole and an annular hole for adjusting the angle are arranged at the position where the camera base is matched with the connecting piece.
In one embodiment of the invention, the clamping base comprises a first clamping plate and a second clamping plate, and a through hole for adjustment is arranged between the first clamping plate and the second clamping plate.
In one embodiment of the present invention, a handle is disposed through the second clamping base, and a top plate is disposed at one end of the handle.
In one embodiment of the invention, the top of the horizontal sliding block is provided with a knurled screw for fixing.
A device for identifying the goods position of a stacker based on vision also comprises a goods shelf; the goods shelf comprises a cross beam, a pillar and a tray; the intersection point of the cross beam and the support column is a column point; the method for visually identifying the goods space of the stacker comprises the following steps:
(1) establishing a mathematical structure model of the goods shelf, and establishing a corresponding relation between the column point coordinates and the actual coordinates;
(2) calibrating the offset of the goods shelf mathematical model and the stacker coordinate, and establishing a calculation relation between the goods shelf coordinate and the stacker coordinate;
(3) the goods shelf is provided with goods shelf characteristic points, the intelligent camera is adjusted and calibrated, the stacker is adjusted to adjacent coordinates and the characteristic points are identified, and the intelligent camera compares and records the deviation;
(4) repeating the step (3) to identify and record all column point deviations;
(5) and calculating the coordinates of the tray according to the width of the tray, the height of the cross beam, the distance between the trays and the width of the upright column and the actual coordinates of the column points.
In one embodiment of the invention, the establishment of the mathematical structural model of the pallet requires the following steps: firstly, establishing a mathematical coordinate system, namely an X axis and a Y axis, wherein the coordinate of the X axis is a column, the coordinate of the Y axis is a beam, and the focal point coordinates P (X, Y) of the X axis and the Y axis are column point coordinates; the actual positions of the pole points are mapped to mathematical coordinates.
In one embodiment of the present invention, the actual coordinates of the stacker coordinates are established by the following steps: firstly, adjusting the center of the fork to be consistent with the center of the upright post corresponding to the post point P, adjusting the fork to move to the position of the tray, recording the current coordinate O of the stacker, and finally establishing the relationship between the actual coordinate system M of the stacker and the coordinates of the goods shelf.
In one embodiment of the present invention, the step of shelf characteristic point deviation recording: and adjusting the position of the current stacker coordinate O, wherein the intelligent camera can identify the center of the feature point of the goods shelf, comparing the center with the center of the feature point of the picture calibrated at the initial position, calculating and recording the deviation Dis, and repeating the steps to record the deviations of all the column points in the set Q.
In one embodiment of the present invention, the tray coordinate determining step: the width W1 of the tray, the height H of the cross beam, the distance D between the trays and the width W2 of the upright posts are fixed values, and the position coordinates of the tray are calculated according to a formula by combining the actual coordinates of two adjacent post points; the position of the tray is in front of the two upright posts, and if only one tray can be placed between the two upright posts through calculation, the position of the tray is in the centers of the two upright posts.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the invention relates to a device and a method for identifying a goods position of a stacker based on vision, which can reduce the safety risk of measuring personnel in the process of measuring the goods position of the stacker; the measurement efficiency of the stacker of the stereoscopic warehouse is improved; the measurement accuracy of the stacker of the stereoscopic warehouse is improved.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a left side view of the structure of the present invention;
FIG. 3 is a schematic view of the shelf structure of the present invention;
FIG. 4 is a diagram of a mathematical model of the present invention;
FIG. 5 is a partial schematic view of a pallet of the present invention;
the specification reference numbers indicate: 1. a smart camera; 2. a camera mount; 3. a connecting member; 4. a horizontal slider; 5. a guide rail; 6. a vertical slider; 7. a column; 8. a sleeve; 9. a first clamping plate; 10. a second clamping plate; 11. a handle; 12. a topsheet; 13. a cross beam; 14. a pillar; 15. a tray.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1, the structure of the present invention is schematically illustrated, and the structure includes: the device comprises a recognition part, a support part and an adjustment part, wherein the recognition part comprises an intelligent camera 1 and a camera base 2, and the intelligent camera 1 is connected with the camera base 2; the supporting part includes connecting piece 3, horizontal slider 4, guide rail 5, perpendicular slider 6 and perpendicular stand 7, camera base 2 swing joint be in on the connecting piece 3, connecting piece 3 slides along the extending direction of guide rail 5 through horizontal slider 4, and guide rail 5 sets up on perpendicular slider 6, and perpendicular slider 6 slides along the extending direction of perpendicular stand 7. The adjusting part comprises a sleeve 8 for supporting the vertical upright post 7 and a clamping base clamped on the fork.
It can be seen that the intelligent camera 1 is connected with the horizontal sliding block 4 through the connecting piece 3, can move on the guide rail 5, and adjusts the horizontal position of the intelligent camera 1; one end of the guide rail 5 is connected with a vertical sliding block 6 to control the position adjustment of the intelligent camera 1 in the vertical direction; the smart camera 1 can be positioned accurately in horizontal and vertical positions, and the bottom can be flexibly matched with the fork.
Specifically, camera base 2 and 3 cooperation departments of connecting piece are provided with the connecting hole and are used for angle regulation's annular hole, set up two sets of holes, and wherein the connecting hole is with both pivotal connection, and the annular hole is used for intelligent camera 1's fine setting, and is preferred, adopts butterfly nut to connect and lock, conveniently dismantles and fixes.
Specifically, the clamping base comprises a first clamping plate 9 and a second clamping plate 10, a through hole for adjustment is formed between the first clamping plate 9 and the second clamping plate 10, the clamping base is composed of two parts, and the clamping base is bent at the joint and fixed through bolt connection, so that on one hand, the rigidity of the whole clamping base is improved, and meanwhile, the adjustable range of the clamping base is enlarged.
Specifically, a handle 11 is arranged on the second clamping base in a penetrating mode, a top plate 12 is arranged at one end of the handle 11, and the top plate 12 is additionally arranged at one end of the handle 11, so that the adjusting base can be fixed with the fork more stably.
Specifically, the top of the horizontal sliding block 4 is provided with a knurled screw for fixing, and the knurled screw can control the movement between the horizontal sliding block 4 and the guide rail 5 to fix the horizontal sliding block 4 at a proper position.
Further, the detection method matched with the method specifically comprises the following steps:
a device for identifying the goods position of a stacker based on vision also comprises a goods shelf; wherein the pallet comprises a beam 13, a pillar 14 and a tray 15; the intersection point of the beam 13 and the pillar 14 is a pillar point; the method for visually identifying the goods space of the stacker comprises the following steps:
(1) establishing a mathematical structure model of the goods shelf, and establishing a corresponding relation between the coordinates of the column points and the actual coordinates; as shown in fig. 3, the establishment of the mathematical structural model of the shelf requires the following steps: firstly, establishing a mathematical coordinate system, namely an X axis and a Y axis, wherein the coordinate of the X axis is the upright post 7, the coordinate of the Y axis is the cross beam 13, and the focal point coordinate P (X, Y) of the X axis and the Y axis is the post point coordinate; corresponding the actual position of the column point to the mathematical coordinate; specifically, the actual coordinate value [0, 916] corresponding to P (0,0) and the actual coordinate value [11220, 7666] corresponding to P (5, 3) are described in the embodiments.
(2) Calibrating the offset of a goods shelf mathematical model and a stacker coordinate, and establishing a calculation relation between the goods shelf coordinate and the stacker coordinate; the actual coordinates of the stacker coordinates are established by the following steps: firstly, adjusting the center of a fork to be consistent with the center of an upright post 7 corresponding to a post point P, adjusting the fork to move to the position of a tray 15, recording the current coordinate O of the stacker, and finally establishing the relation between the actual coordinate system M of the stacker and the coordinates of a goods shelf; specifically embodied by the embodiment, the current stacker coordinate O (OffsetX, OffsetY), where OffsetX is the horizontal distance of the stacker walking, and OffsetY is the stacker lifting distance, can obtain a relational expression between the shelf coordinate and the stacker coordinate, and for the point P (0,0), that is:
P(0,0).x＝M(0,0)x+OffsetX P(0,0).y＝M(0,0).y+offsetY
(3) the goods shelf is provided with goods shelf characteristic points, the intelligent camera 1 is adjusted, the goods shelf characteristic points are calibrated, the stacker is adjusted to adjacent coordinates, the characteristic points are identified, and the intelligent camera 1 compares and records deviation; as shown in fig. 5, in the position of the current stacker coordinate O, the intelligent camera 1 is adjusted to identify the feature point center of the shelf, compare the feature point center with the picture feature point center calibrated at the initial position, calculate the deviation Dis and record, repeat the steps, record the deviations of all the column points in the set Q, and for the stereoscopic warehouse, the stereoscopic warehouse may settle to different degrees, so there may be a deviation between the coordinates of each column point.
(4) Repeating the step (3) to identify and record all column point deviations; measuring and recording the deviation of all the column points; error information for each bin in the set Q, i.e.
Q(m,n).x＝Dis.x Q(m,n).y＝Dis.y
(5) According to the width of the tray 15, the height of the cross beam 13, the distance between the trays 15 and the width of the strut 14, which are known fixed values, the coordinates of the tray 15 can be calculated by combining the actual coordinates of the column points; the width W1 of the tray 15, the height H of the cross beam 13, the distance D between the trays 15 and the width W2 of the upright post 7 are fixed values, and the position coordinates of the tray 15 are calculated according to a formula by combining the actual coordinates of two adjacent post points; the position of the tray 15 is in front of the two upright posts 7, and if only one tray 15 can be placed at the distance between the two upright posts 7 through calculation, the position of the tray 15 is in the centers of the two upright posts 7; from the above known data, in combination with the measured data, the precise coordinates of the tray 15 can be derived, for the first tray 15 to the right of P (0,0), i.e.:
starting point P1
P1.x＝P(0,0).x–OffsetX+Q(0,0).x
P1.y＝P(0,0).y–OffsetY+Q(0,0).y
Starting point P2
P2.x＝P(0,1).x–OffsetX+Q(0,1).x
P2.y＝P(0,1).y–OffsetY+Q(0,1).y
Calculations have found that the distance between two uprights 7 cannot accommodate 2 trays 15,
(P2.x–P1.x–W2)/(W1+D/2)<2
the position of the tray 15 is the center point of the 2 columns 7, and the coordinates of the first tray 15 are:
Position.x＝(P2.x–P1.x)/2
Position.y＝(P2.y–P1.y)/2
for two trays 15 on one shelf, the coordinates for the two trays 15 to the right of the column point P (1,0), as shown in fig. 3, are calculated from the following formula:
starting point P1
P1.x＝P(1,0).x–OffsetX+Q(1,0).x
P1.y＝P(1,0).y–OffsetY+Q(1,0).y
Starting point P2
P2.x＝P(2,0).x–OffsetX+Q(2,0).x
P2.y＝P(2,0).y–OffsetY+Q(2,0).y
Calculations have found that the distance between two uprights 7 cannot accommodate 2 trays 15,
2<(P2.x–P1.x–W2)/(W1+D/2)<3
the position of the tray 15 is the center point of the 2 columns 7, and the coordinates of the 1 st tray 15 are:
M.x＝(P2.x–P1.x)/2
M.y＝(P2.y–P1.y)/2
Position.x＝M.x–D/2–W1/2
Position.y＝M.y
the coordinates of the 2 nd tray 15 are:
Position.x＝M.x+D/2+W1/2
Position.y＝M.y
in summary, the intelligent camera 1 is combined with the stacker, and the intelligent camera 1 device is connected with a fork of the stacker for measurement; establishing a mathematical model for a goods shelf of the stacker, establishing a relational expression by comparing the actual coordinate position of the stacker with the theoretical position of the goods shelf, and calculating the actual position of the tray 15 by combining errors generated by comparing photos of the intelligent camera 1; the invention can measure the stacker stereoscopic warehouse efficiently and accurately.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A device for identifying the goods position of a stacker based on vision is matched with a fork of the stacker; it is characterized by comprising:
the identification part comprises an intelligent camera and a camera base, and the intelligent camera is connected with the camera base;
the supporting part, the supporting part includes connecting piece, horizontal slider, guide rail, perpendicular slider and perpendicular stand, camera base swing joint be in on the connecting piece, the connecting piece slides along the extending direction of guide rail through horizontal slider, the guide rail sets up on perpendicular slider, perpendicular slider is followed the extending direction of perpendicular stand slides.
The adjusting part comprises a sleeve for supporting the vertical upright post and a clamping base clamped on the fork.
2. The stacker cargo space visual identification-based apparatus according to claim 1, wherein: the camera base is provided with a connecting hole and an annular hole for adjusting the angle at the matching position of the connecting piece.
3. The stacker cargo space visual identification-based apparatus according to claim 1, wherein: the clamping base comprises a first clamping plate and a second clamping plate, and a through hole for adjustment is formed between the first clamping plate and the second clamping plate.
4. The stacker cargo space visual identification-based apparatus according to claim 3, wherein: a handle is arranged on the second clamping base in a penetrating mode, and a top plate is arranged at one end of the handle.
5. The stacker cargo space visual identification-based apparatus according to claim 1, wherein: and a knurled screw for fixing is arranged at the top of the horizontal sliding block.
6. A method for visually identifying the goods position of a stacker is characterized by comprising the device for visually identifying the goods position of the stacker according to any one of claims 1 to 5 and a goods shelf; the goods shelf comprises a cross beam, a pillar and a tray; the intersection point of the cross beam and the support column is a column point; the method for visually identifying the goods space of the stacker comprises the following steps:
(1) establishing a mathematical structure model of the goods shelf, and establishing a corresponding relation between the column point coordinates and the actual coordinates;
(2) calibrating the offset of the goods shelf mathematical model and the stacker coordinate, and establishing a calculation relation between the goods shelf coordinate and the stacker coordinate;
(3) the goods shelf is provided with goods shelf characteristic points, the intelligent camera is adjusted and calibrated, the stacker is adjusted to adjacent coordinates and the characteristic points are identified, and the intelligent camera compares and records the deviation;
(4) repeating the step (3) to identify and record all column point deviations;
(5) and calculating the coordinates of the tray according to the width of the tray, the height of the cross beam, the distance between the trays and the width of the upright column and the actual coordinates of the column points.
7. The method of identifying a stacker cargo space of claim 6 wherein: the establishment of the goods shelf mathematical structure model requires the following steps: firstly, establishing a mathematical coordinate system, namely an X axis and a Y axis, wherein the coordinate of the X axis is a column, the coordinate of the Y axis is a beam, and the focal point coordinates P (X, Y) of the X axis and the Y axis are column point coordinates; the actual positions of the pole points are mapped to mathematical coordinates.
8. The method of identifying a stacker cargo space of claim 6 wherein: the actual coordinates of the stacker coordinates are established by the following steps: firstly, adjusting the center of the fork to be consistent with the center of the upright post corresponding to the post point P, adjusting the fork to move to the position of the tray, recording the current coordinate O of the stacker, and finally establishing the relationship between the actual coordinate system M of the stacker and the coordinates of the goods shelf.
9. The method of identifying a stacker cargo space of claim 6 wherein: the step of the shelf characteristic point deviation recording: and adjusting the position of the current stacker coordinate O, wherein the intelligent camera can identify the center of the feature point of the goods shelf, comparing the center with the center of the feature point of the picture calibrated at the initial position, calculating and recording the deviation Dis, and repeating the steps to record the deviations of all the column points in the set Q.
10. The method of identifying a stacker cargo space of claim 6 wherein: the step of tray coordinate determination: the width W1 of the tray, the height H of the cross beam, the distance D between the trays and the width W2 of the upright posts are fixed values, and the position coordinates of the tray are calculated according to a formula by combining the actual coordinates of two adjacent post points; the position of the tray is in front of the two upright posts, and if only one tray can be placed at the distance between the two upright posts through calculation, the position of the tray is at the central points of the two upright posts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111184240.8A CN114056823A (en) | 2021-10-08 | 2021-10-08 | Device and method for identifying goods position of stacker based on vision |
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| CN202111184240.8A CN114056823A (en) | 2021-10-08 | 2021-10-08 | Device and method for identifying goods position of stacker based on vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117125391A (en) * | 2023-09-27 | 2023-11-28 | 无锡中鼎集成技术有限公司 | Visual-based stereoscopic warehouse position data measurement system and method |
| CN117302836A (en) * | 2023-11-01 | 2023-12-29 | 广州云印信息科技有限公司 | Drug vending channel adjusting device and adjusting method |
-
2021
- 2021-10-08 CN CN202111184240.8A patent/CN114056823A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117125391A (en) * | 2023-09-27 | 2023-11-28 | 无锡中鼎集成技术有限公司 | Visual-based stereoscopic warehouse position data measurement system and method |
| CN117125391B (en) * | 2023-09-27 | 2024-05-14 | 无锡中鼎集成技术有限公司 | Visual-based stereoscopic warehouse position data measurement system and method |
| CN117302836A (en) * | 2023-11-01 | 2023-12-29 | 广州云印信息科技有限公司 | Drug vending channel adjusting device and adjusting method |
| CN117302836B (en) * | 2023-11-01 | 2024-03-22 | 广州云印信息科技有限公司 | Drug vending channel adjusting device and adjusting method |
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Application publication date: 20220218 |