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Shelf posture deviation detecting method and system based on characteristic information graph

A feature information and deviation detection technology, which is applied in the field of warehouse shelf detection, can solve the problems of shelf parking posture changes, handling failure, shelf deviation, etc., and achieve the effect of low price, low cost and good system versatility

Active Publication Date: 2017-04-05
ZHEJIANG GUOZI ROBOT TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, because there are random errors in the movement and docking of the robot, this error will lead to changes in the parking posture of the shelf. s failure

Method used

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  • Shelf posture deviation detecting method and system based on characteristic information graph
  • Shelf posture deviation detecting method and system based on characteristic information graph
  • Shelf posture deviation detecting method and system based on characteristic information graph

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Embodiment Construction

[0031] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] The invention discloses a method for detecting shelf position deviation based on feature information graphics, which includes the following steps:

[0033] Step 1, install the upward-looking camera on the robot, so that the optical axis of the upward-looking camera faces upward, so that it is perpendicular to the bottom plane of the shelf;

[0034] Step 2, calibrate the mapping relationship between the camera pixel coordinate system and the robot coordinate system;

[0035] The mapping relationship refers to the homography matrix H of the camera, and its mathematical meaning is:

[0036]

[0037]

[0038] Among them, select the plane where the bottom of the shelf is located after the robot lifts the shelf as the reference plane, is the pixel coordinate of a point on the reference plane on the camera imaging plane, is...

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Abstract

The invention provides a shelf posture deviation detecting method and system based on characteristic information graph. The method comprises the following steps: 1) installing an upward viewing camera on a robot; 2) marking the mapping relationship between the camera pixel coordinate system and the robot coordinate system; 3) configuring a graph with characteristic information at the bottom of the shelf; measuring the coordinates of the graph characteristic points in the shelf coordinate system; 4) when the shelf is lifted by the robot, scanning the graph by the upward viewing camera to obtain the pixel coordinates of the graph characteristic points; 5) through the mapping relationship in step two, calculating and obtaining the coordinates of the pixel coordinates of the graph characteristic points mapped in the robot coordinate system; and 6) calculating the posture deviation of the shelf relative to the robot. The invention detects the posture deviation of a shelf through a camera. The entire implementation process of the invention is convenient and rapid. As the price of the camera is low and it is not necessary to make modifications to a large number of shelves, the cost is therefore reduced.

Description

technical field [0001] The invention relates to warehouse shelf detection, in particular to a method and system for detecting shelf pose deviation based on feature information graphics. Background technique [0002] For modern warehouse material management systems, fast and accurate automatic material sorting is an increasingly clear and unavoidable trend. The mobile robot is an important part of the automatic material sorting system. It realizes the automatic scheduling and handling of the shelves by lifting the shelves, moving the shelves, and putting down the shelves according to the preset process. However, during the whole process of the robot moving the shelf, due to errors in the top placement and robot movement, the position of the shelf will gradually deviate from its preset position. When the deviation is greater than a certain threshold, the robot will no longer be able to carry the shelf normally. , which will lead to the failure of the entire automated sorting ...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 黄鸿陶熠昆王霞郑洪波朱玲芬杜鑫峰沈继中宓旭东
Owner ZHEJIANG GUOZI ROBOT TECH
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