CN-117446393-B - Multi-sensor complementary error correction tray goods shelf real object checking method and system

CN117446393BCN 117446393 BCN117446393 BCN 117446393BCN-117446393-B

Abstract

The invention discloses a multi-sensor complementary error correction tray goods shelf real object checking method and system, comprising the following steps of positioning a checking device at a designated position, shooting a tray position to be checked by a camera, detecting an image, calculating the number data T1 of smoke boxes at the tray position, transmitting ultrasonic waves to the tray position by using ultrasonic distance measuring devices at different heights, calculating the number T2 of the smoke boxes at the tray position, comparing the number T1 and the number T2 with the stock number T3, if the number T1 and the number T2 are consistent, then the number is detected to be qualified, and otherwise, outputting a corresponding instruction according to a comparison result. The invention detects the number data of the smoke boxes through two dimensions of image detection and ultrasonic ranging, obtains the number of the smoke boxes on the tray position through logic operation, compares the detection results of two dimensions of the image and the sound with inventory data, improves the accuracy of inventory, and can enable the inventory work to be continued by adopting another identification mode when one data identification mode is unavailable.

Inventors

HUANG WEI
QIU SHUWEI
YAN JIEXI
Xu Nuanzhang
Weng Chubin
HUANG WEI
HUANG JUNHONG
MIAO LIMING
YANG SHENGYUN
CHEN XUANRUI

Assignees

广东烟草潮州市有限责任公司
韩山师范学院

Dates

Publication Date: 20260512
Application Date: 20231129

Claims (7)

1. A multi-sensor complementary error correction tray shelf real object checking method is characterized by comprising the following steps: s1, positioning an inventory device at a designated position relative to an inventory rack; the method for positioning the checking device at the appointed position relative to the goods shelf to be checked comprises the steps of placing a magnetic positioning mark on the bottom tray position of the goods shelf to be checked, 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; 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 tray and the smoke box size data; transmitting ultrasonic waves to tray positions to be checked along the horizontal direction by using a plurality of ultrasonic ranging 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 ranging devices are used for measuring the stacking layers and stacking modes of the smoke boxes on the tray positions; The ultrasonic distance measuring devices emit ultrasonic waves to a shelf to be checked, the checking device is driven to horizontally move along the direction parallel to the shelf, and then the ultrasonic measuring process is repeated for a plurality of times; s3, 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 method for checking the pallet physical object with the multi-sensor complementary error correction according to claim 1, wherein the step S2 is characterized in that the shot image is identified, meanwhile, the article gauge data A1 of the smoke box is identified, the bar code of the smoke box is scanned by utilizing a code scanning device arranged on the checking device, and the article gauge 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.
3. The method for checking a pallet physical object with multi-sensor complementary error correction as defined in claim 1, wherein the step of identifying the photographed image in the step S2 comprises the steps of detecting the pallet area and comparing the detected pallet area with the detected pallet area And 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.
4. The method for checking the goods shelf of the tray with the multi-sensor complementary error correction according to claim 1, wherein in the step S3, when the quantity detection is failed, if the quantity data T1 and the quantity data T2 are inconsistent with the stock quantity data T3, an operator performs manual check, if one of the quantity data T1 and the quantity data T2 is inconsistent with the stock quantity data T3, re-detection is performed, and when the quantity detection is failed after the re-detection is performed for a plurality of times, detection errors are judged, and the operator is reminded to debug the equipment.
5. The method for checking the pallet goods shelf real object with the multi-sensor complementary error correction according to claim 2, wherein in the step S3, when the product gauge detection is failed, if the product gauge data A1 and the product gauge data A2 are inconsistent with the stock product gauge data A3, an operator performs manual check, if one of the product gauge data A1 and the product gauge data A2 is inconsistent with the stock product gauge data A3, re-detection is performed, and when the number of the product gauge data A1 and the product gauge data A2 still fails after re-detection for a plurality of times, detection errors are judged, and the operator is reminded of debugging equipment.
6. The method for checking the object on the pallet shelf with the multi-sensor complementary error correction of claim 2, wherein the moving carrier is driven to move to the next pallet detection point after the number detection and the standard detection are qualified.
7. A system for a multi-sensor complementary error correction tray shelf real object checking method according to any one of claims 1-6 is characterized by comprising a data acquisition module, a sensor data checking module and a measurement result judging module, wherein the data acquisition module is used for acquiring smoke box data on a tray to be checked, 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 a judgment result and giving out operation to be carried out next according to the judgment result.

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 performing inventory by using a machine have appeared in the market, but there is a problem that the inventory accuracy is not high, for example, the chinese patent of invention with publication No. CN115649732a discloses an intelligent inventory device and an inventory method, including two parts of the intelligent inventory device and the inventory 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; For example, china patent No. 202010528597.2 discloses a stock checking method and an automatic vending machine, which utilize an image electric detection device arranged at the bottom of a goods channel for detecting whether goods exist at a certain position of the goods channel or not, and then calculate the quantity of the goods on the goods channel according to the pre-known ticket-feeding 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 by comprising the following steps: s1, positioning an inventory device at a designated position relative to an inventory rack; 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, 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. In S1, a method for positioning an inventory device at a designated position relative to a tray position to be checked is that a magnetic positioning mark is placed at the bottom tray position of a shelf to be checked, the inventory device is mounted on a mobile carrier, a magnetic positioner is arranged on the mobile carrier, and the mobile carrier stops 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 p