CN213301104U - Size detection system - Google Patents

Abstract

The application shows a size detection system, comprising a tray fixing device and a size detection device; the tray fixing device is used for placing and fixing a tray, and a goods stack is placed on the tray; the size detection device is arranged above the tray fixing device, the height of the size detection device is larger than that of the goods stack under the condition that the tray and the goods stack are statically placed on the tray fixing device, and the size detection device is used for detecting whether the size of the goods stack exceeds the limit. This application need not detect under the condition that tray and goods buttress are in the motion state whether the size of goods buttress transfinites, and wherein, tray fixing device can place and fixed tray to and can place the goods buttress statically on the tray, avoid appearing the condition that leads to the offset of goods buttress because the motion, owing to can avoid appearing the condition of "leading to the offset of goods buttress because the motion", consequently, can improve the accuracy of testing result.

Description

Size detection system

Technical Field

The present application relates to the field of logistics, and more particularly, to a size detection system.

Background

The stereoscopic warehouse is more and more common in the logistics industry, and has the advantages of high-level rationalization, automatic storage and taking, simplicity and convenience in operation and the like.

In the stereoscopic warehouse, there are generally a rack, a stacker crane, a pallet conveyor line, and the like.

The shelf includes a building or a structure of a steel structure or a reinforced concrete structure. Inside the goods shelf is a standard size space for storing stacks of goods. The stacking crane passes through the roadway between the goods shelves.

In the case that a stack of goods needs to be stored in a stereoscopic warehouse, a worker may place a pallet at the starting point of a pallet conveyor line, then place the stack of goods on the pallet, then convey the pallet with the stack of goods to the vicinity of a stacker crane via the pallet conveyor line, then convey the stack of goods on the pallet to the vicinity of an empty space of a goods space in a rack by the stacker crane, and place the goods in the space of the goods space, thereby achieving the purpose of storing the stack of goods on the rack.

However, the size of the cargo space of the pallet is limited. If the size of the stack exceeds the size of the cargo space, it is not possible to place the stack on the shelf.

This can result in failure to store the stack, requiring storage to be interrupted, and requiring personnel intervention. Not only can influence the smoothness nature of storage goods buttress in goods shelves, reduce the efficiency of storage goods buttress in goods shelves to and can improve the cost of labor.

SUMMERY OF THE UTILITY MODEL

In order to avoid influencing the fluency of storing the goods stacks in the goods shelves, further avoid reducing the efficiency of storing the goods stacks in the goods shelves, and in order to reduce the cost of labor, whether the size of detecting the goods stacks exceeds the transfinite, for example, whether the size of detecting the goods stacks exceeds the size of goods space, etc., if the size of the goods stacks exceeds the transfinite, the operation of storing the goods stacks can be interrupted in time, and the problem that the goods stacks are conveyed to the vicinity of the goods space and then the goods stacks cannot be stored is avoided.

In order to detect in advance whether the size of the stack is out of limit, an optoelectronic transceiver device may be provided near the start of the pallet conveyor line. So, the in-process of the tray of placing the goods buttress is placed in the transmission on the tray transfer line, and when the tray of placing the goods buttress was transported to the position that photoelectric transceiver corresponds, whether photoelectric transceiver can detect the size of the goods buttress of placing on the tray transfinites.

However, in the above solution, it is detected whether the size of the stack is out of limit while the pallet and stack are in motion, and the pallet and stack motion may cause at least the following phenomena: the stack is displaced relative to the pallet during movement.

This can easily lead to at least the following problems: in fact, the size of the goods stack is not over-limited, but the position of the goods stack is deviated due to movement, so that the size of the goods stack is judged to be over-limited, and the condition that the detection result is inaccurate easily occurs.

Therefore, in order to improve the accuracy of the detection result, the present application shows a dimension detection system comprising:

a tray fixing device and a size detection device;

the tray fixing device is used for placing and fixing a tray, and a goods stack is placed on the tray;

the size detection device is arranged above the tray fixing device, the height of the size detection device is larger than that of the goods stack under the condition that the tray and the goods stack are statically placed on the tray fixing device, and the size detection device is used for detecting whether the size of the goods stack exceeds the limit.

In an alternative implementation, the size detection device includes at least one of a depth camera and a photo detection device.

In an alternative implementation, the photodetection means comprises at least a line laser scanning device.

In an alternative implementation, the size detection means comprises a first depth camera;

the first depth camera is arranged above the tray fixing device and used for at least detecting whether the height of the goods stack exceeds the limit.

In an optional implementation manner, the size detection apparatus further includes:

a target number of photodetecting devices; the photoelectric detection device is used for at least detecting whether the length and the width of the goods stack exceed the limit;

the target number is equal to the number of sides the system is adapted to detect;

under the condition that a tray is statically placed on the tray fixing device and a sample stack is placed on the tray, different photoelectric detection devices are positioned right above different side surfaces of the sample stack; the size of the sample cargo stack is matched with the size of the cargo space of the stereoscopic warehouse.

In an optional implementation manner, the size detection apparatus further includes:

the movement control device and the movement track correspond to each photoelectric detection device;

for any photoelectric detection device, the moving track corresponding to the photoelectric detection device is positioned above the corresponding side surface of the photoelectric detection device in the sample stack; and the movement control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to move on the moving track, so that the detection coverage surface of the photoelectric detection device covers the whole side surface of the photoelectric detection device corresponding to the sample stack.

In an alternative implementation form of the present invention,

the movement control device comprises a motor and a movable sliding block;

the moving track comprises a synchronous conveying belt;

the photoelectric detection device is arranged on the movable sliding block, and the movable sliding block is arranged on the synchronous transmission belt;

under the condition that the synchronous transmission belt is controlled by the motor to transmit, the synchronous transmission belt drives the photoelectric detection device to move on the moving track through the moving slide block.

In an optional implementation manner, the size detection apparatus further includes:

the rotation control device corresponds to each photoelectric detection device;

for any one photoelectric detection device, the rotation control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to rotate on a target plane, and the target plane comprises a plane where the corresponding side of the photoelectric detection device in the sample stack is located, so that the detection coverage surface of the photoelectric detection device covers the whole corresponding side of the photoelectric detection device in the sample stack.

In an optional implementation manner, the size detection apparatus further includes:

a target number of second depth cameras; the second depth camera is used for detecting whether the length and the width of the goods stack at least exceed the limit;

the target number is equal to the number of sides the system is adapted to detect;

in the case of stationary placement of the pallet on the pallet fixture and placement of the sample stack on the pallet, a different second depth camera is located above the outside of a different side of the sample stack, the size of the sample stack coinciding with the size of the cargo space of the stereoscopic warehouse.

In an optional implementation manner, the size detection apparatus further includes: a third depth camera to detect at least whether a length and a width of the stack of goods are out of limits;

the third depth camera is arranged on the outer side of the tray fixing device and is aligned to the direction of the tray fixing device;

the tray fixing device can rotate along a vertical rotating shaft.

In an optional implementation manner, the size detection apparatus further includes: a fourth depth camera and a movement control device;

the movement control device is used for controlling the fourth depth camera to move at least one circle around the side face of the tray fixing device, and in the moving process, the fourth depth camera is continuously aligned to the direction of the tray fixing device; the fourth depth camera is for detecting at least whether the length and width of the stack are out of limits.

In an alternative implementation, the pallet fixture is located on an automated guided vehicle AGV.

Compared with the prior art, the embodiment of the application has the following advantages:

the size detection system comprises a tray fixing device and a size detection device; the tray fixing device is used for placing and fixing a tray, and a goods stack is placed on the tray; the size detection device is arranged above the tray fixing device, the height of the size detection device is larger than that of the goods stack under the condition that the tray and the goods stack are statically placed on the tray fixing device, and the size detection device is used for detecting whether the size of the goods stack exceeds the limit.

In this application, need not detect under the circumstances that tray and goods buttress are in the motion state whether the size of goods buttress transfinites, wherein, tray fixing device can place and fixed tray, and can place the goods buttress statically on the tray, avoid appearing the condition that leads to the offset of goods buttress because of the motion, because can avoid appearing the condition that "leads to the offset of goods buttress because of the motion", consequently, can avoid appearing "the size of actual goods buttress does not transfinite, but make the offset of goods buttress because of the motion, and then lead to judging the condition that the goods buttress size transfinites", thereby can improve the accuracy of testing result.

Drawings

FIG. 1 is a schematic diagram illustrating a size detection system according to an exemplary embodiment.

Fig. 2 is a schematic diagram illustrating a size detection system according to another exemplary embodiment.

Fig. 3 is a schematic diagram illustrating a configuration of a size detection system according to yet another exemplary embodiment.

Fig. 4 is a schematic diagram illustrating a configuration of a size detection system according to yet another exemplary embodiment.

Fig. 5 is a schematic diagram illustrating a size detection system according to yet another exemplary embodiment.

Fig. 6 is a schematic diagram illustrating a configuration of a size detection system according to yet another exemplary embodiment.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description.

Fig. 1 is a schematic diagram illustrating a size detection system according to an exemplary embodiment, as shown in fig. 1, the system including:

a tray fixing device 01 and a size detecting device 02.

The tray fixing device 01 is used for placing and fixing a tray, and a goods stack is placed on the tray.

The size detecting means 02 is disposed above the tray fixing means 01, and the height of the size detecting means 02 is greater than that of the stack in the case where the tray and the stack are placed on the tray fixing means in a stationary manner.

In one example, assuming that the upper surface of the pallet is rectangular, the stack is rectangular, i.e. the stack has 6 surfaces, each of which is rectangular.

In this application, tray fixing device 01 includes that a rectangle places the platform and upwards protruding at 4 angles of placing the platform, be protruding 011, protruding 012, protruding 013 and protruding 014 respectively, place the platform and be used for bearing the tray, the size of tray in this application is unified, a space that 4 protruding encloses on tray fixing device 01, the length and the width in this space coincide with the length and the width of tray respectively, that is, under the condition that the tray was placed on tray fixing device 01, 4 protruding in tray fixing device 01 just can block the tray to make the tray can't move in the horizontal direction on tray fixing device 01.

After placing the pallet on the pallet fixture 01 and the stack on the pallet, the size detection device 02 may be used to detect whether the size of the stack is out of limit.

If the size of the stack is out of limit, the stack cannot be stored in the space of the cargo space in the stereoscopic warehouse.

Wherein the over-dimensioning of the stack can be understood as: at least one of the length of the stack of goods is greater than the length of the space of the goods space in the stereoscopic warehouse, the width of the stack of goods is greater than the width of the space of the goods space in the stereoscopic warehouse, and the height of the stack of goods is greater than the height of the space of the goods space in the stereoscopic warehouse.

And, the dimensions of the stack not exceeding the limits can be understood as: the length of the goods stack is less than or equal to the length of the goods space in the stereoscopic warehouse, the width of the goods stack is less than or equal to the width of the goods space in the stereoscopic warehouse, and the height of the goods stack is less than or equal to the height of the goods space in the stereoscopic warehouse.

The size detection device 02 may include at least one of a depth camera and a photo detection device.

The photo detection means may comprise at least a line laser scanning device or the like. Of course, other devices, such as an optoelectronic primary power device, may also be included, and the present application is not limited thereto.

The size detection system comprises a tray fixing device and a size detection device; the tray fixing device is used for placing and fixing a tray, and a goods stack is placed on the tray; the size detection device is arranged above the tray fixing device, the height of the size detection device is larger than that of the goods stack under the condition that the tray and the goods stack are statically placed on the tray fixing device, and the size detection device is used for detecting whether the size of the goods stack exceeds the limit.

In this application, need not detect under the circumstances that tray and goods buttress are in the motion state whether the size of goods buttress transfinites, wherein, tray fixing device can place and fixed tray, and can place the goods buttress statically on the tray, avoid appearing the condition that leads to the offset of goods buttress because of the motion, because can avoid appearing the condition that "leads to the offset of goods buttress because of the motion", consequently, can avoid appearing "the size of actual goods buttress does not transfinite, but make the offset of goods buttress because of the motion, and then lead to judging the condition that the goods buttress size transfinites", thereby can improve the accuracy of testing result.

In another embodiment of the present application, the size detecting system further includes a weighing sensor, the weighing sensor is disposed on the tray fixing device, the tray is placed and fixed on the tray fixing device, and after the tray is used for placing the stack of goods, the weighing sensor can measure the total mass of the tray and the stack of goods.

In one embodiment of the present application, the size detection device includes a first depth camera.

The first depth camera is arranged above the tray fixing device and used for at least detecting whether the height of the goods stack exceeds the limit.

For example, the pallet fixture may be placed on the ground in advance and a first depth camera may be provided above the pallet fixture, after which the distance between the first depth camera and the ground may be stored in the first depth camera, e.g., a worker may measure the distance between the first depth camera and the ground and store it in the first depth camera.

In addition, the worker may also place the pallet in the pallet fixture, and then the worker may measure the distance between the upper surface of the pallet and the ground and store it in the first depth camera.

Wherein, on the tray fixing device under the static tray of placing and place the goods buttress on the tray, first depth camera can acquire the distance between the upper surface of first depth camera and goods buttress, and wherein, the distance between the upper surface of first depth camera and goods buttress includes: the shortest distance among the distances between the first depth camera and the respective locations on the upper surface of the stack.

The height of the stack may then be obtained based on the distance between the first depth camera and the ground, the distance between the upper surface of the pallet and the ground, and the distance between the first depth camera and the upper surface of the stack.

It should be noted that the height of the stack is provided by the stack itself, regardless of the position in which it is placed.

In one example, assuming that the stack is a cuboid and the upper surface of the stack is a rectangle, the first depth camera may take a picture of the stack and the picture may then be analysed to obtain the distance between the first depth camera and each of the 4 sides of the upper surface of the rectangle of the stack.

Specifically, 4 sides of the upper surface of the rectangle of the stack in the photograph may be analyzed by image analysis techniques, and then the distances between the respective 4 sides of the first depth camera are obtained.

However, the complexity of analyzing 4 sides of the upper surface of the rectangle of the stack in the photograph by image analysis techniques is high in the case where the quality of the photograph (e.g., contrast or brightness, etc.) is low, and the process of analysis is time consuming, resulting in a low efficiency of detecting whether the size of the stack is out of limit.

Therefore, in order to improve the efficiency of detecting whether the size of the stack is over-limit, in another embodiment of the present application, reference points may be set on 4 sides of the upper surface of the rectangle of the stack or near the 4 sides in advance, for example, the reference points include special images including two-dimensional codes or bar codes, and thus, the first depth camera may easily and quickly recognize the 4 reference points, and further obtain the distance between the 4 reference points of the first depth camera, which is equivalent to obtaining the distance between the 4 sides of the first depth camera, and this way does not need to analyze the 4 sides of the upper surface of the rectangle of the stack in the photograph by using an image analysis technique, so that the efficiency of detecting whether the size of the stack is over-limit may be improved.

Then according to the first depth camera respectively with the distance between the 4 limits of the rectangle's of goods buttress upper surface to and, the distance between first depth camera and the goods buttress, obtain the length and the width of the rectangle's of goods buttress upper surface, and regard it as the length and the width of goods buttress, like this, under the condition of having obtained the length, the width and the height of goods buttress, just can obtain the size of goods buttress.

Specifically, the width of the upper surface of the rectangle of the stack may be obtained from the distance between the long sides of the first depth camera and two positions of the 4 sides of the upper surface of the rectangle of the stack, and the distance between the first depth camera and the stack, and specifically, the width of the upper surface of the rectangle of the stack may be calculated according to the pythagorean theorem according to the two distances, which is not described in detail herein.

Further, the length of the upper surface of the rectangle of the stack may be obtained according to the distance between the short sides of the first depth camera and two opposite positions of the 4 sides of the upper surface of the rectangle of the stack, and the distance between the first depth camera and the stack, and specifically, the length of the upper surface of the rectangle of the stack may be calculated according to the pythagorean theorem according to the two distances, which is not described in detail herein.

However, if the stack as a whole is a regular rectangular solid, i.e. each of the 6 outer surfaces of the stack is flat, then the length and width of the stack can be accurately obtained according to the solution of the above embodiment, i.e. the length and width of the upper surface of the stack are the length and width of the stack.

However, sometimes the stack as a whole may not be a regular cuboid, for example at least one of the 4 sides of the stack is not flat, for example the width of the lower part of the stack is greater than the width of the upper part of the stack and/or the length of the lower part of the stack is greater than the length of the upper part of the stack. In this case the length and width of the upper surface of the stack are not representative of the length and width of the stack.

If the length and width of the upper surface of the stack are not exceeded, but the length and width of the lower surface of the stack are exceeded, the size of the stack is exceeded, in which case the stack cannot be stored in the space of the cargo space in the stereoscopic warehouse.

Wherein, overrun can be understood as: at least one of the length of the stack of goods is greater than the length of the space of the goods space in the stereoscopic warehouse, the width of the stack of goods is greater than the width of the space of the goods space in the stereoscopic warehouse, and the height of the stack of goods is greater than the height of the space of the goods space in the stereoscopic warehouse.

And, without exceeding the limits, can be understood as: the length of the goods stack is less than or equal to the length of the goods space in the stereoscopic warehouse, the width of the goods stack is less than or equal to the width of the goods space in the stereoscopic warehouse, and the height of the goods stack is less than or equal to the height of the goods space in the stereoscopic warehouse.

However, in the manner of the foregoing embodiment, taking the length and width of the upper surface of the stack as the length and width of the stack, it is determined that the size of the stack does not exceed the limits, which is not in accordance with the actual situation, i.e., a situation in which the detection result is erroneous occurs.

Therefore, in order to avoid the situation of detection result error as much as possible, in another embodiment of the present application, referring to fig. 2, the size detecting apparatus further includes:

a target number of photodetecting devices; the photoelectric detection device is used for detecting whether the length and the width of the goods stack at least exceed the limit.

Wherein the number of targets is equal to the number of sides the system is adapted to detect.

For example, assuming that the size detection system of the present application is adapted to detect a stack of rectangular parallelepiped products, the stack includes 4 sides, and the number of targets may be 4, that is, the number of photoelectric detection devices may be 4.

As another example, assuming that the size detection system of the present application is adapted to detect a stack of triangular prisms, and the stack includes 3 sides, the number of targets may be 3, that is, the photoelectric detection device may be 3.

In the present application, in the case of a stationary placement of the tray on the tray fixing device and a placement of the sample stack on the tray, different photoelectric detection devices are located directly above different sides of the sample stack; the size of the sample stack is matched with the size of the goods space of the stereoscopic warehouse.

Wherein the sample stack may be a stack suitable for detection in the system of the present application.

In fig. 2, 4 photo-detection devices are illustrated, but the scope of protection of the present application is not limited thereto. In fig. 2, M denotes a first depth camera, G denotes a photodetection device, T denotes a pallet, and H denotes a stack of goods.

That is, in the present application, a sample stack may be set in advance, and then the positions of the target number of photoelectric detection devices may be selected depending on the sample stack.

The size of the sample goods stack is matched with the size of the goods space of the stereoscopic warehouse, namely, the sample goods stack can be properly stored in the goods space and is not large or small.

The tray may be placed on the tray fixture such that the plurality of protrusions on the tray fixture catch the tray, and then a stack of sample goods is placed on the tray.

Wherein, when placing sample goods buttress on the tray, need avoid sample goods buttress to place the skew, for example, can be with placing sample goods buttress etc. in the middle on the tray. And, each edge of the lower surface of the stack of sample goods may be parallel to a corresponding edge of the upper surface of the tray.

For example, in one possible example, the length and width of the stack of sample items are the same as the length and width of the tray, respectively, such that when the stack of sample items is placed on the tray, the 4 corners and 4 sides of the lower surface of the stack of sample items are aligned with the 4 corners and 4 sides of the upper surface of the tray, respectively.

The position of each photodetector device can then be selected with reference to the stack of sample items. Wherein, for any side of the sample stack, a photoelectric detection device can be arranged right above the side, and the same is true for every other side of the sample stack.

The photoelectric detection device can detect whether the side of the goods stack exceeds the limit. That is, the length and width of the stack can be detected by the target number of photoelectric detection devices, and then it is detected whether the length and width of the stack are out of limit.

Compared with the embodiment in which whether the size of the stack is over-limited or not is detected only by the upper surface of the stack, the embodiment can detect whether the height of the stack is over-limited or not by the upper surface of the stack, and can detect whether the side surface of the stack is over-limited or not by the target data amount photoelectric detection device, so that the accuracy of the detection result can be improved.

However, in one embodiment, the photoelectric detection device is a line laser scanning device, which can emit a laser beam and then detect whether the side of the stack is over-limit by receiving the reflected light of the laser beam, but this may cause errors in the detection result.

For example, in one example, the goods buttress comprises two regular cuboids, two cuboids are placed in an up-and-down overlapping mode, the length and the width of the cuboid close to the lower side are larger than those of the cuboid close to the upper side, the length and the width of the cuboid close to the lower side are out of limit, at the time, the two cuboids included in the goods buttress are regular, no matter which position of the laser of the line laser scanning device is directly above the side face of the goods buttress, the length and the width of the cuboid close to the lower side can be detected out of limit, namely, the length and the width of the goods buttress can be detected out of limit, and accurate detection is achieved.

However, in another example, if the stack is not of a regular shape, the length and width of the lower part of the stack are not exceeded, and the length and width of the remaining lower part are exceeded, then if the laser of the line laser scanning device is emitted above the non-exceeded position on the side of the stack, it is detected that the length and width of the stack are not exceeded, whereas in fact the length and width of the lower part of the stack are exceeded, i.e. in fact the length and width of the stack are exceeded, which presents a situation in which detection errors occur.

Therefore, on the basis of the embodiment shown in fig. 2, in order to further avoid the situation of detection error, in another embodiment of the present application, referring to fig. 3, the size detecting apparatus further includes: and the movement control device and the movement track correspond to each photoelectric detection device.

For any photoelectric detection device, the moving track corresponding to the photoelectric detection device is positioned above the corresponding side surface of the photoelectric detection device in the sample stack; the movement control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to move on the moving track, so that the detection covering surface of the photoelectric detection device covers the whole of the corresponding side surface of the photoelectric detection device in the sample stack. The same is true for each of the other photodetecting devices.

The embodiment can enable the detection covering surface of the photoelectric detection device to cover the whole of the corresponding side surface of the photoelectric detection device in the sample stack, thereby improving the accuracy of the detection result.

In fig. 3, 4 photo-detection devices are illustrated, but the scope of protection of the present application is not limited thereto. In fig. 3, G denotes a photo-detection device, H denotes a stack of goods, D denotes a moving track, and 4 moving tracks (indicated by thick lines in the figure) in fig. 3 correspond to each photo-detection device.

In one embodiment, referring to fig. 4, the movement control means comprises a motor and a moving slider; the moving track comprises a synchronous conveying belt; the photoelectric detection device is arranged on the movable sliding block, and the movable sliding block is arranged on the synchronous transmission belt; under the condition that the synchronous transmission belt is controlled by the motor to transmit, the synchronous transmission belt drives the photoelectric detection device to move on the moving track through the moving slide block.

In fig. 4, G denotes a photodetection device, B denotes a timing belt, J denotes a motor, and K denotes a movable slider.

Alternatively, on the basis of the embodiment shown in fig. 2, in order to further avoid the situation of detection error, in another embodiment of the present application, referring to fig. 5, the size detecting apparatus further includes:

the rotation control device corresponds to each photoelectric detection device; for any one photoelectric detection device, the rotation control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to rotate on a target plane, and the target plane comprises a plane where the corresponding side surface of the photoelectric detection device in the sample stack is located, so that the detection coverage surface of the photoelectric detection device covers the whole corresponding side surface of the photoelectric detection device in the sample stack. The same is true for each of the other photodetecting devices.

The embodiment can enable the detection covering surface of the photoelectric detection device to cover the whole of the corresponding side surface of the photoelectric detection device in the sample stack, thereby improving the accuracy of the detection result.

In fig. 5, G denotes a photoelectric detection device, H denotes a stack of goods, and Z denotes a rotation control device. One side of the stack is shown in figure 5. A photoelectric detection device G is arranged right above the side surface of the goods stack, and the rotation control device Z controls the photoelectric detection device G to rotate on the plane where the side surface is located, so that the detection covering surface of the photoelectric detection device G covers the whole side surface of the goods stack H.

In another embodiment of the present application, referring to fig. 6, the size detecting apparatus may further include, in addition to the first depth camera shown in the foregoing embodiment: a target number of second depth cameras; the second depth camera is used to detect at least whether the length and width of the stack are out of limits.

The number of targets is equal to the number of sides the stack of goods comprises that the size detection system is adapted to detect.

In the case of stationary placement of the pallet on the pallet fixing device and placement of the sample stack on the pallet, different second depth cameras are located above the outer sides of different sides of the sample stack, the size of the sample stack coinciding with the size of the cargo space of the stereoscopic warehouse.

In this embodiment, the position of the first depth camera is fixed and calibrated in advance, the position of each second depth camera is fixed and calibrated in advance,

the first depth camera may acquire distances between the first depth camera and various locations of the upper surface of the stack.

For any one second depth camera, the second depth camera may acquire a distance between the second depth camera and respective locations of the second depth camera on corresponding sides of the stack. The same is true for each of the other second depth cameras.

Then, the distances acquired by the first depth camera and the distances acquired by the second depth cameras may be summarized, for example, each second depth camera is in communication connection with the first depth camera, each second depth camera may send the acquired distance to the first depth camera, and the first depth camera may receive the acquired distance sent by each second depth camera, so as to implement the summarization.

Then, a three-dimensional image of the stack of goods can be drawn according to the collected distances, and then coordinates of each position on the surface in the three-dimensional image of the stack of goods can be obtained according to the position of the first depth camera, the position of each second depth camera, the distance acquired by the first depth camera and the distance acquired by each second depth camera, so that the size of the stack of goods can be determined according to the coordinates of each position on the surface in the three-dimensional image, and whether the size of the stack of goods is out of limit or not is determined.

In fig. 6, 4 second depth cameras are illustrated, but the scope of the present application is not limited thereto. In fig. 6, M denotes a first depth camera, R denotes a second depth camera, T denotes a pallet, and H denotes a stack of goods.

In another embodiment of the present application, the size detecting apparatus further includes: a third depth camera for detecting at least whether the length and width of the stack are out of limits; the third depth camera is arranged on the outer side of the tray fixing device and is aligned to the direction of the tray fixing device; the tray fixing device can rotate along a vertical rotating shaft.

In this application, in an example, the goods buttress is the cuboid, it has 4 sides, can set up the third depth camera in the position that is close to the outside of a side of goods buttress, after fixedly placing the tray on tray fixing device and placing the goods buttress on the tray, tray fixing device can be along vertical rotation axis rotation, in the in-process of rotation, can obtain the distance between the four sides of third depth camera respectively and the goods buttress based on the third depth camera, then obtain the length and the width of goods buttress according to the distance between the four sides of third depth camera respectively and the goods buttress, and then determine whether length and the width of goods buttress transfinite.

Wherein, the distance between third depth camera and arbitrary one side of goods buttress includes: the third depth camera is the shortest of the distances between the respective locations on the side of the stack.

Wherein the position coordinates of the rotation axis are known and the position coordinates of the third depth camera are known, and therefore the distance between the third depth camera and the rotation axis is known and fixed.

The distance between the rotation axis and the side can be obtained from the distance between the third depth camera and the rotation axis and the distance between the third depth camera and the side for any one side of the stack, which is performed for every other side of the stack as well. The distance between the axis of rotation and each side of the stack is thus obtained, and the length and width of the stack is obtained from the distance between the axis of rotation and each side of the stack.

Wherein, the distance between rotation axis and arbitrary one side of goods buttress includes: the shortest of the distances between the axis of rotation and the respective positions on the side of the stack.

It should be noted that the length and width of the stack are both provided by the stack itself, regardless of the position in which it is placed.

In another embodiment of the present application, the size detecting apparatus further includes: a fourth depth camera and a movement control device; the movement control equipment is used for controlling the fourth depth camera to move at least one circle around the side face of the tray fixing device, and in the moving process, the fourth depth camera is continuously aligned to the direction of the tray fixing device; the fourth depth camera is used to detect at least whether the length and width of the stack are out of limits.

In this application, at the in-process that removes, the fourth degree of depth camera can measure the fourth degree of depth camera respectively with the goods buttress between the four sides distance, then obtain the length and the width of goods buttress according to the fourth degree of depth camera respectively with the four sides distance of goods buttress between, and then determine whether the length and the width of goods buttress transfinite.

The distance between the fourth depth camera and any one side of the stack includes: the fourth depth camera is the shortest of the distances between the respective locations on the side of the stack.

Wherein the position coordinates of the center of the pallet fixture are known, the fourth depth camera can be positioned to its own position coordinates in real time, and thus the real time distance between the fourth depth camera and the center of the pallet fixture can be obtained.

The distance between the center of the tray fixing device and the side can be obtained for any one side of the stack according to the distance between the fourth depth camera and the center of the tray fixing device and the distance between the fourth depth camera and the side, and the operation is performed for each other side of the stack. Thereby, the distance between the center of the tray fixing device and each side surface is obtained, and further, the length and the width of the stack are obtained according to the distance between the center of the tray fixing device and each side surface.

Wherein, the distance between the center of tray fixing device and arbitrary one side of goods buttress includes: the shortest of the distances between the centre of the pallet fixture and the respective positions on the side of the stack.

It should be noted that the length and width of the stack are both provided by the stack itself, regardless of the position in which it is placed.

In another embodiment of the present application, the tray fixture is located on an AGV (Automated Guided Vehicle).

In the present application, in some cases, it is generally necessary to transport a stack using AGVs, for example, to place trays on the AGVs and place the stack on the trays, and then the AGVs transport the placed trays and the stack, and therefore, in order to save space costs, tray fixing devices may not be separately provided, and the AGVs may be improved so that tray fixing devices are provided on the AGVs, avoiding separate tray fixing device occupation space.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The above detailed description is provided for a size detection system provided in the present application, and the principles and embodiments of the present application are explained in detail by applying specific examples, and the descriptions of the above examples are only used to help understanding the method and the core ideas of the present application; meanwhile, for the ordinary workers in the field, according to the idea of the present application, the specific implementation and the application scope may be changed, and in summary, the content of the present specification should not be construed as limiting the present application.

Claims (12)

1. A dimensional inspection system, the system comprising:

a tray fixing device and a size detection device;

the tray fixing device is used for placing and fixing a tray, and a goods stack is placed on the tray;

the size detection device is arranged above the tray fixing device, the height of the size detection device is larger than that of the goods stack under the condition that the tray and the goods stack are statically placed on the tray fixing device, and the size detection device is used for detecting whether the size of the goods stack exceeds the limit.

2. The system of claim 1, wherein the size detection device comprises at least one of a depth camera and a photo detection device.

3. The system according to claim 2, characterized in that said photodetection means comprise at least a line laser scanning device.

4. A system according to claim 2 or 3, wherein the size detection means comprises a first depth camera;

the first depth camera is arranged above the tray fixing device and used for at least detecting whether the height of the goods stack exceeds the limit.

5. The system of claim 4, wherein the size detection device further comprises:

a target number of photodetecting devices; the photoelectric detection device is used for at least detecting whether the length and the width of the goods stack exceed the limit;

the target number is equal to the number of sides the system is adapted to detect;

under the condition that a tray is statically placed on the tray fixing device and a sample stack is placed on the tray, different photoelectric detection devices are positioned right above different side surfaces of the sample stack; the size of the sample cargo stack is matched with the size of the cargo space of the stereoscopic warehouse.

6. The system of claim 5, wherein the size detection device further comprises:

the movement control device and the movement track correspond to each photoelectric detection device;

for any photoelectric detection device, the moving track corresponding to the photoelectric detection device is positioned above the corresponding side surface of the photoelectric detection device in the sample stack; and the movement control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to move on the moving track, so that the detection coverage surface of the photoelectric detection device covers the whole of the corresponding side surface of the photoelectric detection device in the sample stack.

7. The system of claim 6,

the movement control device comprises a motor and a movable sliding block;

the moving track comprises a synchronous conveying belt;

the photoelectric detection device is arranged on the movable sliding block, and the movable sliding block is arranged on the synchronous transmission belt;

under the condition that the synchronous transmission belt is controlled by the motor to transmit, the synchronous transmission belt drives the photoelectric detection device to move on the moving track through the moving slide block.

8. The system of claim 5, wherein the size detection device further comprises:

the rotation control device corresponds to each photoelectric detection device;

for any one photoelectric detection device, the rotation control device corresponding to the photoelectric detection device is used for controlling the photoelectric detection device to rotate on a target plane, and the target plane comprises a plane where the corresponding side of the photoelectric detection device in the sample stack is located, so that the detection coverage surface of the photoelectric detection device covers the whole corresponding side of the photoelectric detection device in the sample stack.

9. The system of claim 4, wherein the size detection device further comprises:

a target number of second depth cameras; the second depth camera is used for detecting whether the length and the width of the goods stack at least exceed the limit;

the target number is equal to the number of sides the system is adapted to detect;

in the case of stationary placement of the pallet on the pallet fixture and placement of the sample stack on the pallet, a different second depth camera is located above the outside of a different side of the sample stack, the size of the sample stack coinciding with the size of the cargo space of the stereoscopic warehouse.

10. The system of claim 4, wherein the size detection device further comprises: a third depth camera to detect at least whether a length and a width of the stack of goods are out of limits;

the third depth camera is arranged on the outer side of the tray fixing device and is aligned to the direction of the tray fixing device;

the tray fixing device can rotate along a vertical rotating shaft.

11. The system of claim 4, wherein the size detection device further comprises: a fourth depth camera and a movement control device;

the movement control device is used for controlling the fourth depth camera to move at least one circle around the side face of the tray fixing device, and in the moving process, the fourth depth camera is continuously aligned to the direction of the tray fixing device; the fourth depth camera is for detecting at least whether the length and width of the stack are out of limits.

12. The system of claim 1, wherein the pallet fixture is located on an Automated Guided Vehicle (AGV).

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