CN115267795A - Method, device and system for detecting stack deviation of storage material - Google Patents

Abstract

The invention discloses a method, a device and a system for detecting deviation of a warehouse material stack, wherein the method comprises the steps of obtaining scanning data of each surface scanning unit; judging whether the scanning data has abnormal data or not to obtain a judgment result; if the judgment result is yes, executing a first processing flow; and if the judgment result is negative, executing a second processing flow. According to the method, the device and the system for detecting the deviation of the warehouse material stack, the detection surface is scanned through the surface scanning unit, whether the side part of the stack is interfered with the scanning surface is judged by judging whether abnormal data exist in the scanning data, the deviation conditions of all materials forming the stack can be checked at one time, the detection efficiency is high, and the adaptability is high.

Description

Method, device and system for detecting stacking deviation of storage material stacks

Technical Field

The invention relates to the technical field of deviation detection, in particular to a method, a device and a system for detecting deviation of a warehouse material stack.

Background

In the storage transportation process, often need transport after piling up storage material (workbin etc.), the pile up neatly operation generally by no matter arm pile up neatly or artifical transport pile up neatly, all inevitable can produce pile up neatly positional deviation, if discovery in time, probably lead to the operation in-process pile up neatly to collapse, the goods drops and hinders people's risk, consequently is necessary to carry out deviation detection to the pile up neatly after the pile up neatly.

In the prior art, patent CN210376689U discloses a detection device for detecting deviation information of a structural member of a goods shelf, which performs point detection through a laser to detect whether the goods shelf has a large deviation or not, and timely finds the overturning risk of the goods shelf. The technology of this scheme is applied to the words in the pile detection, through some detection mode, detects not comprehensive enough, can't get rid of the risk of other positions.

Patent CN216189289U discloses an jam-proof laser positioning hacking machine, it removes big frame and lift pile up neatly layer surface and all is equipped with the lidar more than two, at the pile up neatly in-process, the relative position of laser through lidar transmission at the flying distance calculation in space and target sign, the error of skidding and slip cause has been avoided, harmonic interference also is avoided, the device is great to pile up neatly device's structural constraint, pile up the process to ordinary pile up neatly machine people and be difficult to detect, the suitability is poor, and this scheme is whether the sign indicating number of article is put well through the mode determination article of range finding definite position, detection efficiency is low.

Patent CN209416286U determines the height of the stack of objects to be stacked by combining the photoelectric switch and the reflection plate, so that the determined height of the stack of objects to be stacked is more accurate, the scheme is still a point detection mode, the detection is not comprehensive, and the purpose is to make the stack height more accurate.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a method, a device and a system for detecting the stack deviation of the storage material, which can comprehensively detect the deviation of the side part of the stack and have good universality.

The technical scheme is as follows: to achieve the above object, the present invention provides a method for detecting deviation of a stack of stored goods, the method comprising:

acquiring scanning data of each surface scanning unit; wherein the number of face scanning units is plural, one for each side of the detected pile; in this step, generally, the number of the lateral portions of the detected pile is four, that is, the lateral portions correspond to four surface scanning units, the detection surface of each surface scanning unit is a vertical plane, a containing well for containing the pile is formed between the four detection surfaces corresponding to the four surface scanning units, and the detected pile is placed in the containing well during detection.

Judging whether the scanning data has abnormal data or not to obtain a judgment result;

if the judgment result is yes, executing a first processing flow;

and if the judgment result is negative, executing a second processing flow.

Further, before acquiring the scan data of each area scan unit, the method further includes:

obtaining the theoretical size of the detected pile;

determining the target position of each surface scanning unit according to the theoretical size;

and driving the adjusting units corresponding to the surface scanning units to operate so that the surface scanning units reach the target positions.

Further, the determining the target position of each of the area scanning units according to the theoretical size includes:

calculating the position of the detection surface corresponding to each side part according to the theoretical size and the maximum allowable deviation value;

and calculating the position of the surface scanning unit according to the position of the detection surface.

Further, before acquiring the scan data of each area scan unit, the method further includes:

dispatching a carrying device to carry the detected stack to a detection point;

correspondingly, the executing the second processing flow comprises:

a scheduling carriage carries the detected pile out of the detection point and to a target location.

Further, the determining whether the scan data has abnormal data includes:

and judging whether each distance value contained in the scanning data falls into a preset value range, if so, indicating that the scanning data has abnormal data. The method comprises the steps that after a surface scanning unit finishes scanning a detection surface for one period, a dot matrix data sequence is obtained, each data in the dot matrix data sequence is a distance value corresponding to a specific angle, a numerical range corresponding to each specific angle is prestored in a memory of a control system, the control system judges whether each distance value in the dot matrix data sequence falls in the corresponding numerical range, if yes, the distance value is indicated to be abnormal data, and if only one piece of abnormal data exists, the side part of a pile and the detection surface are interfered, and the pile stacking does not meet requirements.

Further, the executing the first processing flow specifically includes:

and outputting prompt information to a person. Here, the content of the prompt information to be manually output includes event information, which is the deviation out of range, a side orientation of the abnormal position, which represents that the side of the pile is abnormal, specific coordinates of the abnormal position, which represents a detailed position where the side of the pile interferes with the detection surface, and the like. In addition, the system can visually output prompt information through a visual interface, and can visually mark the abnormal position in the pile image so as to facilitate manual processing.

Further, the executing the first processing flow specifically includes:

and outputting the task information to the processing device. Here, the processing device is a palletizing device such as a palletizing robot, and the task information includes a side direction of the abnormal position, a specific coordinate of the abnormal position, and the like.

A deviation detecting device is piled to storehouse material buttress, it includes:

the data acquisition module is used for acquiring the scanning data of each surface scanning unit; wherein the number of face scanning units is plural, one for each side of the detected pile; generally, the number of the lateral parts of the detected pile is four, namely corresponding to four surface scanning units, the detection surface of each surface scanning unit is a vertical plane, an accommodating well for accommodating the pile is formed between four detection surfaces corresponding to the four surface scanning units, and the detected pile is arranged in the accommodating well during detection.

The judging module is used for judging whether the scanning data has abnormal data or not to obtain a judging result;

the first execution module is used for executing a first processing flow when the judgment result is yes;

and the second execution module is used for executing a second processing flow when the judgment result is negative.

A warehouse material pile deviation detection system comprises a surface scanning unit, an adjusting unit and the warehouse material pile deviation detection device;

the number of the surface scanning units is equal to that of the side parts of the detected piles, and the surface scanning units and the side parts of the detected piles are arranged in a one-to-one correspondence manner; each of the surface scanning units corresponds to one of the adjusting units for adjusting the position thereof.

Further, still include carrying device.

Has the beneficial effects that: according to the method, the device and the system for detecting the deviation of the warehouse material stack, the detection surface is scanned through the surface scanning unit, whether the side part of the stack is interfered with the scanning surface is judged by judging whether abnormal data exist in the scanning data, the deviation conditions of all materials forming the stack can be checked at one time, the detection efficiency is high, and the adaptability is high.

Drawings

FIG. 1 is a schematic diagram of a warehouse material pile deviation detection system;

FIG. 2 is a block diagram of a warehouse material pile deviation detection system;

FIG. 3 is a schematic flow chart of a method for detecting deviation of a warehouse material pile;

FIG. 4 is a schematic diagram of the construction of the device for detecting the deviation of the warehouse material pile.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The method for detecting the deviation of the warehouse material pile is based on a warehouse material pile deviation detection system as shown in figure 1, and the system comprises a detection device A, a carrying device B and a control system for implementing the method for detecting the deviation of the warehouse material pile.

As shown in fig. 2, the detection device a comprises a surface scanning unit a01 and an adjusting unit a02, the number of the surface scanning units a01 is equal to the number of the side portions of the pile to be detected, and the surface scanning units a01 and the adjusting unit a02 are arranged in a one-to-one correspondence manner; each of the area scanning units a01 corresponds to an adjustment unit a02 for adjusting the position thereof. The surface scanning unit a01 can emit detection light (which may be visible light or invisible light) and receive reflected light of the detection light reflected by an external object, and the light emitting unit of the surface scanning unit a01 can rotate to scan the whole detection surface. Preferably, the surface scanning unit a01 is a laser radar, and the adjusting unit a02 is a linear module.

The carrying device B is used for carrying the stacked pallet from a stacking position to a detection point, the surface scanning unit A01 and the adjusting unit A02 of the detection device A are arranged above the detection point, and the carrying device B can be in the form of a carrying robot, a traction robot and the like. The graphic representation is a transfer robot, the transfer robot transfers the pallet through the transport frame C, the transfer robot moves in a two-dimensional code navigation mode, two-dimensional codes are arranged on the ground of the stacking position and the detection point, and a camera arranged downwards is mounted on the transfer robot.

In the actual operation process, the scheduling carrying device B moves to the stacking position in a two-dimensional code navigation mode and adjusts the posture of the carrying device B according to the position of the two-dimensional code in the image acquired by the camera. There may be two situations in the above process, the first: the carrying device B can carry the empty transport rack C to a stacking position to receive stacking (a stacking robot at the stacking position places the pallet and warehouse logistics on the transport rack C); and the second method comprises the following steps: the transport frame C is originally placed at the stacking position, the pallet is arranged on the transport frame C, the stacked stack is loaded on the pallet, and the transport frame C at the stacking position is jacked up after the carrying device B moves to the stacking position. And then, the dispatching and carrying device B carries the transport rack C with the pile to move to a detection point in a two-dimensional code navigation mode, the position is determined through the two-dimensional code of the detection point, and the posture of the carrying device B is adjusted by means of the position of the two-dimensional code in an image acquired by a camera. After the detection is finished, if the detection is qualified, the dispatching and carrying device B leaves the detection point and goes to the target position in a two-dimensional code navigation mode, and the pallet fork on the transport frame C is taken down through the forklift at the target position.

The plane scanning unit a01, the adjusting unit a02 and the carrying device B are all communicatively connected to a control system, where the control system is a general term and may include a plurality of core units such as processors and memories, each processor may execute its own task and the processors may communicate with each other, and in the above system, the control system may include a scheduling center for scheduling the carrying device B to operate and a control module connected to the plane scanning unit a01 and the adjusting unit a02, and the scheduling center and the control module may communicate with each other.

Based on the above detection system, as shown in fig. 3, the method for detecting the deviation of the warehouse material pile of the invention comprises the following steps S101-S104:

step S101, acquiring the scanning data of each surface scanning unit A01; the number of the surface scanning units A01 is multiple, and the surface scanning units A01 are respectively used for scanning each side part of the detected pile;

in this step, generally, the number of the lateral portions of the detected pile is four, that is, the lateral portions correspond to four face scanning units a01, the detection faces of each face scanning unit a01 are vertical planes, an accommodating well for accommodating the pile is formed between the four detection faces corresponding to the four face scanning units a01, and the detected pile is placed in the accommodating well during detection. If the pile is laid, there is a gap between each side of the pile and the detection surface corresponding to that side.

Step S102, judging whether the scanning data has abnormal data or not to obtain a judgment result;

in this step, it is determined whether or not there is abnormal data, that is, whether or not each side of the pile interferes with the detection surface of the surface scanning unit a01 at the corresponding position, and if interference occurs, the material in the pile is blocked by the detection light emitted from the surface scanning unit a01, that is, abnormal data is generated.

Step S103, when the judgment result is yes, executing a first processing flow;

in this step, the first processing flow may be a flow of outputting information or instructions to a human or processing device. If the prompt information is manually output, the content of the output prompt information comprises event information, the side position of the abnormal position, specific coordinates of the abnormal position and the like, the event information is that the deviation exceeds the range, the side position of the abnormal position represents that the side of the pile is abnormal, and the specific coordinates of the abnormal position represent the detailed position of the side of the pile interfering with the detection surface. In addition, the system can visually output prompt information through a visual interface, and can visually mark the abnormal position in the stack image so as to facilitate manual processing. If the task information is output to processing devices such as the stacking robot and the like, the task information comprises the side position of the abnormal position, the specific coordinate of the abnormal position and the like, and the subsequent scheduling stacking robot partially unstacks the materials forming the stack according to the abnormal position and re-stacks the materials.

And step S104, when the judgment result is negative, executing a second processing flow.

In this step, since the detected pile is moved into and out of the detection point by the carrying device B, the method further includes, before the step S101, the steps of: scheduling a carrying device B to carry the detected stack to a detection point; correspondingly, the second processing flow specifically includes: and dispatching the carrying device B to carry the detected stack out of the detection point and to the target position.

In the above steps S101-S104, the plurality of surface scanning units a01 simultaneously scan the detection surfaces, so that the detection of the side portions of the pile can be performed simultaneously, the detection can be performed comprehensively, and the occurrence of situations such as troublesome deviation of the pile or inclination of the pile can be effectively prevented.

Since the warehouse materials have different dimensions when entering or exiting the warehouse, the dimensions of the stacked piles are different, and therefore, the following steps S201 to S203 are preferably included before the scanning data of each surface scanning unit a01 is acquired in step S101:

step S201, acquiring the theoretical size of the detected pile; the theoretical size is input manually in advance, or is calculated in advance by the control system and stored in the memory, or can be inquired or called from other systems.

Step S202, determining the target position of each surface scanning unit A01 according to the theoretical size;

in step S203, the adjustment unit a02 corresponding to each of the surface scanning units a01 is driven to operate so that each of the surface scanning units a01 reaches a target position.

In the above steps S201 to S203, the position of the surface scanning unit a01 is adjusted by controlling the adjustment unit a02 according to the theoretical size, so that the detection system can effectively adapt to piles of different sizes and specifications, and has strong adaptability.

The step S202 of determining the target position of each of the area scanning units a01 according to the theoretical size includes the following steps S301 to S302:

step S301, calculating the position of the detection surface corresponding to each side part according to the theoretical size and the maximum allowable deviation value;

step S302 calculates the position of the surface scanning unit a01 based on the position of the detection surface.

Steps S301 to S302 are to move the side surface of the ideal pile outward by the maximum allowable deviation value to obtain a detection surface based on the theoretical size, and then determine the position of the surface scanning unit a01 according to the detection surface.

Preferably, the step S103 of determining whether the scan data has abnormal data includes: and judging whether each distance value contained in the scanning data falls into a preset value range, if so, indicating that the scanning data has abnormal data. After the surface scanning unit A01 finishes one period of scanning on the detection surface, a dot matrix data sequence is obtained, each data in the dot matrix data sequence is a distance value corresponding to a specific angle, a numerical range corresponding to each specific angle is prestored in a memory of a control system, the control system judges whether each distance value in the dot matrix data sequence falls in the corresponding numerical range, if yes, the distance value is abnormal data, and if only one abnormal data exists, the interference phenomenon exists between the side part of the pile and the detection surface, and the pile stacking does not meet the requirement.

In addition, since the carrying device B inevitably has a position deviation when the palletizing position and the detection point are positioned and stopped, in order to avoid the position deviation of the carrying device B stopped from subsequently affecting the detection of the stack, the step S101 further includes the following steps S401 to S402:

step S401, after the carrying device B stops at the stacking position, calculating a first stop deviation of the carrying device B relative to the stacking position according to an image which is obtained by a camera on the carrying device B and contains a two-dimensional code;

step S402, after the carrier B stops at the detection point, calculating a second stop deviation of the carrier B relative to the detection point according to an image which is obtained by a camera on the carrier B and contains the two-dimensional code;

step S403, obtaining a total parking deviation according to the first parking deviation and the second parking deviation, calculating a position compensation value corresponding to each surface detection unit according to the total parking deviation, and driving each adjusting unit to operate according to the position compensation value to correct the position of each surface detection unit.

Through the steps, before each pile is detected, the position of the opposite detection unit is supplemented and corrected once according to the actual situation, and the error detection caused by the position deviation of the stop of the carrying device B can be effectively avoided.

The present invention also provides a deviation detecting apparatus 500 (hereinafter, referred to as a deviation detecting apparatus 500), wherein the deviation detecting apparatus 500 may include or be divided into one or more program modules, and the one or more program modules are stored in a storage medium and executed by one or more processors, so as to accomplish the present invention and realize the deviation detecting apparatus 500. The program modules referred to in the embodiments of the present invention refer to a series of computer program instruction segments capable of performing specific functions, and are more suitable than the program itself for describing the execution process of the deviation detecting apparatus 500 in the storage medium. The following description will specifically describe the functions of each program module of the present embodiment, as shown in fig. 4, which includes:

a data obtaining module 501, configured to obtain scan data of each area scanning unit a 01; the number of the surface scanning units A01 is multiple, and the surface scanning units A01 are respectively used for scanning each side part of the detected pile;

a determining module 502, configured to determine whether the scan data has abnormal data, so as to obtain a determination result;

a first executing module 503, configured to execute a first processing flow when the determination result is yes;

a second executing module 504, configured to execute a second processing procedure when the determination result is negative.

Other contents for implementing the method for detecting the deviation of the warehouse material pile based on the deviation detecting device 500 are described in detail in the previous embodiment, and reference may be made to the corresponding contents in the previous embodiment, which is not described herein again.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (10)

1. A method of detecting stack deflection in a stack of stored material, the method comprising:

acquiring scanning data of each surface scanning unit; wherein the number of the surface scanning units is a plurality, and the surface scanning units are respectively used for scanning each side part of the detected pile;

judging whether the scanning data has abnormal data or not to obtain a judgment result;

if the judgment result is yes, executing a first processing flow;

and if the judgment result is negative, executing a second processing flow.

2. The method of detecting variance in a warehouse material stack according to claim 1, wherein prior to obtaining the scan data for each area scan unit, further comprising:

acquiring the theoretical size of the detected pile;

determining the target position of each surface scanning unit according to the theoretical size;

and driving the adjusting units corresponding to the surface scanning units to operate so that the surface scanning units reach the target positions.

3. The method of detecting variance in a warehouse material stack according to claim 2, wherein the determining a target position of each of the face scanning units according to the theoretical size comprises:

calculating the position of the detection surface corresponding to each side part according to the theoretical size and the maximum allowable deviation value;

and calculating the position of the surface scanning unit according to the position of the detection surface.

4. The method of detecting a variance in a warehouse material pile of claim 1, wherein prior to obtaining the scan data for each of the face scan units, further comprising:

dispatching a carrying device to carry the detected stack to a detection point;

correspondingly, the executing the second processing flow comprises:

and dispatching a carrying device to carry the detected stack out of the detection point and to a target position.

5. The method of detecting variance in a warehouse material pile according to claim 1, wherein determining whether the scan data has anomalous data comprises:

and judging whether each distance value contained in the scanning data falls into a preset value range, if so, indicating that the scanning data has abnormal data.

6. The method for detecting the warehouse material pile deviation according to claim 1, wherein the executing of the first processing flow specifically comprises:

and outputting prompt information to a person.

7. The method for detecting the warehouse material pile deviation as claimed in claim 6, wherein the executing of the first processing flow specifically comprises:

the task information is output to the processing device.

8. The utility model provides a deviation detection device is piled to storehouse material buttress which characterized in that, it includes:

the data acquisition module is used for acquiring the scanning data of each surface scanning unit; wherein the number of face scanning units is plural, one for each side of the detected pile;

the judging module is used for judging whether the scanning data has abnormal data or not to obtain a judging result;

the first execution module is used for executing a first processing flow when the judgment result is yes;

and the second execution module is used for executing a second processing flow when the judgment result is negative.

9. A system for detecting the deviation of a warehouse material stack, which is characterized by comprising a surface scanning unit, an adjusting unit and the warehouse material stack deviation detecting device of claim 8;

the number of the surface scanning units is equal to that of the side parts of the detected piles, and the surface scanning units and the side parts of the detected piles are arranged in a one-to-one correspondence manner; each of the surface scanning units corresponds to one of the adjusting units for adjusting the position thereof.

10. The bin stack deviation detection system of claim 9, further comprising a carrier.

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