CN117446393A - Multi-sensor complementary error correction tray goods shelf real object checking method and system - Google Patents

Multi-sensor complementary error correction tray goods shelf real object checking method and system Download PDF

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Publication number
CN117446393A
CN117446393A CN202311614108.5A CN202311614108A CN117446393A CN 117446393 A CN117446393 A CN 117446393A CN 202311614108 A CN202311614108 A CN 202311614108A CN 117446393 A CN117446393 A CN 117446393A
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CN
China
Prior art keywords
data
tray
smoke
detection
error correction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311614108.5A
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Chinese (zh)
Inventor
黄伟
严洁熹
杨圣云
苗利明
陈炫锐
邱树伟
许暖彰
翁楚滨
黄暐
黄俊鸿
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Tobacco Chaozhou City Co ltd
Hanshan Normal University
Original Assignee
Guangdong Tobacco Chaozhou City Co ltd
Hanshan Normal University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Tobacco Chaozhou City Co ltd, Hanshan Normal University filed Critical Guangdong Tobacco Chaozhou City Co ltd
Priority to CN202311614108.5A priority Critical patent/CN117446393A/en
Publication of CN117446393A publication Critical patent/CN117446393A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • Y02P90/30—Computing systems specially adapted for manufacturing

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a multi-sensor complementary error correction tray shelf real object checking method and a system, comprising the following steps: positioning the checking device at a designated position; shooting a tray position to be checked by using a camera, detecting an image, and calculating the number data T1 of smoke boxes of the tray position; ultrasonic distance measuring devices at different heights are utilized to transmit ultrasonic waves to the tray position, and the number T2 of smoke boxes on the tray position is calculated; and comparing the quantity T1 and the quantity T2 with the stock quantity T3 respectively, if the quantity T1 and the quantity T2 are consistent, detecting the quantity to be qualified, and otherwise, outputting a corresponding instruction according to a comparison result. According to the invention, the number data of the smoke boxes are detected through two dimensions of image detection and ultrasonic ranging, the number of the smoke boxes on the tray position is obtained through logic operation, and the detection results of two dimensions of the image and the sound are compared with the inventory data, so that the accuracy of inventory is improved; when the data identification mode is not available, the checking work can be continued by adopting another identification mode.

Description

Multi-sensor complementary error correction tray goods shelf real object checking method and system
Technical Field
The invention relates to the technical field of physical inventory of tray shelves, in particular to a physical inventory method and a physical inventory system for a cigarette tray shelf, which are mutually supplemented and corrected by utilizing multiple sensors.
Background
With the rapid development of the economy in China, efficient logistics becomes a necessary requirement for the economic development in China, and logistics management is a third profit source after raw material saving and labor productivity improvement. Through efficient warehouse management, the operation cost of enterprises can be reduced, the resource allocation is optimized, and the competitiveness of the enterprises is enhanced.
The pallet shelf is a main storage mode of the tobacco logistics distribution center, and inventory cigarettes are checked regularly and irregularly according to the logistics operation management standard of the tobacco industry. Such checking is a physical checking, and aims to check whether accounts are consistent with physical objects, that is, whether accounts are consistent with physical objects, but the traditional manual checking method is very time-consuming, wastes a great deal of labor cost, and has low accuracy and has been gradually eliminated.
At present, some methods for manually checking by using a machine have appeared in the market, but there is a problem that the checking accuracy is not high, for example, the chinese patent of the invention with publication No. CN115649732a discloses an intelligent inventory checking device and a checking method, including an intelligent inventory checking device and a checking method. The inventory checking device adopts a method for reading the information of the articles by radio frequency, and the method needs to arrange radio frequency identification on the packages of the articles in advance. In the identification process, the distance and the deflection angle between the radio frequency identification and the radio frequency reading equipment have larger influence on reading, so that reading errors are easy to cause, and the inventory accuracy is influenced;
as another chinese patent, patent No. 202010528597.2, discloses a stock checking method and vending machine, which uses an electrical detector installed at the bottom of a goods channel to detect whether there is a commodity at a certain position in the goods channel; and then calculating the quantity of the commodities on the commodity outlet channel according to the pre-known ticket loading length. This inventory method is not suitable for physical inventory of pallet racks and therefore has low accuracy.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-sensor complementary error correction tray shelf real object checking method, which solves the problem of low accuracy of the checking method in the prior art, and the specific technical scheme is as follows:
a multi-sensor complementary error correction tray shelf real object checking method is characterized in that: the method comprises the following steps:
s1: positioning the checking device at a designated position relative to the shelf to be checked;
s2: shooting a tray position to be checked by using a camera arranged on the checking device, identifying the shot image, and calculating the number data T1 of the smoke boxes on the tray by combining the prestored smoke box size data;
transmitting ultrasonic waves to tray positions to be checked along the horizontal direction by using a plurality of ultrasonic distance measuring devices arranged at different heights of the checking device, and calculating the quantity data T2 of the smoke boxes on the tray positions by combining prestored size and specification data of the trays and the smoke boxes, wherein the ultrasonic distance measuring devices are used for measuring the stacking layers and stacking modes of the smoke boxes on the tray positions;
s3: and comparing the quantity data T1 and the quantity data T2 with the inventory quantity data T3 respectively, if the quantity data T1 and the quantity data T2 are consistent with the inventory quantity data T3, detecting the quantity to be qualified, otherwise, detecting the quantity to be unqualified and outputting a corresponding instruction according to a comparison result.
As a preferred embodiment: the method for positioning the checking device at the designated position relative to the position of the tray to be checked in S1 comprises the following steps: placing a magnetic positioning mark on the bottom tray of the goods shelf to be tested, mounting the checking device on a moving carrier, arranging a magnetic positioner on the moving carrier, and stopping the moving carrier moving to the position of the magnetic positioning mark.
Through setting up the magnetic locator on removing the carrier, remove the carrier and remove magnetic positioning mark department and can pinpoint in the assigned position, make things convenient for subsequent data acquisition's operation, guarantee measuring result's degree of accuracy.
As a preferred embodiment: in the step S2, the shot image is identified, meanwhile, the standard data A1 of the smoke box is identified, and the bar code of the smoke box is scanned by utilizing a code scanning device arranged on the checking device, and the standard data A2 of the smoke box is read;
in step S3, the product gauge data A1 and the product gauge data A2 are respectively compared with the stock product gauge data A3, if the product gauge data A1 and the product gauge data A2 are consistent with the stock product gauge data, the product gauge is detected to be qualified, otherwise, the product gauge is detected to be unqualified, and a corresponding instruction is output according to the comparison result.
The article gauge of the smoke box is checked through two modes of image recognition and code scanning recognition and is compared with the stock article gauge, so that the checking accuracy is improved, meanwhile, the image recognition and the code scanning recognition are complementary, the situation that the code scanning cannot be performed due to the fact that the distance is too far is made up to a certain extent by the image recognition, and the accuracy of the detection method is improved.
As a preferred embodiment: the step of identifying the photographed image in step S2 includes: and detecting a tray area, dividing a smoke box area in the image, marking the smoke box area by using a rectangular frame, calculating the aspect ratio of the rectangular frame of the smoke box area, comparing the aspect ratio with the set aspect ratio, determining the stacking type of the smoke boxes, and calculating the number of the smoke boxes.
By calculating the aspect ratio (including the tray) of the rectangular frame of the smoke box area, the type of the stack of the smoke boxes can be distinguished, and thus the number of the smoke boxes can be calculated. Because the photographed picture has certain distortion, errors exist between the photographed picture and the actual size, but the aspect ratio is certain, the accurate ratio can be calculated according to the ratio of the height to the width of the smoke box area, and the number of the smoke boxes can be obtained.
As a preferred embodiment: the height difference between every two ultrasonic sensors is half of the height of the single-layer smoke box.
Through setting up the difference in height between each ultrasonic sensor certain, and be half of individual layer smoke box height to every layer of smoke box corresponds two ultrasonic sensor, stacks half layer smoke box and also can be caught by ultrasonic sensor, thereby improves the degree of accuracy to smoke box quantity detection.
As a preferred embodiment: and S2, after the ultrasonic ranging device is utilized to transmit ultrasonic waves to the tray position to be checked, the checking device is driven to horizontally move along the direction parallel to the goods shelf, and then the ultrasonic wave measuring process is repeated for a plurality of times.
Because the checking device horizontally moves parallel to the goods shelf, the distance between the ultrasonic distance measuring device and the smoke box is always the same, errors can be effectively avoided by measuring at different positions for multiple times, the smoke box with the unpaved top layer can be measured once at certain distance, and the number of the unpaved smoke boxes is calculated according to the width occupied by the smoke box with the top layer.
As a preferred embodiment: in the step S3, when the quantity detection is unqualified, if the quantity data T1 and the quantity data T2 are inconsistent with the stock quantity data T3, the operator performs manual check; if one item of the quantity data T1 and one item of the quantity data T2 are inconsistent with the stock quantity data T3, re-detection is carried out, and if the quantity detection is still unqualified after the re-detection for a plurality of times, detection errors are judged, and workers are reminded of debugging equipment.
If the quantity data T1 and the quantity data T2 are inconsistent with the inventory quantity data T3, it is indicated that the number of smoke boxes on the tray may not be consistent with the inventory data, namely, account is inconsistent, so that a worker is required to check, if only one item is inconsistent with the inventory data, a detection error may be caused, and when the detection is performed again for a plurality of times and still is not acceptable, a problem may occur in the detection equipment, and the detection equipment needs to be debugged again.
As a preferred embodiment: in the step S3, when the product gauge is unqualified, if the product gauge data A1 and the product gauge data A2 are inconsistent with the stock product gauge data A3, the operator performs manual check; if one item of product specification data A1 and one item of product specification data A2 are inconsistent with the stock product specification data A3, re-detection is carried out, and if the number of the re-detected products is still unqualified after the re-detection for a plurality of times, detection errors are judged, and workers are reminded of debugging equipment.
If both the article gauge data A1 and the article gauge data A2 are inconsistent with the stock article gauge data A3, it is indicated that the cigarette case gauge on the tray may not be consistent with the stock data, namely, the account is inconsistent, so that the check by the staff is required, if only one item is inconsistent with the stock data, the check error may be caused, and if the check is performed again for a plurality of times, the problem may occur in the detection equipment, and the debugging is required again.
As a preferred embodiment: and driving the movable carrier to move to the next tray detection point after the quantity detection and the standard detection are qualified.
The movable carrier drives the checking device to move, so that unmanned operation can be realized, after one tray position is detected to be qualified, the movable carrier moves to the next tray position, and then the movable carrier is positioned at a designated position by the magnetic positioning device to prepare for next round of detection.
The invention also provides a multi-sensor complementary error correction tray goods shelf real object checking system, which comprises a data acquisition module, a sensor data checking module and a measurement result judging module, wherein the data acquisition module is used for acquiring the smoke box data on the tray to be tested, the sensor data checking module is used for carrying out calculation comparison on the acquired smoke box data and transmitting the comparison result to the measurement result judging module, and the measurement result judging module is used for outputting the judgment result and giving out the operation to be carried out in the next step according to the judgment result.
The multi-sensor complementary error correction tray goods shelf real object checking system utilizes the sensor data checking module to compare the acquired data, improves checking accuracy, outputs a judging result by the result judging module to give out a next operation instruction, and greatly improves checking efficiency.
Compared with the prior art, the invention has the beneficial effects that:
the invention collects the number data of the smoke boxes on the tray position through two dimensions of image detection and ultrasonic ranging, obtains the number of the smoke boxes on the tray through logic operation, compares the detection results of two dimensions of the graph and the sound with inventory data, and improves the accuracy of inventory; and the data in two dimensions can compensate for each other for error correction, and in some special occasions, when one data acquisition mode is unavailable, the other data acquisition mode can be adopted, so that the checking work can be continued.
Drawings
FIG. 1 is a flow chart of a system provided by the present invention;
FIG. 2 is a two-dimensional plan view of the interior of the ultrasonic distance measuring device provided by the invention between an ultrasonic sensor and a smoke box;
FIG. 3 is a diagram of the stacked shape of a 3-layer smoke box provided by the invention;
FIG. 4 is a diagram of a stacked shape of a 2-layer half smoke box provided by the invention;
FIG. 5 is a diagram of a stacked shape of a 2-layer smoke box provided by the invention;
FIG. 6 is a diagram of a stacked shape of a 1-layer half smoke box provided by the invention;
FIG. 7 is a view of a stack of 1-layer smoke boxes provided by the invention;
FIG. 8 is a diagram of the stacked shape of a half-layer smoke box provided by the invention;
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Embodiment one: a multi-sensor complementary error correction tray goods shelf real object checking method comprises the steps of firstly installing a checking device on a movable carrier, wherein the movable carrier can be a agv trolley or other equipment to realize automatic walking, and the movable carrier runs along a straight line parallel to each goods shelf, so that the distance between the movable carrier and each smoke box is always the same. The bottom of the goods shelf is provided with a tray, the tray at the bottom of each goods shelf is provided with a magnetic positioning mark, the mobile carrier is provided with a magnetic positioner, when the mobile carrier moves to the magnetic positioning mark, the magnetic positioner senses magnetic flux change, and the mobile carrier is positioned at a designated position (the magnetic positioning device is in the prior art, so that the magnetic positioning device is not excessively detailed), so that the goods shelf angle and the distance of the checking device are always consistent relative to those of the goods to be checked.
Be provided with the camera on the checking device for shoot the photo of smoke box on the tray position, discern the image after accomplishing, specifically: the area of smoke box (including bottom tray) in the image is marked with rectangular frame, the size of smoke box that this embodiment adopted is 465×250×580 (mm), according to this size can calculate the smoke box height that different stacking height corresponds be respectively, 3 layer height is: 174mm, 2 layers half height: 1660mm,2 layers height: 1160mm,1 layer half height: 1080mm,1 layer height: 580mm, half-layer height is: 500mm; the widths are as follows: 965mm. Because a gap exists between the smoke boxes in the horizontal direction in the stacking process, the error of the gap is within 50mm. The tray height was 150mm.
Besides directly comparing the stacking shape of the photographed pictures with the stacking shape of each layer of smoke box in the database, the height-width ratio of the smoke box area can be calculated, and the height-width ratio of the image is in units of pixels. As shown in fig. 3-8, the number of stacked smoke boxes in each layer is 10, and the number of stacked smoke boxes in each half layer is 5.
If the aspect ratio is greater than 1.95, the number of the cigarette boxes is 30, which means that the cigarette boxes are 3 layers stacked;
if the aspect ratio is between 1.71 and 1.95 (including 1.71 and 1.95), the number of the smoke boxes is 25 boxes, and the smoke boxes are 2 layers and half of the smoke boxes which are stacked;
if the aspect ratio is between 1.35 and 1.70 (including 1.35 and 1.70), the number of the cigarette boxes is 20, and the cigarette boxes are 2 layers stacked;
if the aspect ratio is between 1.27 and 1.34 (including 1.27 and 1.34), the number of the smoke boxes is 15 boxes, and the smoke boxes are 1 layer half of the stacking;
if the aspect ratio is between 0.75 and 1.26 (including 0.75 and 1.26), the number of the cigarette boxes is 10, and the cigarette boxes are 1 layer stacked;
if the aspect ratio is between 0.67 and 0.74 (including 0.67 and 0.74), the number of the smoke boxes is 5 boxes, and the smoke boxes are the stacked half layers;
if the aspect ratio is between 0.16 and 0.66 (including 0.16 and 0.66), this tray is empty and the number of smoke boxes is 0 boxes.
The number of smoke boxes on the tray data T1 is obtained.
The inventory device is also provided with a plurality of ultrasonic distance measuring devices with different heights, each ultrasonic distance measuring device comprises an ultrasonic transmitter and an ultrasonic receiver, the number of the ultrasonic distance measuring devices in the embodiment is 6, and the height difference between every two adjacent ultrasonic distance measuring devices is half of the height of a single-layer smoke box, so that one layer of smoke box corresponds to two ultrasonic distance measuring devices, and half layer of smoke box corresponds to one ultrasonic distance measuring device. According to the time of the sound wave reflection, the distance between the smoke box and the ultrasonic distance measuring device can be calculated, so that the number of layers and the state of the stacked smoke boxes on the tray can be obtained. The principle of ultrasonic ranging can be expressed by the following equation:
d＝v×Δt/2
d is the distance between the ultrasonic transmitter and the measured object;
v represents the propagation velocity of ultrasonic waves in air;
Δt represents the time difference.
Wherein the propagation speed of ultrasonic wave in air is 340m/s. The time difference is the time interval in microseconds (μs) between transmitting an ultrasonic wave and receiving an acoustic wave.
As shown in fig. 2, the distance between the ultrasonic distance measuring device and the tray is x 0， The X axis is the distance between the ultrasonic distance measuring device and the smoke box, the Y axis is the height of the ultrasonic distance measuring device, the ultrasonic sensor 1 in the ultrasonic distance measuring device is positioned on the intersection point of the straight line y=300 and the Y axis, and the first intersection point between the straight line y=300 and the smoke box is X 1 The ultrasonic sensor 2 is located at the intersection of the straight line y=600 and the y axis, the first intersection between the straight line y=600 and the smoke box being x 2 The ultrasonic sensor 3 is located at the intersection of the straight line y=900 and the y axis, and the first intersection between the straight line y=900 and the smoke box is x 3 The ultrasonic sensor 4 is located at the intersection of the straight line y=1200 and the y axis, the first intersection between the straight line y=1200 and the smoke box being x 4 The ultrasonic sensor 5 is located at the intersection of the straight line y=1500 and the y-axis, the first intersection between the straight line y=1500 and the smoke box being x 5 The ultrasonic sensor 6 is located at the intersection of the straight line y=1800 and the y-axis, the first intersection between the straight line y=1800 and the smoke box being x 6 。
The number of smoke boxes exceeds 5 boxes, all adopt longitudinal stacking, and each layer is 10 boxes. In particular the top layer is stacked laterally, with the lateral stacking being 5 layers. The number of stacked layers of the smoke box is at most 3.
When the smoke box top layers are transversely stacked, the occupied area of the smoke box top layers occupied by the tray is reduced compared with the occupied area of the smoke box top layers occupied by the tray which is longitudinally stacked, and the reduced areas are respectively set to 10000mm 2 And 810000mm 2 。
The position of the smoke box stacked in the tray or the position of the tray placed in the goods shelf is changed to generate an error of the placement position, and the error is set to be 150mm.
If x 1 、x 2 、x 3 、x 4 、x 5 、x 6 Are all x in value 0 If 150mm, the three-layer stack of smoke boxes is full, the shape of the smoke box stack is shown in fig. 3, and the total number of smoke boxes is 30.
If x 1 、x 2 、x 3 、x 4 Are all x in value 0 ±150mm，x 5 The value of (2) is greater than x 0 150mm and less than (x) 0 ±150mm)+100mm，x 6 The value of (2) is greater than (x) 0 + -150 mm) +100mm, and less than (x) 0 150 mm) +900mm. The first layer and the second layer of smoke boxes are fully stacked, the third layer of smoke boxes are fully stacked transversely, one smoke box is arranged on the third layer of smoke boxes, the stacking shape of the smoke boxes is shown in fig. 4, and the total number of the smoke boxes is 25.
If x 1 、x 2 、x 3 、x 4 Are all x in value 0 ±150mm，x 5 、x 6 Are all greater than (x) 0 150 mm) +900mm. The first and second layers of smoke boxes are fully stacked, the smoke box stacking shape is shown in fig. 5, and the total number of smoke boxes is 20.
If x 1 、x 2 Are all x in value 0 ±150mm，x 3 The value of (2) is greater than x 0 150mm and less than (x) 0 ±150mm)+100mm，x 4 The value of (2) is greater than (x) 0 + -150 mm) +100mm, and less than (x) 0 ±150mm)+900mm，x 5 、x 6 Are all greater than (x) 0 150 mm) +900mm. The first layer of smoke boxes are fully stacked, the second layer of smoke boxes are fully stacked transversely, one smoke box is arranged on the second layer, the shape of the smoke box stack is shown in fig. 6, and the total number of the smoke boxes is 15.
If x 1 、x 2 Are all x in value 0 ±150mm，x 3 、x 4 、x 5 、x 6 Are all greater than (x) 0 150 mm) +900mm. The first stack of smoke boxes is full and the smoke boxes are stacked in a shape shown in fig. 7, and the total number of smoke boxes is 10.
If x 1 The value of (2) is greater than x 0 150mm and less than (x) 0 ±150mm)+100mm，x 2 The value of (2) is greater than (x) 0 + -150 mm) +100mm, and less than (x) 0 ±150mm)+900mm，x 3 、x 4 、x 5 、x 6 Are all greater than (x) 0 150 mm) +900mm. The first tier of smoke boxes is fully stacked transversely, one smoke box is arranged on the first tier, the shape of the smoke box stack is shown in figure 8, and the total number of the smoke boxes is 5.
If x 1 、x 2 、x 3 、x 4 、x 5 、x 6 Are all greater than (x) 0 150 mm) +900mm, the number of smoke boxes on the tray position is zero.
The number of smoke boxes on the tray data T2 is thus derived.
Comparing the obtained quantity data T1 and quantity data T2 with inventory quantity data T3 respectively, if the quantity data T1 and the quantity data T2 are the same as the inventory quantity data T3, detecting the quantity to be qualified, and starting to move the mobile carrier to the next tray position; if the quantity data T1 and the quantity data T2 are different from the inventory quantity data T3, the quantity of the smoke boxes on the tray is likely to be inconsistent with the inventory quantity, namely, the account is inconsistent, and the staff is reminded to check; if one item of the quantity data T1 and the quantity data T2 is different from the stock quantity data T3, the number of the smoke boxes on the tray is re-detected, and the number of the smoke boxes is still not different after 3 times of re-detection, which may be that one set of detection devices has a problem, and a worker is reminded to perform fault detection and machine debugging.
Embodiment two: the first difference from the embodiment is that the article gauge detection is added, the cigarette box is provided with bar codes and article gauge information, after the tray and the cigarette box are shot by the camera, the article gauge information in the picture is identified to obtain article gauge data A1, then the bar codes of the cigarette box are scanned by the code scanning device on the checking device to obtain article gauge data A2, the article gauge data A1 and the article gauge data A2 are respectively compared with stock article gauge data A3, if the article gauge data A1 and the article gauge data A2 are the same as the stock article gauge data A3, the article gauge detection is qualified, and the moving carrier starts to move to the next tray position; if the article rule data A1 and the article rule data A2 are different from the stock article rule data A3, the article rule of the cigarette box on the tray is likely to be inconsistent with the stock article rule, namely, the account is inconsistent, and the staff is reminded to check; if one item of the article rule data A1 and the article rule data A2 is different from the stock article rule data A3, the smoke box article rule on the tray is re-detected, and the smoke box article rule is still not different after 3 times of re-detection, which may be that one set of detection devices has a problem, and staff is reminded to carry out fault checking and machine debugging.
As shown in FIG. 1, the multi-sensor complementary error correction tray shelf real object checking system comprises a data acquisition module, a sensor data checking and comparing module and a detection result judging module, wherein the data acquisition module acquires the number of smoke boxes, the quality standards and other data on a tray by utilizing a plurality of dimensions, the mutual verification of the multi-dimensional data improves the checking accuracy, and in special cases, when the data acquisition of one dimension cannot be realized, the data acquisition of the other dimension can be adopted to enable the checking work to be continued; the sensor data checking and comparing module combines known tray and smoke box size data according to the collected data, calculates the number of the smoke boxes on the tray through logic operation, compares the number of the smoke boxes, the number data of the standard and the stock and the standard data, transmits the comparison result to the detection result judging module, and the detection result judging module outputs whether the detection result is qualified or not according to different results and gives out the operation to be carried out in the next step.
The invention not only saves labor and improves efficiency, but also detects the number of smoke boxes and the quality gauge from two dimensions of the graph and the sound, the two dimensions mutually verify and improve detection accuracy, and the two dimensions can be complemented, thereby improving the accuracy of the system, and being suitable for popularization and use.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A multi-sensor complementary error correction tray shelf real object checking method is characterized in that: the method comprises the following steps:
s1: positioning the checking device at a designated position relative to the shelf to be checked;
s2: shooting a tray position to be checked by using a camera arranged on the checking device, identifying the shot image, and calculating the number data T1 of the smoke boxes on the tray by combining prestored tray and smoke box size data;
transmitting ultrasonic waves to tray positions to be checked along the horizontal direction by using a plurality of ultrasonic distance measuring devices arranged at different heights of the checking device, and calculating the quantity data T2 of the smoke boxes on the tray positions by combining prestored size and specification data of the trays and the smoke boxes, wherein the ultrasonic distance measuring devices are used for measuring the stacking layers and stacking modes of the smoke boxes on the tray positions;
s3: and comparing the quantity data T1 and the quantity data T2 with the inventory quantity data T3 respectively, if the quantity data T1 and the quantity data T2 are consistent with the inventory quantity data T3, detecting the quantity to be qualified, otherwise, detecting the quantity to be unqualified and outputting a corresponding instruction according to a comparison result.
2. The multi-sensor complementary error correction pallet physical inventory method of claim 1, wherein: the method for positioning the checking device at the appointed position relative to the goods shelf to be checked in S1 comprises the following steps: placing a magnetic positioning mark on the bottom tray of the goods shelf to be tested, mounting the checking device on a moving carrier, arranging a magnetic positioner on the moving carrier, and stopping the moving carrier moving to the position of the magnetic positioning mark.
3. The multi-sensor complementary error correction pallet physical inventory method of claim 2, wherein: in the step S2, the shot image is identified, meanwhile, the standard data A1 of the smoke box is identified, the bar code of the smoke box is scanned by utilizing the code scanning device arranged on the checking device, and the standard data A2 of the smoke box is read;
in step S3, the product gauge data A1 and the product gauge data A2 are respectively compared with the stock product gauge data A3, if the product gauge data A1 and the product gauge data A2 are consistent with the stock product gauge data, the product gauge is detected to be qualified, otherwise, the product gauge is detected to be unqualified, and a corresponding instruction is output according to the comparison result.
4. The multi-sensor complementary error correction pallet physical inventory method of claim 1, wherein: the step of identifying the photographed image in step S2 includes: and detecting a tray area, dividing a smoke box area in the image, marking the smoke box area by using a rectangular frame, calculating the aspect ratio of the rectangular frame of the smoke box area, comparing the aspect ratio with the set aspect ratio, determining the stacking type of the smoke boxes, and calculating the number of the smoke boxes.
5. The multi-sensor complementary error correction pallet physical inventory method of claim 1, wherein: the height difference between every two ultrasonic sensors is half of the height of the single-layer smoke box.
6. The multi-sensor complementary error correction pallet physical inventory method of claim 1, wherein: and S2, after the ultrasonic ranging device is used for transmitting ultrasonic waves to the goods shelf to be checked, the checking device is driven to horizontally move along the direction parallel to the goods shelf, and then the ultrasonic measuring process is repeated for a plurality of times.
7. The multi-sensor complementary error correction pallet physical inventory method of claim 1, wherein: in the step S3, when the quantity detection is unqualified, if the quantity data T1 and the quantity data T2 are inconsistent with the stock quantity data T3, the operator performs manual check; if one item of the quantity data T1 and one item of the quantity data T2 are inconsistent with the stock quantity data T3, re-detection is carried out, and if the quantity detection is still unqualified after the re-detection for a plurality of times, detection errors are judged, and workers are reminded of debugging equipment.
8. The multi-sensor complementary error correction pallet physical inventory method of claim 3, wherein: in the step S3, when the product gauge is unqualified, if the product gauge data A1 and the product gauge data A2 are inconsistent with the stock product gauge data A3, the operator performs manual check; if one item of product specification data A1 and one item of product specification data A2 are inconsistent with the stock product specification data A3, re-detection is carried out, and if the number of the re-detected products is still unqualified after the re-detection for a plurality of times, detection errors are judged, and workers are reminded of debugging equipment.
9. The multi-sensor complementary error correction pallet physical inventory method of claim 3, wherein: and driving the movable carrier to move to the next tray detection point after the quantity detection and the standard detection are qualified.
10. A system for a multi-sensor complementary error correction pallet physical inventory method of any one of claims 1-9, characterized by: the device comprises a data acquisition module, a sensor data inspection module and a measurement result judging module, wherein the data acquisition module is used for acquiring smoke box data on a tray to be detected, the sensor data inspection module is used for carrying out calculation comparison on the acquired smoke box data and transmitting comparison results to the measurement result judging module, and the measurement result judging module is used for outputting judgment results and giving out operation to be carried out in the next step according to the judgment results.
CN202311614108.5A 2023-11-29 2023-11-29 Multi-sensor complementary error correction tray goods shelf real object checking method and system Pending CN117446393A (en)

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