CN-115267795-B - Method, device and system for detecting deviation of warehouse material pile

CN115267795BCN 115267795 BCN115267795 BCN 115267795BCN-115267795-B

Abstract

The invention discloses a method, a device and a system for detecting deviation of a warehouse material pile, wherein the method comprises the steps of obtaining scanning data of each surface scanning unit, judging whether abnormal data exist in the scanning data or not to obtain a judging result, executing a first processing flow when the judging result is yes, and executing a second processing flow when the judging result is no. According to the method, the device and the system for detecting the deviation of the warehouse material pile, the detection surface is scanned through the surface scanning unit, whether the side part of the pile interferes with the scanning surface is judged by judging whether abnormal data exists in the scanning data, the deviation condition of all materials forming the pile can be checked at one time, the detection efficiency is high, and the adaptability is strong.

Inventors

SHEN KE
ZHONG FANGMING
ZHAO GUANGZHI

Assignees

牧星机器人(江苏)有限公司

Dates

Publication Date: 20260505
Application Date: 20220621

Claims (7)

1. A method for detecting deviations of piles of stored materials, the method comprising: The method comprises the steps of acquiring scanning data of each surface scanning unit, wherein the number of the surface scanning units is a plurality of the surface scanning units and is used for scanning each side part of a detected pile respectively, the number of the side parts of the detected pile is four, namely the four surface scanning units are corresponding to each other, the detection surface of each surface scanning unit is a vertical plane, a containing well for containing the pile is formed between the four detection surfaces corresponding to the four surface scanning units, and the detected pile is placed in the containing well during detection; judging whether the scan data has abnormal data or not to obtain a judging result; Executing a first processing flow when the judgment result is yes, wherein the executing of the first processing flow is specifically that prompting information is output to a person or task information is output to a processing device; When the judging result is negative, executing a second processing flow; the step of acquiring the scanning data of each surface scanning unit further comprises the following steps: The scheduling carrying device carries the detected pile to a detection point, a two-dimensional code is arranged on the ground of the detection point, and a camera arranged downwards is arranged on the carrying device; correspondingly, the executing the second processing flow includes: scheduling a carrier to carry the detected pile out of the detection point and to a target position; The method comprises the steps of acquiring scanning data of each surface scanning unit, calculating a first parking deviation of the carrying device relative to the stacking position according to an image containing a two-dimensional code acquired by a camera on the carrying device after the carrying device is parked at the stacking position, calculating a second parking deviation of the carrying device relative to the detecting point according to the image containing the two-dimensional code acquired by the camera on the carrying device after the carrying device is parked at the detecting point, obtaining a total parking deviation according to the first parking deviation and the second parking deviation, calculating a position compensation value corresponding to each surface scanning unit according to the total parking deviation, and driving an adjusting unit corresponding to each surface scanning unit to operate according to the position compensation value to correct the position of each surface scanning unit.
2. The method of claim 1, wherein the step of acquiring the scan data for each face scan unit further comprises: Obtaining the theoretical size of the detected pile; determining a target position of each surface scanning unit according to the theoretical size; And driving the corresponding adjusting units of the surface scanning units to operate so that the surface scanning units reach the target positions.
3. The method of claim 2, wherein said determining the target position of each of said face scanning units based on said theoretical dimensions comprises: Calculating the position of the detection surface corresponding to each side part according to the theoretical size and the maximum allowable deviation value; and calculating the position of the surface scanning unit according to the position of the detection surface.
4. The method of claim 1, wherein said determining whether said scan data includes outlier data comprises: Judging whether each distance value contained in the scanning data falls within a preset value range, and if so, indicating that abnormal data exist in the scanning data.
5. A warehouse material pile bias detection device for implementing the warehouse material pile bias detection method of claim 1, characterized in that it comprises: The surface scanning device comprises a data acquisition module, a detection module and a detection module, wherein the data acquisition module is used for acquiring scanning data of each surface scanning unit, and the number of the surface scanning units is multiple and is respectively used for scanning each side part of a detected pile; the judging module is used for judging whether the scanning data has abnormal data or not to obtain a judging result; the first execution module is used for executing a first processing flow when the judging result is yes; and the second execution module is used for executing a second processing flow when the judging result is negative.
6. A warehouse material pile deviation detection system, which is characterized by comprising a surface scanning unit, an adjusting unit and the warehouse material pile deviation detection device according to claim 5; The surface scanning units are equal in number to the side parts of the detected pile and are arranged in one-to-one correspondence with the side parts of the detected pile, and each surface scanning unit corresponds to one adjusting unit for adjusting the position of each surface scanning unit.
7. The deviation detecting system of claim 6, the device is characterized by further comprising a carrying device.

Description

Method, device and system for detecting deviation of warehouse material pile Technical Field The invention relates to the technical field of deviation detection, in particular to a method, a device and a system for detecting deviation of a warehouse material pile. Background In the storage transportation process, storage materials (such as a material box and the like) are often required to be transported after being stacked, stacking operation is generally carried out by a mechanical arm or a manual handling and stacking, stacking position deviation can be generated inevitably, if the stacking position deviation is not found in time, stacking collapse in the operation process is possibly caused, and the risk that the goods fall to hurt people is possibly caused, so that deviation detection is necessary for a pile after stacking. In the prior art, patent CN210376689U discloses a detection device for detecting offset information of a structural member of a goods shelf, which performs point detection by a laser to detect whether the goods shelf is greatly deflected or not, and timely discovers the overturning risk of the goods shelf. If the technology of the scheme is applied to pile detection, the detection is not comprehensive enough by a point detection mode, and risks at other positions cannot be eliminated. Patent CN216189289U discloses an anti-interference laser positioning hacking machine, it removes big frame and goes up and down to pile up neatly layer surface and all is equipped with the laser radar more than two, at the pile up neatly in-process, the laser through laser radar transmission calculate at the flying distance in space and the relative position of mesh sign indicating number, the error that skidding and slip caused has been avoided, also avoid harmonic interference, the device is great to pile up neatly device's structural limitation, be difficult to the detection to ordinary pile up neatly robot sign indicating number process, the suitability is poor, and the scheme is whether confirm article to pile up neatly through the mode of range finding decision position, detection efficiency is low. The patent CN209416286U is through combining photoelectric switch and reflecting plate to confirm to wait to pile up neatly thing buttress height, can make the thing buttress height of waiting to pile up neatly of confirming more accurate, and this scheme still detects the mode, detects incompletely, and aim at makes buttress height more accurate. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a warehouse material pile deviation detection method, device and system which can comprehensively detect deviation of the side part of a pile and are good in universality. In order to achieve the purpose, the invention provides a method for detecting deviation of a warehouse material pile, which comprises the following steps: The method comprises the steps of acquiring scanning data of each surface scanning unit, wherein the number of the surface scanning units is a plurality of the surface scanning units and is used for scanning each side part of a detected pile respectively, in the step, the number of the side parts of the detected pile is generally four, namely the four surface scanning units are corresponding to each other, the detection surface of each surface scanning unit is a vertical plane, a containing well for containing the pile is formed between the four detection surfaces corresponding to the four surface scanning units, and the detected pile is placed in the containing well during detection. Judging whether the scan data has abnormal data or not to obtain a judging result; when the judgment result is yes, executing a first processing flow; And executing a second processing flow when the judging result is negative. Further, before the step of acquiring the scan data of each surface scanning unit, the method further includes: Obtaining the theoretical size of the detected pile; determining a target position of each surface scanning unit according to the theoretical size; And driving the corresponding adjusting units of the surface scanning units to operate so that the surface scanning units reach the target positions. Further, the determining the target position of each of the face scanning units according to the theoretical dimension includes: Calculating the position of the detection surface corresponding to each side part according to the theoretical size and the maximum allowable deviation value; and calculating the position of the surface scanning unit according to the position of the detection surface. Further, before the step of acquiring the scan data of each surface scanning unit, the method further includes: Scheduling the carrying device to carry the detected pile to a detection point; correspondingly, the executing the second processing flow includes: the dispatch carrier carries the inspected pile out of the inspection point and to a ta