Acceptance and acceptance device for improving dimension measurement precision of air freight beating plate
By setting up multiple 3D visual devices near the bottom of the air cargo parts, especially the linear laser rotation scanning device between the inclined side and the trolley flat panel, the problem of insufficient measurement in the prior art is solved, and more accurate air cargo handling is achieved The board size acceptance avoids the loss of freight costs.
Patent Information
- Application Number
- CN202421133451.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-23
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2034-05-23
AI Technical Summary
The existing air cargo plate size acceptance technology has the problem of insufficient measurement, especially the point cloud data caused by the inaccurate flat plate of the car and the inclined shape of the cargo parts, which in turn affects the accurate judgment of whether the cargo parts can be loaded into the aircraft cargo warehouse. , resulting in loss of freight costs.
A plurality of 3D vision devices are adopted, at least one of which is arranged near the bottom of the air cargo component to be tested, including a line laser rotation scanning 3D vision device arranged up and down, located between the inclined side and the trolley flat panel to ensure more accurate point cloud data Acquisition, increasing the comprehensiveness and accuracy of the measurement.
It improves the accuracy of air cargo plate size measurement, enhances the accuracy of dimensional acceptance, and avoids the loss of freight costs caused by inaccurate measurements.
Smart Images
Figure CN222231592U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of size acceptance of air cargo pallets, and in particular to a device that can measure the size of an air cargo piece with high precision by placing the air cargo piece on a trolley. Background Art
[0002] In the air cargo industry, it is generally necessary to pack the goods to be transported into a large piece (a process also called palletizing) and then load it into the aircraft cargo space. If the piece is too large, it will not be able to be loaded into the aircraft cargo space and needs to be repacked. However, the cargo aircraft has a limited stay time, and it takes a very long time to repack the large piece. Basically, the cargo aircraft has flown away, and the large piece has not been repacked. Therefore, when the large piece is too large, it will not fit into the aircraft space, which will cause a waste of aircraft cargo space and further cause a loss of freight costs. Therefore, it is necessary to inspect the size of the air cargo pallet in advance, measure the outer contour dimensions of the packaged freight pieces in advance, and then determine whether the freight pieces can be loaded into the aircraft cargo space.
[0003] In the prior art, the air cargo to be tested is usually loaded on a flatbed of a trolley (e.g. Figure 1 300 in the figure), and then the trolley transports it to the measurement area. When calculating the outer contour dimensions of the air cargo piece to be measured, the height of the trolley flatbed from the ground is usually calculated, for example, 20 cm. Then the horizontal plane 20 cm above the ground is used as the dividing interface, or the surface of the trolley flatbed loaded with goods (the default is the horizontal plane) is used as the dividing interface. The dimensions of the part below the dividing interface are not included in the dimension calculation of the air cargo piece to be measured. In this way, the dimensions of the trolley can be eliminated to obtain the actual outer contour dimensions of the air cargo piece to be measured. In the existing acceptance devices with 3D vision, 3D vision devices are usually only set above the four corners or four sides of the air cargo to be tested for three-dimensional scanning. Since the 3D vision device is far away from the trolley flatbed, the point cloud data information obtained in this way is not accurate enough, and there is also the problem of difficulty in scanning the trolley flatbed loaded with the air cargo to be tested more comprehensively, which ultimately leads to inaccurate size measurement. In addition, since the trolley flatbed cannot always be horizontal and sometimes tilts, and there may be an error between the actual height of the trolley flatbed from the ground and the set fixed value (such as the aforementioned 20 cm), if the obtained point cloud data is not accurate enough, it may be impossible to confirm where the aforementioned dividing interface is or the confirmation is incorrect, resulting in the measured outer contour size of the air cargo piece being inaccurate. In addition, if Figure 1As shown, due to the limitation of the shape of the internal space of the belly of the cargo aircraft, the two side surfaces of some of the air cargo pieces to be tested close to the bottom are not completely vertical, but tilted inward, forming a shape similar to an "inverted eight". In the prior art, since the 3D vision device is far away from the bottom of the air cargo piece to be tested, the point cloud data information obtained in this way is not accurate enough, and there is also a problem that the inclined two side surfaces cannot be scanned more comprehensively, which will eventually lead to inaccurate measurements and further errors in acceptance, which may cause the air cargo piece to be unable to be loaded into the aircraft cargo hold, resulting in loss of freight costs. Utility Model Content
[0004] In view of the above problems, the purpose of the present application is to provide an acceptance device that improves the dimensional measurement accuracy of air cargo pallets, so as to solve the problem that the outer contour dimensions of air cargo pieces measured by existing acceptance devices are not very accurate.
[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: an acceptance device for improving the dimensional measurement accuracy of air cargo pallets, comprising multiple 3D vision devices, at least one of which is arranged near the bottom of the air cargo piece to be measured.
[0006] Furthermore, the vicinity of the bottom of the air freight item to be tested specifically refers to the vicinity of the flat plate loaded with the air freight item to be tested.
[0007] Furthermore, the air cargo item to be tested has at least one inclined side surface, and the inclined side surface is close to the bottom of the air cargo item to be tested. The vicinity of the bottom of the air cargo item to be tested specifically refers to the area between the inclined side surface and the flat plate.
[0008] Furthermore, the acceptance device includes at least two 3D vision devices arranged upper and lower, the 3D vision device located at the lower side is arranged between the inclined side and the flat plate, the 3D vision device is a linear laser rotation scanning 3D vision device, and the two linear laser rotation scanning 3D vision devices arranged upper and lower are recorded as a group of rotation measurement modules, and the acceptance device includes at least four groups of rotation measurement modules, and the four groups of rotation measurement modules are respectively arranged near the four corners of the air cargo item to be tested.
[0009] Beneficial effect: The acceptance device provided by the present application includes multiple 3D vision devices, at least one of which is arranged near a flatbed loaded with air cargo pieces to be tested, especially between the inclined side of the air cargo pieces to be tested and the trolley flatbed. In this way, more accurate point cloud data information of the air cargo pieces to be tested and their trolley flatbed can be obtained, and the scanning can also be more comprehensive, and ultimately the measured outer contour dimensions of the air cargo pieces to be tested are also more accurate, thereby increasing the accuracy of the size acceptance of the air cargo pallet and ultimately avoiding the loss of air cargo costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Figure 1 It is a structural schematic diagram of an acceptance device for improving the dimensional measurement accuracy of air cargo pallets provided by an embodiment of the present application;
[0011] Figure 2 is based on Figure 1 A schematic diagram of the structure of a 3D vision device in an acceptance device for improving the dimensional measurement accuracy of air cargo pallets is provided;
[0012] Figure 3 It is a schematic diagram of how air cargo pieces can be loaded into the cargo space of an aircraft;
[0013] Figure 4 It is a schematic diagram showing that air cargo pieces cannot be loaded into the cargo space of the aircraft. DETAILED DESCRIPTION
[0014] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0015] First of all, it needs to be explained that air cargo palletizing specifically refers to packaging the air cargo to be transported into a large piece and then loading it on a pallet or in a container to facilitate loading, transportation and unloading. Since the air cargo pieces after packaging are very tall, they need to be inspected for size after palletizing before being loaded into the aircraft cargo space. The meaning of size inspection for air cargo palletizing is to determine whether the cargo piece can be loaded into the aircraft cargo space based on the size of the preset aircraft space and the door. When the cargo piece can pass through the preset aircraft door and be loaded into the aircraft space, the inspection is qualified; when the cargo piece cannot pass through the preset aircraft door and / or cannot be loaded into the aircraft space, the inspection is unqualified. If the inspection is unqualified, it means that the package is too large, and it needs to be repacked before the cargo plane arrives to avoid the loss of freight costs.
[0016] It should be noted that, see Figure 1 The air cargo piece X to be tested is generally shaped like a cuboid as a whole, and includes four corners ABCD, wherein AB is one pair of corners and CD is another pair of corners; in addition to the bottom surface and the top surface, the air cargo piece X to be tested generally includes four side surfaces, and the four side surfaces are arranged opposite to each other in pairs. The side surfaces of some air cargo pieces X to be tested are not completely vertical, and some side surfaces are inclined inward near the bottom of the air cargo piece X to be tested, such as the inclined side surface X1.
[0017] It should be noted that, see Figure 2 The 3D vision device includes at least one camera 110 and one laser 120. Of course, in other embodiments, the number of cameras 110 and / or lasers 120 in the 3D vision device 100 may be two or more, and the number of the two may be arbitrarily combined according to the needs. Preferably, the 3D vision device may be: a monocular line laser scanning 3D camera, or may be: a binocular line laser scanning 3D camera. While the laser 120 scans (rotational scanning or linear scanning) the air cargo piece X to be tested, the camera 110 synchronously shoots the air cargo piece X to be tested, and then a three-dimensional model (point cloud map) of the air cargo piece X to be tested can be generated, so that the size information of its outer contour can be obtained according to the data information in the point cloud map.
[0018] In view of the problems existing in the prior art, the present application provides an acceptance device for improving the dimensional measurement accuracy of air cargo pallets to solve the problem, which is described in detail below in conjunction with the accompanying drawings. The acceptance device includes multiple 3D vision devices, at least one of which is arranged near the bottom of the air cargo piece X to be measured, specifically near the flat plate 300 loaded with the air cargo piece X to be measured, preferably the flat plate 300 of the trolley. Of course, the flat plate 300 can also be a fixed plate. The air cargo piece X to be measured is placed on the flat plate 300 during measurement. During measurement, the flat plate 300 is in contact with the bottom surface of the air cargo piece X to be measured. Therefore, if a more accurate size is to be obtained, it is necessary to obtain more accurate point cloud data information of the flat plate 300. Therefore, it is necessary to separately arrange a 3D vision device near the bottom of the air cargo piece X to be measured (specifically near the flat plate 300), so that the closer the distance, the more accurate the scanning, so as to more accurately determine the aforementioned interface. For the air cargo piece X to be tested whose side surface near the bottom is inclined, in order to obtain high-precision measurement, it is also necessary to obtain more accurate point cloud data information, and more specifically, a 3D vision device is set between the inclined side surface X1 and the flat plate 300. The acceptance device includes at least two 3D vision devices arranged vertically, and the 3D vision device located at the bottom is arranged near the trolley flat plate 300. Further, the 3D vision device located at the bottom is arranged between the inclined side surface X1 and the flat plate 300. Preferably, multiple groups of 3D vision devices arranged vertically are set near at least one corner and / or one side of the air cargo piece X to be tested, and the air cargo piece X to be tested is scanned and / or photographed by multiple groups of 3D vision devices arranged vertically.
[0019] Specific embodiment 1: See Figure 1 to Figure 2 , the 3D vision device is a line laser rotation scanning 3D vision device 100, the acceptance device includes at least two line laser rotation scanning 3D vision devices 100 arranged in an upper and lower position, the two line laser rotation scanning 3D vision devices 100 arranged in an upper and lower position are recorded as a group of rotation measurement modules, the acceptance device includes at least four groups of rotation measurement modules, and the four groups of rotation measurement modules are respectively arranged near the four corners of the air cargo piece X to be tested. Specifically, the acceptance device includes a first line laser rotation scanning 3D vision device 101, a second line laser rotation scanning 3D vision device (due to the viewing angle, Figure 1), a third line laser rotation scanning 3D vision device 103, a fourth line laser rotation scanning 3D vision device 104, a fifth line laser rotation scanning 3D vision device 105, a sixth line laser rotation scanning 3D vision device 106, a seventh line laser rotation scanning 3D vision device 107, an eighth line laser rotation scanning 3D vision device 108, the first line laser rotation scanning 3D vision device 101 and the second line laser rotation scanning 3D vision device are recorded as a first group of rotation measurement modules, the first line laser rotation scanning 3D vision device 101 is located above the second line laser rotation scanning 3D vision device, the third line laser rotation scanning 3D vision device 103 and the fourth line laser rotation scanning 3D vision device 104 is recorded as the second group of rotation measurement modules, the third line laser rotation scanning 3D vision device 103 is located above the fourth line laser rotation scanning 3D vision device 104, the fifth line laser rotation scanning 3D vision device 105 and the sixth line laser rotation scanning 3D vision device 106 are recorded as the third group of rotation measurement modules, the fifth line laser rotation scanning 3D vision device 105 is located above the sixth line laser rotation scanning 3D vision device 106, the seventh line laser rotation scanning 3D vision device 107 and the eighth line laser rotation scanning 3D vision device 108 are recorded as the fourth group of rotation measurement modules, and the seventh line laser rotation scanning 3D vision device 107 is located above the eighth line laser rotation scanning 3D vision device 108. The first group of rotation measurement modules and the second group of rotation measurement modules are respectively arranged near the diagonal position (AB) of the air cargo piece X to be measured, and the third group of rotation measurement modules and the fourth group of rotation measurement modules are respectively arranged near the other diagonal position (CD) of the air cargo piece X to be measured.
[0020] Furthermore, the first method for realizing rotational scanning is as follows: the acceptance device provided in this embodiment further includes a lens, which is mounted on the scanning path of the laser 120 (specifically, the path of laser emission), and the rotational scanning method of the laser 120 is: the laser is irradiated on the rotationally scanned lens, so that the laser 120 can rotate and scan. The laser 120 can be fixed on the mounting plate 130, and the lens can be driven by a motor to rotate, and the motor can be fixedly mounted on the mounting plate 130, so that when the laser emitted by the laser 120 irradiates the lens, the lens reflects the laser to the air cargo piece X to be tested through rotational motion, so that the laser emitted by the linear laser rotational scanning 3D vision device 100 can scan the air cargo piece X to be tested, and the 3D vision device 100 realizes the rotational scanning of the air cargo piece X to be tested. Preferably, the lens adopts a reflector; more preferably, the laser 120 can also realize the rotational scanning by a galvanometer.
[0021] Furthermore, a second method for realizing rotational scanning is provided: the line laser rotational scanning 3D vision device 100 includes a laser 120 and a rotation mechanism, and the laser 120 is mounted on the rotation mechanism. This is a method of directly driving the laser 120 to rotate by the rotation mechanism to realize rotational scanning. Specifically, the rotation mechanism includes a motor, which can be fixed on a mounting plate 130. The output end of the motor is fixed to one end of the laser 120 through a mounting block, so that the laser 120 as a whole can rotate under the drive of the motor, thereby realizing rotational scanning.
[0022] Specific embodiment 2: The acceptance device also includes a linear motion mechanism, and the 3D vision device is installed on the linear motion mechanism to form a measurement module. The linear motion mechanism drives the 3D vision device to perform linear motion to complete the three-dimensional scanning of the air cargo piece X to be tested. The acceptance device includes at least two measurement modules arranged above and below. Preferably, the two measurement modules arranged above and below are recorded as a group of linear measurement modules. The acceptance device includes at least four groups of linear measurement modules, and the four groups of linear measurement modules are respectively arranged near the four sides of the air cargo piece X to be tested. Preferably, the measurement module located at the bottom is arranged between the aforementioned inclined side surface X1 and the flat plate 300.
[0023] By installing multiple 3D vision devices near the four corners and / or four sides of the air cargo piece to be tested to perform rotational three-dimensional scanning or linear three-dimensional scanning, especially at least one (preferably four) 3D vision device is near the bottom of the air cargo piece to be tested (near the trolley flatbed or between the aforementioned inclined side X1 and the flatbed 300), the trolley flatbed 300 loaded with the air cargo piece to be tested and the inclined side X1 can be scanned more comprehensively, and a more accurate three-dimensional model (point cloud data information) of the air cargo piece to be tested and the trolley flatbed 300 can be obtained, so that the measured outer contour size of the air cargo piece to be tested is more accurate, the accuracy of the size acceptance of the air cargo plate is increased, and the loss of air cargo costs is avoided. After the measurement is completed, relatively accurate dimensional information such as length, width and height of the cargo piece is obtained, and then according to the preset aircraft cargo space and the size of the cabin door, it is determined whether the cargo piece can be loaded into the aircraft cargo space, such as Figure 3 As shown, it means that the freight piece can pass through the preset aircraft door and be loaded into the aircraft compartment. At this time, the size of the air freight pallet is qualified and no repacking is required. Figure 4As shown in the figure, when the cargo is packed too high or too wide, the cargo cannot pass through the preset aircraft door and cannot be loaded into the preset aircraft space. At this time, the size acceptance of the air cargo pallet fails and needs to be repacked. Therefore, before the arrival of the cargo plane, it can be more accurately judged whether the packed air cargo can be loaded into the aircraft cargo space, and whether repacking is needed can be judged in advance to avoid the loss of air cargo costs due to inaccurate measurement.
[0024] In the description of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. It should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connected", and "connected" should be understood in a broad sense, and for ordinary technicians in this field, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0025] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims
1. An acceptance device for improving the dimensional measurement accuracy of air cargo pallets, characterized in that: The acceptance device comprises a plurality of 3D vision devices, at least one of which is arranged near the bottom of the air cargo piece (X) to be inspected.
2. The acceptance device for improving the dimensional measurement accuracy of air cargo pallets according to claim 1 is characterized in that: The vicinity of the bottom of the air freight item (X) to be tested specifically refers to the vicinity of the flat plate (300) loaded with the air freight item (X) to be tested.
3. The acceptance device for improving the dimensional measurement accuracy of air cargo pallets according to claim 2, characterized in that: The air cargo item (X) to be tested has at least one inclined side surface (X1), and the inclined side surface (X1) is close to the bottom of the air cargo item (X) to be tested, and the vicinity of the bottom of the air cargo item (X) to be tested specifically refers to the area between the inclined side surface (X1) and the flat plate (300).
4. The acceptance device for improving the dimensional measurement accuracy of air cargo pallets according to claim 3, characterized in that: The acceptance device comprises at least two 3D vision devices arranged one above the other, the 3D vision device located at the bottom being arranged between the inclined side surface (X1) and the flat plate (300), the 3D vision device being a line laser rotation scanning 3D vision device (100), the two line laser rotation scanning 3D vision devices (100) arranged one above the other being recorded as a group of rotation measurement modules, the acceptance device comprises at least four groups of rotation measurement modules, the four groups of rotation measurement modules being respectively arranged near the four corners of the air cargo item (X) to be tested.