Shelf structure deformation detection device and method based on laser-assisted calibration

Abstract

The invention belongs to the technical field of shelf structure detection, and particularly discloses a shelf structure deformation detection device and method based on laser-assisted calibration, and the device comprises a projection plane, a reference assembly, a mapping assembly, an image collection assembly, and a connection relation thereof. Acquiring a mapping light spot and a reference line image in real time through an optical camera of an image acquisition assembly, and acquiring light spot distribution information relative to a reference mark; and calculating the space attitude of the detection position of the goods shelf structure to realize the detection of the deformation of the goods shelf structure. According to the invention, the three-dimensional space characteristics of the shelf structure deformation are projected to the two-dimensional plane, the image information projected by the laser is acquired through the image acquisition assembly, the shelf structure deformation condition is analyzed, the shelf structure deformation can be efficiently and accurately detected on the premise of not influencing the original function design of the warehouse, and technical support is provided for safety monitoring of the warehouse shelf.

Description

Technical Field

[0001] The present invention relates to the technical field of shelf structure detection, and in particular to a shelf structure deformation detection device and method based on laser-assisted calibration. Background Art

[0002] In dense storage scenarios, shelves are often large in scale and need to bear a large amount of load. Large loads may cause the warehouse floor to sink, shelf components to deform, and ultimately cause significant deformation of the overall shelf structure. The deformation of the shelf structure will have a significant impact on the precise movement, loading and unloading, and other operations of automated logistics equipment such as stackers and shuttles. In dense storage scenarios, the shelf structure is complex and numerous, and there are many objects that need to be monitored, making it difficult to effectively monitor the overall shelf structure. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems existing in the background technology. To this end, a shelf structure deformation detection device and method based on laser-assisted calibration are provided. Under the premise of not affecting the original design function of the warehouse shelf, especially in scenes with large-scale and high-density shelves such as large-scale stereoscopic warehouses, the deformation of the shelf structure is automatically detected to provide a basis for shelf safety assessment.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A shelf structure deformation detection device based on laser-assisted calibration, comprising a projection plane, a mapping component and an image acquisition component;

[0006] A reference line is provided on the projection plane;

[0007] The mapping component is mounted on the shelf, and the mapping component emits a light spot onto the projection plane;

[0008] The image acquisition component acquires images of the positional relationship between the reference line and the light spot within its acquisition range.

[0009] The following is a technical solution further defined by the device in the present invention, which also includes a reference component, wherein the reference component emits a laser reference line onto a projection plane, and the laser reference line is fixed on the projection plane.

[0010] The following is a technical solution further defined by the device in the present invention, wherein the reference component comprises a laser marker and a mounting bracket, wherein the laser marker is hingedly arranged on the mounting bracket through a hinge structure and is locked by bolts.

[0011] The following is a technical solution further defined by the device of the present invention, wherein the light spot is set as a cross light spot, and the displacement of the top of the shelf is reflected by the position of the light spot relative to the reference line, and the torsion of the top of the shelf is reflected by the angle of the cross light spot.

[0012] The following is a technical solution further defined by the device in the present invention, wherein the mapping assembly includes a laser transmitter and a transmitter clamping device, and the laser transmitter is fixedly mounted on the shelf through the transmitter clamping device.

[0013] The following is a technical solution further defined by the device in the present invention, wherein the laser emitter is fixedly mounted on the top of a shelf column by a emitter clamping device, and the optical path of the laser emitter is consistent with the tangent at the top of the shelf column axis.

[0014] The following is a technical solution further defined by the device in the present invention, wherein the image acquisition component includes an optical camera and a camera clamping device, wherein the optical camera is fixedly mounted on a shelf or a warehouse wall through the camera clamping device, wherein the lens of the optical camera faces the projection plane, and the focal length of the optical camera is adjusted to acquire an image of the positional relationship between a reference line and a light spot within a shooting range, and the position information of all light spots is acquired by arranging multiple image acquisition components.

[0015] The following is a technical solution further defined by the device in the present invention, wherein the projection plane is located above, on the side or below the shelf.

[0016] A method for detecting shelf structure deformation based on the shelf structure deformation detection device comprises the following steps:

[0017] Step S1: During the warehouse shelf installation and debugging phase, a projection plane is set;

[0018] Step S2: During the installation and debugging phase of the warehouse shelf, a mapping component for mapping structural deformation characteristics is installed on the shelf. The laser emitter of the mapping component projects a cross spot onto the projection plane. The laser emitter is adjusted so that the cross spot it projects is clear and accurate, and the laser light path matches the structural characteristics of the shelf.

[0019] Step S3: During the warehouse shelf installation and debugging phase, reference components for setting reference lines are installed around the warehouse. The laser marker of the reference component projects the laser reference line onto the projection plane. The laser marker is adjusted so that the laser reference line it projects is clear, accurate, and evenly distributed.

[0020] Step S4: During the warehouse shelf installation and debugging phase, multiple image acquisition components for acquiring the positional relationship between the laser reference line and the cross spot are installed;

[0021] Step S5: Turn on the laser marking device to project a laser reference line and turn on the laser transmitter to project a cross spot, collect corresponding image information through the optical cameras of multiple image acquisition components, save the image information, and perform before-and-after comparison analysis;

[0022] Step S6: Based on the collected image information, the offset and torsion characteristics of the light spot are captured, the spatial coordinates and angle of the light spot are calculated, and then the spatial posture of the detection position of the shelf structure is calculated. The deformation of the detection position is obtained by comparing the detection results under different states; combined with the shelf structure mechanical model, the overall deformation of the shelf structure is analyzed.

[0023] Compared with the prior art, the present invention has the following technical effects:

[0024] The present invention projects the three-dimensional spatial characteristics of the shelf structure deformation onto a two-dimensional plane by setting up a projection plane, a reference component, a mapping component and an image acquisition component. The image information of the laser projection is collected by the image acquisition component to analyze the deformation of the shelf structure. The shelf structure deformation can be detected efficiently and accurately without affecting the original functional design of the warehouse, providing technical support for the safety monitoring of warehouse shelves.

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the overall position relationship of the storage shelf, mapping component, reference component, image acquisition component and projection plane provided by an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of laser reference lines and spot distribution provided by an embodiment of the present invention;

[0029] Figure 3 is a schematic diagram of the structure of a reference component provided by an embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of the structure of a mapping component and an image acquisition component provided by an embodiment of the present invention;

[0031] Figure 5 It is a flow chart of a method for detecting shelf structure deformation provided by an embodiment of the present invention.

[0032] Figure numerals: 1. shelf; 2. projection plane; 21. laser reference line; 22. light spot; 3. reference component; 31. laser marker; 32. mounting bracket; 4. mapping component; 41. laser transmitter; 42. transmitter clamping device; 5. image acquisition component; 51. optical camera; 52. camera clamping device. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0034] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0035] In the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0036] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrated; they can be directly connected, or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0037] like Figure 1-5 As shown, a shelf structure deformation detection device based on laser-assisted calibration and a shelf structure deformation detection method are provided.

[0038] like Figure 1As shown, the structure involved in the shelf structure deformation detection device (also known as laser-assisted calibration device) includes: shelf 1, projection plane 2, reference component 3, mapping component 4 and image acquisition component 5. The projection plane 2 can be a plane with good flatness on the top of the warehouse building, or it can be an additional projection plane 2 (such as a horizontal plate) installed when the top of the building does not meet the requirements. The reference component 3 mainly includes a laser marker 31 installed on the wall of the warehouse. The laser marker 31 is used to emit a fixed laser reference line 21 to the projection plane 2 as a reference. If there are enough reference features on the projection plane 2 itself, the reference component 3 can also be omitted. The mapping component 4 mainly includes a laser emitter 41 installed at an important position of the shelf 1 (the top of the column of the shelf 1 and other positions of the shelf 1 that are prone to structural deformation). The laser emitter 41 is used to emit a cross spot 22 to the projection plane 2 to map the structural features of the shelf 1. The projected cross spot 22 is offset or twisted as the structure of the shelf 1 deforms. Therefore, the reference component 3 and the mapping component 4 project the laser to the same area (projection plane 2), such as the roof of a warehouse, the ground, etc., to achieve the function of transforming the three-dimensional space features into a two-dimensional plane.

[0039] like Figure 2 As shown, the projection plane 2 mainly includes a laser reference line 21 and a mapping light spot 22. The laser reference line 21 originates from the reference component 3, and its position is fixed; the mapping light spot 22 originates from the mapping component 4. In this embodiment, the mapping light spot 22 uses a cross light spot 22. Therefore, the displacement of the top of the shelf 1 can be reflected by the position of the mapping light spot 22 relative to the laser reference line 21, and the torsion of the top of the shelf 1 can be reflected by the angle of the cross light spot 22. The projection plane 2 is located above, on the side or below the shelf 1. When the projection plane 2 is located below the shelf 1, the projection plane 2 can be the ground.

[0040] like Figure 3 As shown, the reference assembly 3 mainly includes a laser marker 31 and a mounting bracket 32. The laser marker 31 is fixed to the mounting bracket 32 ​​by bolts or other reliable means, and the mounting bracket 32 ​​is fixed to a fixed position such as a building column or a wall by bolts or other reliable means. The mounting bracket 32 ​​includes a hinge structure that can realize the angle adjustment function of the laser marker 31 to ensure that the reference laser line emitted by the laser marker 31 is clearly and accurately projected to the specified position of the projection plane 2.

[0041] like Figure 4As shown, the mapping component 4 mainly includes a laser emitter 41 and an emitter clamping device 42. The laser emitter 41 is fixed to an important position of the shelf 1 by the clamping device (in this embodiment, the laser emitter 41 is installed at the top of the column of the shelf 1, and can also be installed at other positions that need to be monitored; there is no special requirement for the installation angle. In order to reduce the difficulty of calculation and analysis, the laser light path can be matched with the structural characteristics of the shelf 1. In this embodiment, the light path of the laser emitter 41 is consistent with the tangent at the top of the axis of the column of the shelf 11), ensuring that the characteristic mapping light spot 22 emitted by the laser emitter 41 is clearly and accurately projected onto the projection plane 2.

[0042] like Figure 4 As shown, the image acquisition component 5 mainly includes an optical camera 51 and a camera clamping device 52. The optical camera 51 is installed at a location such as a shelf 1 or a warehouse wall through the camera clamping device 52. The lens of the optical camera 51 faces the projection plane 2. The focal length of the optical camera 51 is adjusted to accurately acquire the position relationship image of the laser reference line 21 and the mapping light spot 22 within the shooting range. The position information of all the mapping light spots 22 is acquired by arranging multiple image acquisition devices.

[0043] like Figure 5 As shown, a method for detecting deformation of a shelf structure is provided. The reference line projected by the laser scriber 31 of the reference component 3 is used as a reference object. The image of the light spot 22 projected by the laser scriber 31 of the mapping component 4 is collected. When the shelf 1 structure is deformed, the offset and torsion characteristics of the light spot 22 can be accurately captured. The spatial posture change of the detection position of the shelf 1 structure can be obtained by analysis. Specifically, the following steps are included:

[0044] Step S1: during the installation and debugging phase of the warehouse shelf 1, a projection plane is set. Usually, the top of the warehouse building is used as the projection plane. When the laser projection condition on the top of the warehouse building is not good, an additional projection plane 2 is installed.

[0045] Step S2: During the installation and debugging stage of the warehouse shelf 1, a mapping component 4 for mapping structural deformation characteristics is installed at an important position of the shelf 1. The laser emitter 41 of the mapping component 4 projects a cross spot 22 onto the projection plane. The laser emitter 41 is adjusted so that the projected cross spot 22 is clear and accurate, and the laser light path matches the structural characteristics of the shelf 1. For example, the laser light path is colinear or perpendicular to the columns, beams, etc., to facilitate spatial feature analysis.

[0046] Step S3: During the installation and commissioning phase of the warehouse shelf 1, a reference component 3 for setting a reference line is installed at a fixed position such as a building column, wall, or ground. The laser marker 31 of the reference component 3 projects the laser reference line 21 onto the projection plane. The laser marker 31 is adjusted so that the laser reference line 21 it projects is clear, accurate, and evenly distributed.

[0047] Step S4: During the installation and debugging phase of the warehouse shelf 1, multiple image acquisition components 5 are installed for acquiring the positional relationship between the laser reference line 21 and the cross light spot 22; in this embodiment, the image acquisition component 5 is installed on the top of the column of the shelf 1 (it can also be installed on a mobile device such as a stacker, a shuttle, etc. When the image acquisition component 5 is installed on a mobile device, the number of image acquisition components 5 can be reduced, and image information at different positions can be acquired by moving the position), ensuring that the image of the mapping light spot 22 projected by the mapping component 4 can be clearly captured. The number of cameras required for installation on a mobile device is relatively small, but it takes a long time for the mobile device to take multiple shots to complete all the detections; the number of cameras required for installation at a fixed position is relatively large, but the acquisition of all images can be completed quickly.

[0048] Step S5: Turn on the laser marker 31 to project the laser reference line 21 and the laser emitter 41 to project the cross spot 22, and collect corresponding image information through the optical cameras 51 of the multiple image acquisition components 5. When the camera is installed on a mobile device, it is necessary to control the mobile device to change its position and collect images multiple times. The warehouse idle time can be selected to perform automatic detection of the shelf 1 structure. The images collected for each detection need to be saved for before and after comparison analysis.

[0049] Step S6: According to the collected image information on the projection plane 2, determine the distribution of the laser reference line 21 and the mapping spot 22, capture the offset and torsion characteristics of the spot 22, calculate the spatial coordinates and angle of the spot 22, and then calculate the spatial posture of the detection position of the shelf 1 structure, and obtain the deformation of the detection position by comparing the detection results under different states; combined with the structural mechanical model of shelf 1, analyze the overall deformation of the shelf 1 structure.

[0050] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, all equivalent changes made according to the shape, structure and principle of the present invention without departing from the content of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A shelf structure deformation detection device based on laser-assisted calibration, characterized in that: It includes a projection plane, a mapping component and an image acquisition component; A reference line is provided on the projection plane; The mapping component is mounted on the shelf, and the mapping component emits a light spot onto the projection plane; The image acquisition component acquires images of the positional relationship between the reference line and the light spot within its acquisition range.

2. A shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 1, characterized in that: It also includes a reference component, which emits a laser reference line onto a projection plane, and the laser reference line is fixed on the projection plane.

3. A shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 2, characterized in that: The reference assembly includes a laser marker and a mounting bracket. The laser marker is hingedly arranged on the mounting bracket through a hinge structure and is locked by bolts.

4. The shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 1, characterized in that: The light spot is set as a cross light spot, and the displacement of the top of the shelf is reflected by the position of the light spot relative to the reference line, and the torsion of the top of the shelf is reflected by the angle of the cross light spot.

5. The shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 4, characterized in that: The mapping assembly includes a laser transmitter and a transmitter clamping device, and the laser transmitter is fixedly mounted on the shelf through the transmitter clamping device.

6. The shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 5, characterized in that: The laser transmitter is fixedly mounted on the top of the shelf column through a transmitter clamping device, and the optical path of the laser transmitter is consistent with the tangent line at the top of the shelf column axis.

7. The shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 1, characterized in that: The image acquisition component includes an optical camera and a camera clamping device. The optical camera is fixedly mounted on a shelf or a warehouse wall through the camera clamping device. The lens of the optical camera faces the projection plane. The focal length of the optical camera is adjusted to capture the image of the positional relationship between the reference line and the light spot within the shooting range. The position information of all light spots is collected by arranging multiple image acquisition components.

8. The shelf structure deformation detection device based on laser-assisted calibration as claimed in claim 1, characterized in that: The projection plane is located above, at the side or below the shelf.

9. A method for detecting shelf structure deformation based on the shelf structure deformation detection device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1: During the warehouse shelf installation and debugging phase, a projection plane is set; Step S2: During the installation and debugging phase of the warehouse shelf, a mapping component for mapping structural deformation characteristics is installed on the shelf. The laser emitter of the mapping component projects a cross spot onto the projection plane. The laser emitter is adjusted so that the cross spot it projects is clear and accurate, and the laser light path matches the structural characteristics of the shelf. Step S3: During the warehouse shelf installation and debugging phase, reference components for setting reference lines are installed around the warehouse. The laser marker of the reference component projects the laser reference line onto the projection plane. The laser marker is adjusted so that the laser reference line it projects is clear, accurate, and evenly distributed. Step S4: During the warehouse shelf installation and debugging phase, multiple image acquisition components for acquiring the positional relationship between the laser reference line and the cross spot are installed; Step S5: Turn on the laser marking device to project a laser reference line and turn on the laser transmitter to project a cross spot, collect corresponding image information through the optical cameras of multiple image acquisition components, save the image information, and perform before-and-after comparison analysis; Step S6: Based on the collected image information, the offset and torsion characteristics of the light spot are captured, the spatial coordinates and angle of the light spot are calculated, and then the spatial posture of the detection position of the shelf structure is calculated. The deformation of the detection position is obtained by comparing the detection results under different states; Combined with the shelf structure mechanics model, the overall deformation of the shelf structure is analyzed.

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