CN117125391A - Visual-based stereoscopic warehouse position data measurement system and method - Google Patents
Visual-based stereoscopic warehouse position data measurement system and method Download PDFInfo
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- CN117125391A CN117125391A CN202311266968.4A CN202311266968A CN117125391A CN 117125391 A CN117125391 A CN 117125391A CN 202311266968 A CN202311266968 A CN 202311266968A CN 117125391 A CN117125391 A CN 117125391A
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- 239000003550 marker Substances 0.000 claims abstract description 8
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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
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides a vision-based stereoscopic warehouse position data measurement system, which comprises: the visual sensor is arranged on a cargo carrying platform of the stacker facing the goods shelf and is used for measuring X-axis and Y-axis distance data of the visual sensor and a marker on a cargo grid of the goods shelf; the X axis is along the travelling direction of the stacker, and the Y axis is along the lifting direction of the stacker; the walking direction laser range finder is arranged on the stacker and is used for measuring position data of the stacker in the walking direction; the lifting direction laser range finder is arranged on the stacker and used for measuring position data of the stacker in the lifting direction; the controller is arranged on the stacker and used for calculating and storing the accurate positioning library position data corresponding to each goods lattice on the goods shelf; the application also provides a vision-based stereoscopic warehouse position data measurement method; the application can improve the measurement efficiency, reduce the safety risk and reduce the manual work load.
Description
Technical Field
The application relates to the technical field of stereoscopic warehouses, in particular to a vision-based stereoscopic warehouse position data measurement system and method.
Background
The automatic stereoscopic warehouse is a doubling device for improving warehouse efficiency, and the running state of the automatic stereoscopic warehouse directly influences the running efficiency of the whole logistics line. The automatic stereoscopic warehouse mainly comprises a goods shelf, a stacker, a rail and the like; the stacker is a core device of the automatic stereoscopic warehouse, and can receive and execute instructions of an upper computer to store goods into goods shelves or take the goods out of the goods shelves.
For a stacker, it is necessary to store the stock position data of a stereoscopic warehouse so that the stacker can accurately stock or pick up goods.
The library bit data comprises pick-up library bit data and inventory bit data; the stock taking place data comprise the stock place data and the stock taking layer place data of the target stock grid, and the stock taking place data comprise the stock place data and the stock layer place data of the target stock grid; the goods taking layer position of one goods lattice is lower than the goods taking layer position by a fixed value, so that the goods fork in the goods carrying platform of the stacker is lower than the lower surface of the tray, and the tray can be lifted.
Due to factors such as processing errors, installation errors and foundation settlement of the goods shelves, the database data of the PLC or the upper computer which are kept on the stacker is often not matched with the actual database in site, so that the condition that the stacker cannot store and fetch goods from the goods shelves occurs, and even the goods forks are damaged when serious.
At present, whether the automatic stereoscopic warehouse is in the process of installation and debugging or in the process of later maintenance, the warehouse position data is mainly measured and read by means of an operator holding a measuring tool, so that the operator is difficult to avoid working aloft in a narrow space, and the requirements on safe production are high; in addition, as warehouse density increases, hundreds or even thousands of cargo cells exist in a single stereoscopic warehouse, which also presents challenges to the workload of measurement personnel; therefore, the existing database data measurement has the risks of lagging measurement mode, high safety risk, high manual work load and the like.
Disclosure of Invention
In order to solve at least one technical problem in the prior art, the embodiment of the application provides a vision-based stereoscopic warehouse position data measurement system and method, which are used for improving measurement efficiency, reducing safety risk and reducing manual workload. In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a vision-based stereoscopic warehouse location data measurement system, including:
the visual sensor is arranged on a cargo carrying platform of the stacker facing the goods shelf and is used for measuring X-axis and Y-axis distance data of the visual sensor and a marker on a cargo grid of the goods shelf; the X axis is along the travelling direction of the stacker, and the Y axis is along the lifting direction of the stacker;
the walking direction laser range finder is arranged on the stacker and is used for measuring position data of the stacker in the walking direction;
the lifting direction laser range finder is arranged on the stacker and used for measuring position data of the stacker in the lifting direction;
the controller is arranged on the stacker and used for calculating and storing the accurate positioning library position data corresponding to each goods lattice on the goods shelf;
the visual sensor, the walking direction laser range finder and the lifting direction laser range finder are respectively connected with the controller through communication cables;
each goods lattice of the goods shelf is provided with a corresponding identifier.
Further, the vision-based stereoscopic warehouse location data measurement system further comprises:
and the light source is arranged on one side or two sides of the vision sensor and is used for auxiliary illumination.
Further, the controller adopts a PLC.
In a second aspect, an embodiment of the present application provides a vision-based stereoscopic warehouse location data measurement method, which is applicable to the vision-based stereoscopic warehouse location data measurement system as described above, and includes:
step S10, inputting and storing first-column fine positioning column library bit data D1 and first-column first-layer fine positioning layer library bit data D2 of a shelf;
step S20, controlling the stacker to run to a first layer of a first column of the goods shelf based on position data in the walking direction and the lifting direction, which are respectively measured by the walking direction laser range finder and the lifting direction laser range finder;
step S30, when the stacker runs to the first layer of the first column of the goods shelf, acquiring X-axis distance data and Y-axis distance data of the visual sensor and the marker on the goods shelf through the visual sensor, and respectively recording the X-axis distance data and the Y-axis distance data as Xs and Ys;
step S40, starting a column circulation, firstly judging whether the current column base bit data exceeds preset column limit data, and if so, exiting calculation; if not, entering a layer cycle of the current column;
step S401, starting the layer cycle of the current column;
step S402, taking the first-layer fine positioning layer library data D2 of the first column as a reference, controlling the stacker to rise one layer by adding the grid layer spacing data D4 each time, acquiring X-axis distance data and Y-axis distance data of the vision sensor and the markers on each grid through the vision sensor, and respectively recording the X-axis distance data and the Y-axis distance data as X ij And Y ij The method comprises the steps of carrying out a first treatment on the surface of the i is the column number, i is more than or equal to 1; j is the number of layers, j is not less than 2 for the first column, and j is not less than 1 for the second column;
step S403, calculating to obtain the fine positioning column library position data and the fine positioning layer library position data of each goods lattice through formulas (1) and (2), and storing;
(X ij -Xs)+[D1+(i-1)D3](1)
(Y ij -Ys)+[D2+(j-1)D4](2)
wherein D3 is cargo space data;
step S404, judging whether the current layer library bit data exceeds the preset layer limit data, if so, exiting the layer cycle of the current column, and if not, returning to step S402;
step S50, using the first-row fine positioning row library position data D1 as a reference, and controlling the stacker to walk one row every time the cargo space data D3 is added; then calculating the column library bit data of the next column; returning to step S40.
Further, xs and Ys are averaged over a number of measurements.
Further, X ij And Y ij The measurements are averaged over a number of times.
Further, the current layer library bits are calculated by [ D2+ (j-1) D4] or formula (2).
Further, the next column bank data is calculated by [ D1+ (i-1) D3] or formula (1), i is the column number of the next column, and j is 1.
The technical scheme provided by the embodiment of the application has the beneficial effects that: the application provides a vision-based stereoscopic warehouse position data measurement system and a vision-based stereoscopic warehouse position data measurement method. The hand-held measuring tool can replace complicated manual database bits, and has the advantages of advanced measuring mode, small manual work load, high measuring efficiency and high data precision; because automatic measurement is realized, manual measurement is not needed even for high-rise goods shelves, so that high-altitude operation of operators is avoided, and the safety production risk can be greatly reduced; the database data measurement method can also be applied to automatic detection of foundation settlement.
Drawings
Fig. 1 is a schematic structural diagram of a stacker in an embodiment of the present application.
FIG. 2 is a schematic view of a beam pallet in an embodiment of the application.
Fig. 3 is a schematic view of a bracket shelf according to an embodiment of the present application.
FIG. 4 is a flowchart of a method for measuring database bits in an embodiment of the application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In the description of the embodiments of the present application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present application described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, a stacker comprises a cargo table 1, wherein a fork 2 is arranged on the cargo table 1; the forks 2 in fig. 1 are lower than the pallet 3; the stacker is arranged on the track, can walk, and the cargo carrying platform 1 can be lifted on the stacker; the stacker can be arranged between two rows of shelves, and one stacker can be arranged in front of one row of shelves;
the embodiment of the application provides a vision-based stereoscopic warehouse position data measurement system, which comprises the following components:
the visual sensor 4 is arranged on the cargo carrying platform 1 of the stacker facing the goods shelf and is used for measuring X-axis and Y-axis distance data of the markers on the goods shelf and the visual sensor; the X axis is along the travelling direction of the stacker, and the Y axis is along the lifting direction of the stacker;
the walking direction laser range finder is arranged on the stacker and is used for measuring position data of the stacker in the walking direction;
the lifting direction laser range finder is arranged on the stacker and used for measuring position data of the stacker in the lifting direction;
the controller is arranged on the stacker and used for calculating and storing the accurate positioning library position data corresponding to each goods lattice on the goods shelf;
the visual sensor 4, the walking direction laser range finder and the lifting direction laser range finder are respectively connected with the controller through communication cables;
each goods lattice of the goods shelf is provided with a corresponding identifier;
more preferably, the vision-based stereoscopic warehouse location data measurement system further comprises:
a light source installed at one side or both sides of the vision sensor 4 for auxiliary illumination;
specifically, in the present embodiment, the controller employs a PLC;
in this embodiment, a stacker may be disposed between two rows of shelves, and one vision sensor may be disposed on the stacker toward one row of shelves, respectively, and two vision sensors 4 may be disposed in total, as shown in fig. 1;
because the difference between the pick-up bin data and the inventory bin data is only that the pick-up bin data and the inventory bin data differ by a fixed value, and the column bin data of the pick-up bin data and the inventory bin data are identical, for convenience of description, in the following embodiment, the bin data includes the column bin data and the layer bin data of the target cargo grid, wherein the layer bin data can be understood as the pick-up bin data or the inventory bin data, and when one of the two can be determined, the other can also be determined;
the embodiment of the application also provides a vision-based stereoscopic warehouse position data measurement method, which comprises the following steps of:
step S10, inputting and storing first-column fine positioning column library bit data D1 and first-column first-layer fine positioning layer library bit data D2 of a shelf;
d1=2500 mm, d2=600 mm in this example;
d1 and D2 can be measured on site by manual one-time measurement after the shelf is installed;
step S20, controlling the stacker to run to a first layer of a first column of the goods shelf based on position data in the walking direction and the lifting direction, which are respectively measured by the walking direction laser range finder and the lifting direction laser range finder;
when the stacker walks on the track, the walking direction laser range finder and the lifting direction laser range finder can respectively measure the distance to judge whether the stacker runs to a target layer of a target column of the goods shelf or not, and the following steps are the same; here, in the lifting direction, the load table of the stacker is actually lifting, and this is described;
step S30, when the stacker runs to the first layer of the first column of the goods shelf, acquiring X-axis distance data and Y-axis distance data of the visual sensor and the marker on the goods shelf through the visual sensor, and respectively recording the X-axis distance data and the Y-axis distance data as Xs and Ys;
xs and Ys may be averaged over multiple measurements;
figures 2, 3 show schematically the markers 6 on the grid of the shelves 5; for the beam pallet in fig. 2, the marker 6 may be the intersection of a beam with one side of a column; for the bracket shelf of fig. 3, the marker 6 may also be an apex on the bracket;
step S40, starting a column cycle, firstly judging whether the current column database data (D1 is the first column) exceeds preset column limit data, if so, exiting calculation; if not, entering a layer cycle of the current column;
in this embodiment the column limit data is set to 20000mm;
step S401, starting the layer cycle of the current column;
step S402, taking the first-layer fine positioning layer library data D2 of the first column as a reference, controlling the stacker to rise one layer by adding the grid layer spacing data D4 each time, acquiring X-axis distance data and Y-axis distance data of the vision sensor and the markers on each grid through the vision sensor, and respectively recording the X-axis distance data and the Y-axis distance data as X ij And Y ij The method comprises the steps of carrying out a first treatment on the surface of the i is the column number, i is more than or equal to 1; j is the number of layers, j is not less than 2 for the first column, and j is not less than 1 for the second column;
X ij and Y ij The average value can be calculated through multiple measurements;
in the embodiment, the cargo compartment spacing data D4 is only a theoretical value marked on a drawing of a shelf when the shelf leaves the factory, and is set to be 550mm; the actual grid level spacing data may not be consistent with D4 after the shelf is installed;
step S403, calculating to obtain the fine positioning column library position data and the fine positioning layer library position data of each goods lattice through formulas (1) and (2), and storing;
(X ij -Xs)+[D1+(i-1)D3](1)
(Y ij -Ys)+[D2+(j-1)D4](2)
wherein D3 is cargo space data;
in the embodiment, the goods lattice spacing data D3 is only a theoretical value marked on a drawing of a shelf when leaving the factory, and is set to be 750mm; the actual cargo lane spacing data may not be consistent with D3 after the shelf is installed;
step S404, judging whether the current layer library bit data exceeds the preset layer limit data, if so, exiting the layer cycle of the current column, and if not, returning to step S402;
the current layer library bit data can be calculated by [ D2+ (j-1) D4] or formula (2);
the layer limit data in this example was set to 7500mm;
step S50, using the first-row fine positioning row library position data D1 as a reference, and controlling the stacker to walk one row every time the cargo space data D3 is added; then calculating the column library bit data of the next column; returning to step S40;
the column library bits of the next column can be calculated by [ D1+ (i-1) D3] or formula (1), i takes the column number of the next column, j takes 1;
in the application, the fine positioning column library position data and the fine positioning layer library position data of each cargo grid are stored in a PLC of a stacker; after the stacker is installed, the bin position data of each cargo bin can be calibrated through one bin position data measurement, so that the stacker can accurately store and fetch cargoes from the cargo bin.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the examples, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present application without departing from the spirit and scope of the technical solution of the present application, and all such modifications and equivalents are intended to be encompassed in the scope of the claims of the present application.
Claims (8)
1. A vision-based stereoscopic warehouse location data measurement system, comprising:
the visual sensor is arranged on a cargo carrying platform of the stacker facing the goods shelf and is used for measuring X-axis and Y-axis distance data of the visual sensor and a marker on a cargo grid of the goods shelf; the X axis is along the travelling direction of the stacker, and the Y axis is along the lifting direction of the stacker;
the walking direction laser range finder is arranged on the stacker and is used for measuring position data of the stacker in the walking direction;
the lifting direction laser range finder is arranged on the stacker and used for measuring position data of the stacker in the lifting direction;
the controller is arranged on the stacker and used for calculating and storing the accurate positioning library position data corresponding to each goods lattice on the goods shelf;
the visual sensor, the walking direction laser range finder and the lifting direction laser range finder are respectively connected with the controller through communication cables;
each goods lattice of the goods shelf is provided with a corresponding identifier.
2. A vision-based stereoscopic warehouse location data measurement system as claimed in claim 1, further comprising:
and the light source is arranged on one side or two sides of the vision sensor and is used for auxiliary illumination.
3. A vision-based stereoscopic warehouse location data measurement system as claimed in claim 1, wherein,
the controller adopts a PLC.
4. A vision-based stereoscopic warehouse location data measurement method, which is applicable to the vision-based stereoscopic warehouse location data measurement system as claimed in any one of claims 1 to 3, and is characterized by comprising:
step S10, inputting and storing first-column fine positioning column library bit data D1 and first-column first-layer fine positioning layer library bit data D2 of a shelf;
step S20, controlling the stacker to run to a first layer of a first column of the goods shelf based on position data in the walking direction and the lifting direction, which are respectively measured by the walking direction laser range finder and the lifting direction laser range finder;
step S30, when the stacker runs to the first layer of the first column of the goods shelf, acquiring X-axis distance data and Y-axis distance data of the visual sensor and the marker on the goods shelf through the visual sensor, and respectively recording the X-axis distance data and the Y-axis distance data as Xs and Ys;
step S40, starting a column circulation, firstly judging whether the current column base bit data exceeds preset column limit data, and if so, exiting calculation; if not, entering a layer cycle of the current column;
step S401, starting the layer cycle of the current column;
step S402, taking the first-layer fine positioning layer library data D2 of the first column as a reference, controlling the stacker to rise one layer by adding the grid layer spacing data D4 each time, acquiring X-axis distance data and Y-axis distance data of the vision sensor and the markers on each grid through the vision sensor, and respectively recording the X-axis distance data and the Y-axis distance data as X ij And Y ij The method comprises the steps of carrying out a first treatment on the surface of the i is the column number, i is more than or equal to 1; j is the number of layers, j is not less than 2 for the first column, and j is not less than 1 for the second column;
step S403, calculating to obtain the fine positioning column library position data and the fine positioning layer library position data of each goods lattice through formulas (1) and (2), and storing;
(X ij -Xs)+[D1+(i-1)D3](1)
(Y ij -Ys)+[D2+(j-1)D4](2)
wherein D3 is cargo space data;
step S404, judging whether the current layer library bit data exceeds the preset layer limit data, if so, exiting the layer cycle of the current column, and if not, returning to step S402;
step S50, using the first-row fine positioning row library position data D1 as a reference, and controlling the stacker to walk one row every time the cargo space data D3 is added; then calculating the column library bit data of the next column; returning to step S40.
5. A vision-based stereoscopic warehouse location data measurement method as claimed in claim 4, wherein,
xs and Ys are averaged over a number of measurements.
6. A vision-based stereoscopic warehouse location data measurement method as claimed in claim 4, wherein,
X ij and Y ij The measurements are averaged over a number of times.
7. A vision-based stereoscopic warehouse location data measurement method as claimed in claim 4, wherein,
the current layer library bits are calculated by [ D2+ (j-1) D4] or formula (2).
8. A vision-based stereoscopic warehouse location data measurement method as claimed in claim 4, wherein,
the next column bank bit data is calculated by [ D1+ (i-1) D3] or formula (1), i takes the column number of the next column and j takes 1.
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| CN104973540A (en) * | 2015-06-29 | 2015-10-14 | 北京起重运输机械设计研究院 | Railroad aisle stacking crane |
| CN105416963A (en) * | 2015-12-17 | 2016-03-23 | 德阳九鼎智远知识产权运营有限公司 | Automatic stereoscopic warehouse and control system thereof |
| CN109978420A (en) * | 2017-12-27 | 2019-07-05 | 广州智盈网络科技有限公司 | A kind of logistics and distribution management scheduling system |
| CN108609334A (en) * | 2018-05-10 | 2018-10-02 | 西安航天精密机电研究所 | A kind of piler and the piler self-adapting regulation method based on the piler |
| CN112744750A (en) * | 2021-01-19 | 2021-05-04 | 长沙长泰智能装备有限公司 | Automatic addressing device and method for stacker |
| CN113003080A (en) * | 2021-03-11 | 2021-06-22 | 中工美(北京)供应链物流管理有限责任公司 | Device and method for allocating storage positions and scheduling operation in article warehousing management |
| CN114056823A (en) * | 2021-10-08 | 2022-02-18 | 罗伯泰克智能物流科技(苏州)有限公司 | Device and method for identifying goods position of stacker based on vision |
| CN114162507A (en) * | 2021-12-25 | 2022-03-11 | 东杰智能科技集团股份有限公司 | Automatic three-dimensional warehouse stacker and goods grid self-adaptive positioning system and positioning method |
| CN114684522A (en) * | 2022-04-24 | 2022-07-01 | 昆山同日工业自动化有限公司 | Stacker and self-adaptive storage method thereof |
| CN114964365A (en) * | 2022-05-17 | 2022-08-30 | 华晟（青岛）智能装备科技有限公司 | Automatic three-dimensional warehouse shelf anti-tilt detection system and anti-tilt detection method |
| CN116767729A (en) * | 2023-06-16 | 2023-09-19 | 浙江杭可科技股份有限公司 | Stacker library position coordinate acquisition method and library position coordinate acquisition system |
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