Precision testing device and method for intelligent loading and unloading system

Abstract

The invention discloses a precision testing device for an intelligent loading and unloading system. The precision testing device comprises a testing platform, a testing platform moving module, a distance measuring module, a cross-linking interface module and a data processing module, the test platform is used for placing and positioning goods; the test platform moving module is used for moving the test platform; the distance measuring module is used for detecting and obtaining coordinates (X, Y) of the position of the test platform; the cross-linking interface module is connected with the intelligent loading and unloading system and is used for transmitting signals between the precision testing device of the intelligent loading and unloading system and the intelligent loading and unloading system so as to obtain coordinates (x, y) of the intelligent loading and unloading system for cargo position detection; and the data processing module is connected with the cross-linking interface module and the distance measuring module and is used for calculating the coordinates (X, Y) and the coordinates (x, y) to obtain an error value. The precision testing device of the intelligent loading and unloading system has the advantages of high testing efficiency, high result accuracy and low safety risk. The invention further discloses a precision testing method of the intelligent loading and unloading system.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent loading and unloading systems, and in particular to an accuracy testing device and method for intelligent loading and unloading systems. Background Art

[0002] The intelligent loading and unloading system is a system that uses advanced technologies (such as AI and 3D vision) and equipment (such as explosion-proof environmental cameras and infrared gratings) to realize the automation and intelligence of loading and unloading operations. Due to the uncertainty of the goods to be loaded and unloaded and the environment, the weight, shape and color of different goods are random, and the lighting, size, layout and other factors of different loading and unloading environments are also particular. At present, the accuracy of the intelligent loading and unloading system is usually tested manually.

[0003] The specific process of manual testing is as follows: first, manually move the goods to the designated location by using a crane; manually use a laser rangefinder to measure the coordinate value of the center of the goods and record it; manually operate the intelligent loading and unloading system to locate the coordinate of the center of the goods and record it; repeat the above steps to measure multiple point data; after measuring sufficient data, calculate the average error, maximum error, and minimum error. As can be seen from the above, there are some shortcomings in manual testing: 1) Low test efficiency. The manual testing process is complicated, the connection time of each link is long, and the test speed is slow. 2) Low result accuracy. The process of manually collecting, recording, and calculating and processing data may contain errors or even mistakes. 3) High safety risks. During the test, personnel and cranes cooperate to move the goods. The process of moving the goods requires personnel to walk under the crane and the gantry. The process of collecting data requires personnel to climb on the goods for collection. There are safety hazards in both the process of moving goods and collecting data. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a precision testing device for an intelligent loading and unloading system with high testing efficiency, high result accuracy and low safety risk.

[0005] The invention also provides a precision testing method for the intelligent loading and unloading system.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: An accuracy testing device for an intelligent loading and unloading system, comprising a testing platform, a testing platform moving module, a distance measuring module, a cross-linking interface module and a data processing module; The test platform is used to place and position goods; The test platform moving module is used to move the test platform; The distance measurement module is used to detect and obtain the coordinates (X, Y) of the test platform position; The cross-linking interface module is connected to the intelligent loading and unloading system and is used to transmit signals between the precision testing device of the intelligent loading and unloading system and the intelligent loading and unloading system to obtain the coordinates (x, y) of the cargo position detected by the intelligent loading and unloading system; The data processing module is connected to the cross-linking interface module and the distance measurement module, and is used to calculate the coordinates (X, Y) and the coordinates (x, y) to obtain the error value.

[0007] As a further improvement of the above technical solution: The center of the test platform is aligned with the center of the cargo during testing. The coordinates (X, Y) are the coordinates obtained by the distance measuring module when detecting the center of the test platform, and the coordinates (x, y) are the coordinates obtained by the intelligent loading and unloading system when detecting the center of the cargo.

[0008] The test platform moving module includes a control unit, and a horizontal moving unit and a lifting moving unit connected to the control unit. The horizontal moving unit is used to move the test platform horizontally, and the lifting moving unit is used to move the test platform vertically.

[0009] The data processing module includes a data receiving unit and a data calculation unit. The data receiving unit is used to receive and record the coordinates (X, Y) and coordinates (x, y) obtained by the ranging module and the intelligent loading and unloading system. The data calculation unit is used to calculate the coordinates (X, Y) and coordinates (x, y) to obtain an error value.

[0010] The distance measurement module adopts one or more of laser positioning, infrared positioning, visual positioning or radar positioning.

[0011] A precision testing method for an intelligent loading and unloading system comprises the following steps: S1. Place the goods on the test platform and position the goods and the test platform; S2, the test platform moving module moves the test platform to a certain position; S3, the distance measurement module detects and obtains the coordinates (X, Y) of the test platform position, and the intelligent loading and unloading system detects and obtains the coordinates (x, y) of the cargo position detection and transmits them to the cross-linking interface module; S4, repeating steps S1 to S3 to detect coordinates (X, Y) and coordinates (x, y) of multiple positions; S5. The data processing module calculates the coordinates (X, Y) of multiple positions with the coordinates (x, y) to obtain an error value.

[0012] As a further improvement of the above technical solution: The error values ​​include the average error , maximum error d max and the minimum error d min .

[0013] The calculation of the error value includes the following steps: A1. Calculate the error of the x coordinate and the error of the y coordinate; A2. Calculate the single error d based on the error of the x-coordinate and the y-coordinate i ; A3, according to the single error d i , calculate the average error , maximum error d max and the minimum error d min .

[0014] Single error d i The following formula is used to calculate:

[0015] Among them, x i ,y i are the horizontal and vertical coordinate values ​​obtained by the intelligent loading and unloading system for cargo detection, X i , Y i They are the horizontal and vertical coordinate values ​​obtained by the ranging module when detecting the test platform.

[0016] Average Error The following formula is used to calculate: ; Maximum error d max The following formula is used to calculate: d max= max(d1,d2,.....d n ); Minimum error d min The following formula is used to calculate: d min= min(d1,d2,.....d n ).

[0017] Compared with the prior art, the advantages of the present invention are: The precision testing device for the intelligent loading and unloading system of the present invention cooperates with each other to carry out the test during the test, the test process is simple, the links are closely connected, the test and calculation can be automatically carried out, and the test efficiency is high; the data collection, recording and calculation processes do not require human intervention, the errors are small, the mistakes are few, and the result accuracy is high; by taking the coordinates (X, Y) obtained by the distance measuring module from the test platform as the true value, and taking the coordinates (x, y) obtained by the intelligent loading and unloading system from the cargo detection as the measured value, compared with the technical solution in which both the true value and the measured value are obtained by detecting the cargo, the accuracy of taking the coordinates obtained by detecting the test platform as the true value is higher, the true value is more reliable, and the result accuracy is higher; the test process does not require human intervention, and the safety risk is small.

[0018] The precision testing device for the intelligent loading and unloading system of the present invention can detect the center of the test platform as the true value by aligning the center of the test platform with the center of the cargo. The center of the test platform is easier to measure than the center of the cargo, and has less interference. The stability of multiple tests is higher, and the results are more accurate.

[0019] The precision testing device for the intelligent loading and unloading system of the present invention has strong adaptability because the distance measuring module and the intelligent loading and unloading system detect the two-dimensional coordinates of the plane. When the goods are stacked too little or too much, the lifting and moving unit can raise and lower the height of the test platform to adapt to the detection height of the distance measuring module and the intelligent loading and unloading system; the horizontal moving unit can move the test platform and the goods on the test platform to multiple positions on the plane for detection to obtain multiple groups of data, and the result is more accurate.

[0020] The precision testing method of the intelligent loading and unloading system of the present invention cooperates with each other to carry out the test, the testing process is simple, the links are closely connected, the test and calculation can be automatically carried out, and the testing efficiency is high; the data collection, recording and calculation process do not require human intervention, the error is small, the error is few, and the result accuracy is high; by taking the coordinates (X, Y) obtained by the distance measuring module from the test platform as the true value, and taking the coordinates (x, y) obtained by the intelligent loading and unloading system from the cargo detection as the measured value, compared with the technical solution in which both the true value and the measured value are obtained by detecting the cargo, the accuracy of taking the coordinates obtained by the test platform detection as the true value is higher, the true value is more reliable, and the result accuracy is higher; the testing process does not require human intervention, and the safety risk is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the precision testing device of the intelligent loading and unloading system of the present invention.

[0022] Figure 2 It is a flow chart of the accuracy testing method of the intelligent loading and unloading system of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying 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 should not be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Embodiment 1: like Figure 1 As shown, the precision testing device of the intelligent loading and unloading system of this embodiment includes a testing platform, a testing platform moving module, a distance measuring module, a cross-linking interface module and a data processing module; The test platform is used to place and position the goods; The test platform mobile module is used to move the test platform; The ranging module is used to detect and obtain the coordinates (X, Y) of the test platform position; The cross-linking interface module is connected to the intelligent loading and unloading system and is used to transmit signals between the precision testing device of the intelligent loading and unloading system and the intelligent loading and unloading system to obtain the coordinates (x, y) of the cargo position detected by the intelligent loading and unloading system; The data processing module is connected with the cross-linking interface module and the distance measurement module, and is used to calculate the coordinates (X, Y) and the coordinates (x, y) to obtain the error value.

[0028] The precision testing device of the intelligent loading and unloading system of this embodiment, when testing the precision of the intelligent loading and unloading system, places the goods on the test platform and positions the goods and the test platform, specifically, aligns the center of the goods with the center of the test platform; the test platform moving module moves the mobile test platform to a certain position; the ranging module detects and obtains the coordinates (X, Y) of the test platform position, and the intelligent loading and unloading system detects and obtains the coordinates (x, y) of the cargo position detection and transmits the signal to the cross-linking interface module, that is, the coordinates (X, Y) are taken as the true value and the coordinates (x, y) are taken as the measured value; repeat the above steps to detect the coordinates (X, Y) and coordinates (x, y) of multiple positions; the data processing module calculates the coordinates (X, Y) and coordinates (x, y) of multiple positions to obtain the error value. The precision testing device for the intelligent loading and unloading system of the present embodiment cooperates with each other to carry out the test during the test, the test process is simple, the links are closely connected, the test and calculation can be automatically carried out, and the test efficiency is high; the data collection, recording and calculation process do not require human intervention, the error is small, the error is few, and the result is highly accurate; by taking the coordinates (X, Y) obtained by the distance measuring module from the test platform as the true value, and taking the coordinates (x, y) obtained by the intelligent loading and unloading system from the cargo detection as the measured value, compared with the technical solution in which both the true value and the measured value are obtained by detecting the cargo, the accuracy of taking the coordinates obtained by the test platform detection as the true value is higher, the true value is more reliable, and the result is more accurate; the test process does not require human intervention, and the safety risk is small.

[0029] Furthermore, in this embodiment, during the test, the center of the test platform is aligned with the center of the cargo, the coordinates (X, Y) are the coordinates obtained by the distance measuring module for detecting the center of the test platform, and the coordinates (x, y) are the coordinates obtained by the intelligent loading and unloading system for detecting the center of the cargo. By aligning the center of the test platform with the center of the cargo, the distance measuring module can detect the center of the test platform as the true value. Compared with the center of the cargo, the center of the test platform is easier to measure and has less interference, and the stability of multiple detections is higher, and the results are more accurate. Of course, in other embodiments, other positions where the test platform and the cargo are positioned can also be selected as the detection position.

[0030] Furthermore, in this embodiment, the test platform moving module includes a control unit, and a horizontal moving unit and a lifting moving unit connected to the control unit. The horizontal moving unit is used to move the test platform horizontally, and the lifting moving unit is used to lift and move the test platform. Since the distance measurement module and the intelligent loading and unloading system detect the two-dimensional coordinates of the plane, when the goods are stacked too little or too much, the lifting moving unit can raise and lower the height of the test platform to adapt to the detection height of the distance measurement module and the intelligent loading and unloading system, and has strong adaptability; the horizontal moving unit can move the test platform and the goods on the test platform to multiple positions on the plane for detection to obtain multiple sets of data, and the result is more accurate.

[0031] Furthermore, in this embodiment, the data processing module includes a data receiving unit and a data calculation unit. The data receiving unit is used to receive and record the coordinates (X, Y) and coordinates (x, y) obtained by the ranging module and the intelligent loading and unloading system. The data calculation unit is used to calculate the coordinates (X, Y) and coordinates (x, y) to obtain an error value. The coordinates obtained by the ranging module and the intelligent loading and unloading system can be received and recorded in the data receiving unit. When multiple positions are detected, the data calculation unit performs calculations, without the need for manual recording and calculation, and the results are more accurate.

[0032] Furthermore, in this embodiment, the distance measurement module adopts the laser positioning method. Laser positioning has high precision and fast response. Of course, in other embodiments, the distance measurement module can also adopt one or more methods of infrared positioning, visual positioning or radar positioning.

[0033] Embodiment 2: like Figure 2 As shown, the accuracy testing method of the intelligent loading and unloading system of this embodiment includes the following steps: S1. Place the goods on the test platform and position the goods and the test platform; S2, the test platform moving module moves the test platform to a certain position; S3, the distance measurement module detects and obtains the coordinates (X, Y) of the test platform position, and the intelligent loading and unloading system detects and obtains the coordinates (x, y) of the cargo position detection and transmits them to the cross-linking interface module; S4, repeating steps S1 to S3 to detect coordinates (X, Y) and coordinates (x, y) of multiple positions; S5. The data processing module calculates the coordinates (X, Y) of multiple positions with the coordinates (x, y) to obtain an error value.

[0034] The precision testing method of the intelligent loading and unloading system implemented in this invention is that during the test, each module cooperates to carry out the test, the test process is simple, the links are closely connected, the test and calculation can be automatically carried out, and the test efficiency is high; the data collection, recording and calculation process do not require human intervention, the error is small, the error is few, and the result is highly accurate; by taking the coordinates (X, Y) obtained by the distance measuring module for the test platform detection as the true value, and taking the coordinates (x, y) obtained by the intelligent loading and unloading system for the cargo detection as the measured value, compared with the technical solution in which both the true value and the measured value are obtained by detecting the cargo, the accuracy of taking the coordinates obtained by the test platform detection as the true value is higher, the true value is more reliable, and the result is more accurate; the test process does not require human intervention, and the safety risk is small.

[0035] Furthermore, in this embodiment, the error value includes the average error , maximum error dmax and the minimum error d min Through testing, various types of error values ​​are obtained, and the precision and accuracy of the measured data are higher.

[0036] Furthermore, in this embodiment, the calculation of the error value includes the following steps: A1. Calculate the error of the x coordinate and the error of the y coordinate; A2. Calculate the single error d based on the error of the x-coordinate and the y-coordinate i ; A3, according to the single error d i , calculate the average error , maximum error d max and the minimum error d min .

[0037] By calculating the coordinates (X, Y) and the coordinates (x, y), that is, calculating the true value and the measured value, the single error d can be achieved. i Calculation.

[0038] Furthermore, in this embodiment, the single error d i The following formula is used to calculate:

[0039] Among them, x i ,y i are the horizontal and vertical coordinate values ​​obtained by the intelligent loading and unloading system for cargo detection, X i , Y i They are respectively the horizontal and vertical coordinate values ​​obtained by the distance measurement module (3) when detecting the test platform.

[0040] Furthermore, in this embodiment, the average error The following formula is used to calculate: ; Maximum error d max The following formula is used to calculate: d max= max(d1,d2,.....d n ); Minimum error d min The following formula is used to calculate: d min= min(d1,d2,.....d n ).

[0041] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as above in the preferred embodiment, it is not used to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent replacement, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention, still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An accuracy testing device for an intelligent loading and unloading system, characterized in that: It includes a test platform, a test platform mobile module, a distance measurement module, a cross-linking interface module and a data processing module; The test platform is used to place and position goods; The test platform moving module is used to move the test platform; The distance measurement module is used to detect and obtain the coordinates (X, Y) of the test platform position; The cross-linking interface module is connected to the intelligent loading and unloading system and is used to transmit signals between the precision testing device of the intelligent loading and unloading system and the intelligent loading and unloading system to obtain the coordinates (x, y) of the cargo position detected by the intelligent loading and unloading system; The data processing module is connected to the cross-linking interface module and the distance measurement module, and is used to calculate the coordinates (X, Y) and the coordinates (x, y) to obtain the error value.

2. The precision testing device for the intelligent loading and unloading system according to claim 1, characterized in that: The center of the test platform is aligned with the center of the cargo during testing. The coordinates (X, Y) are the coordinates obtained by the distance measuring module when detecting the center of the test platform. The coordinates (x, y) are the coordinates obtained by the intelligent loading and unloading system when detecting the center of the cargo.

3. The precision testing device for the intelligent loading and unloading system according to claim 1, characterized in that: The test platform moving module includes a control unit, and a horizontal moving unit and a lifting moving unit connected to the control unit. The horizontal moving unit is used to move the test platform horizontally, and the lifting moving unit is used to move the test platform vertically.

4. The precision testing device for the intelligent loading and unloading system according to claim 1, characterized in that: The data processing module includes a data receiving unit and a data calculation unit. The data receiving unit is used to receive and record the coordinates (X, Y) and coordinates (x, y) obtained by the ranging module and the intelligent loading and unloading system. The data calculation unit is used to calculate the coordinates (X, Y) and coordinates (x, y) to obtain an error value.

5. The precision testing device for the intelligent loading and unloading system according to any one of claims 1 to 4, characterized in that: The distance measurement module adopts one or more of laser positioning, infrared positioning, visual positioning or radar positioning.

6. A precision testing method for an intelligent loading and unloading system, characterized in that: The following steps are involved: S1. Place the goods on the test platform and position the goods and the test platform; S2, the test platform moving module moves the test platform to a certain position; S3, the distance measurement module detects and obtains the coordinates (X, Y) of the test platform position, and the intelligent loading and unloading system detects and obtains the coordinates (x, y) of the cargo position detection and transmits them to the cross-linking interface module; S4, repeating steps S1 to S3 to detect coordinates (X, Y) and coordinates (x, y) of multiple positions; S5. The data processing module calculates the coordinates (X, Y) of multiple positions with the coordinates (x, y) to obtain an error value.

7. The precision testing method of the intelligent loading and unloading system according to claim 6 is characterized in that: The error values ​​include the average error , maximum error d max and the minimum error d min .

8. The precision testing method of the intelligent loading and unloading system according to claim 7 is characterized in that: The calculation of the error value includes the following steps: A1. Calculate the error of the x coordinate and the error of the y coordinate; A2. Calculate the single error d based on the error of the x-coordinate and the y-coordinate i ; A3, according to the single error d i , calculate the average error , maximum error d max and the minimum error d min .

9. The precision testing method of the intelligent loading and unloading system according to claim 8, characterized in that: Single error d i The following formula is used to calculate: Among them, x i ,y i are the horizontal and vertical coordinate values ​​obtained by the intelligent loading and unloading system for cargo detection, X i , Y i They are the horizontal and vertical coordinate values ​​obtained by the ranging module when detecting the test platform.

10. The precision testing method of the intelligent loading and unloading system according to claim 9, characterized in that: Average Error The following formula is used to calculate: ； Maximum error d max The following formula is used to calculate: d max= max(d1,d2,.....d n ); Minimum error d min The following formula is used to calculate: d min= min(d1,d2,.....d n )。

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