Shelf structure deformation detection device based on laser-assisted calibration

Abstract

The utility model belongs to the technical field of shelf structure detection, and particularly discloses a shelf structure deformation detection device based on laser-assisted calibration, which comprises a projection plane, a reference assembly, a mapping assembly, an image acquisition assembly and a connection relation thereof. According to the utility model, three-dimensional space characteristics of shelf structure deformation are projected to a two-dimensional plane, image information projected by laser is acquired through the image acquisition assembly, shelf structure deformation conditions are analyzed, shelf structure deformation can be efficiently and accurately detected on the premise of not influencing original functional design of a warehouse, and the detection accuracy is improved. And technical support is provided for safety monitoring of the warehouse shelf.

Description

Technical Field

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

[0002] In dense storage environments, racks are often large and must withstand heavy loads. These heavy loads can cause warehouse floor subsidence, deformation of rack components, and ultimately significant deformation of the rack structure. Deformation in the rack structure significantly impacts the precise movement, loading, and unloading of automated logistics equipment such as stackers and shuttles. In dense storage environments, the rack structures are complex and numerous, requiring numerous monitoring objects, making effective monitoring of the rack structure difficult. Utility Model Content

[0003] The purpose of the present utility model is to solve the technical problems existing in the background technology. To this end, a shelf structure deformation detection device based on laser-assisted calibration is provided. Without affecting the original design function of the warehouse shelf, especially in scenarios 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 purpose, the technical solutions adopted by this utility model are 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 a shelf, and the mapping component emits a light spot onto a projection plane;

[0008] The light spot is set as a cross light spot, and the position of the light spot relative to the reference line reflects the displacement of the top of the shelf, and the angle of the cross light spot reflects the torsion of the top of the shelf;

[0009] The image acquisition component acquires an image of the positional relationship between the reference line and the light spot within its acquisition range.

[0010] The following is a technical solution further defined by the present invention, which also includes a reference component, wherein the reference component emits a laser reference line onto the projection plane, and the laser reference line is fixed on the projection plane.

[0011] The following is a technical solution further defined by the present invention. The reference component includes a laser marker and a mounting bracket. The laser marker is hingedly arranged on the mounting bracket through a hinge structure and locked by bolts.

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

[0013] The following is a technical solution further defined by the present invention, wherein the laser emitter is fixedly mounted on the top of the shelf column through 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 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 warehouse wall through the camera clamping device, the lens of the optical camera faces the projection plane, and the focal length of the optical camera is adjusted to capture an image of the positional relationship between the reference line and the light spot within the shooting range, and the position information of all light spots is collected by arranging multiple image acquisition components.

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

[0016] Compared with the prior art, the present invention has the following technical effects:

[0017] The utility model 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. It can efficiently and accurately detect the shelf structure deformation without affecting the original functional design of the warehouse, providing technical support for the safety monitoring of warehouse shelves.

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art. 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 any creative work.

[0020] Figure 1 This is a schematic diagram of the overall positional relationship among the storage shelves, mapping components, reference components, image acquisition components, and projection plane provided by an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of the laser reference line and spot distribution provided by an embodiment of the present utility model;

[0022] Figure 3 It is a schematic structural diagram of a reference assembly provided by an embodiment of the present utility model;

[0023] Figure 4 It is a structural diagram of the mapping component and the image acquisition component provided by an embodiment of the utility model.

[0024] 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 emitter; 42. emitter clamping device; 5. image acquisition component; 51. optical camera; 52. camera clamping device. DETAILED DESCRIPTION

[0025] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0026] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0027] In the description of the present invention, “a plurality of” means at least two, such as two, three, etc., unless otherwise clearly defined.

[0028] In the embodiments of the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integrated connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0029] like Figure 1-4 As shown, a shelf structure deformation detection device based on laser-assisted calibration is provided.

[0030] like Figure 1 As shown, the structure involved in the shelf structure deformation detection device (also known as a laser-assisted calibration device) includes: a shelf 1, a projection plane 2, a reference component 3, a mapping component 4 and an 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 shelf 1 column and other positions of the shelf 1 where structural deformation is likely to occur). The laser emitter 41 is used to emit a cross light spot 22 to the projection plane 2 to map the structural features of the shelf 1. The projected cross light spot 22 is offset or twisted as the shelf 1 structure deforms. Therefore, the reference component 3 and the mapping component 4 project the laser onto the same area (projection plane 2), such as the roof or ground of a warehouse, to achieve the function of transforming three-dimensional spatial features into a two-dimensional plane.

[0031] like Figure 2 As shown, projection plane 2 primarily comprises a laser reference line 21 and a mapping spot 22. Laser reference line 21 originates from reference component 3 and remains fixed in position. Mapping spot 22 originates from mapping component 4. In this embodiment, a cross-shaped spot 22 is used as the mapping spot 22. Therefore, the position of mapping spot 22 relative to laser reference line 21 can reflect the displacement of the top of shelf 1, while the angle of cross-shaped spot 22 can reflect the torsion of the top of shelf 1. Projection plane 2 can be located above, to the side, or below shelf 1. When below shelf 1, projection plane 2 can be the ground.

[0032] 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 wall by bolts or other reliable means. The mounting bracket 32 ​​includes a hinge structure to 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.

[0033] like Figure 4As shown, the mapping assembly 4 mainly includes a laser emitter 41 and an emitter clamping device 42. The laser emitter 41 is fixed to a key 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. 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.

[0034] 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 mounted on a shelf 1, a warehouse wall, or the like via the camera clamping device 52. The lens of the optical camera 51 is oriented toward the projection plane 2. The focal length of the optical camera 51 is adjusted to accurately capture the positional relationship image of the laser reference line 21 and the mapping light spot 22 within the shooting range. By arranging multiple image acquisition devices, the position information of all mapping light spots 22 can be captured.

[0035] Using the reference line projected by the laser graticule 31 of the reference component 3 as a reference, the image of the light spot 22 projected by the laser graticule 31 of the mapping component 4 is collected. When the shelf 1 structure deforms, 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:

[0036] Step S1: During the installation and commissioning phase of the warehouse shelf 1, a projection plane is set. Typically, the top of the warehouse building is used as the projection plane. When the laser projection conditions on the top of the warehouse building are poor, an additional projection plane 2 is installed.

[0037] Step S2: During the installation and debugging phase 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 collinear or perpendicular to the columns, beams, etc., to facilitate spatial feature analysis.

[0038] 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 a laser reference line 21 onto the projection plane. The laser marker 31 is adjusted so that the projected laser reference line 21 is clear, accurate, and evenly distributed.

[0039] Step S4: During the installation and commissioning phase of the warehouse shelf 1, multiple image acquisition components 5 are installed to capture the positional relationship between the laser reference line 21 and the cross-light spot 22. In this embodiment, the image acquisition components 5 are mounted on the top of the uprights of the shelf 1 (they can also be mounted on mobile devices such as stackers and shuttles. When the image acquisition components 5 are mounted on mobile devices, the number of image acquisition components 5 can be reduced, and image information at different locations can be captured by moving the components). This ensures that the image of the mapping light spot 22 projected by the mapping component 4 can be clearly captured. Installation on a mobile device requires fewer cameras, but completing all inspections requires multiple captures from the mobile device, which takes a long time. Installation in a fixed location requires more cameras, but can quickly complete all image acquisition.

[0040] Step S5: Activate laser marker 31 to project laser reference line 21 and laser emitter 41 to project crosshair spot 22. Multiple optical cameras 51 of image acquisition assembly 5 capture corresponding image information. If the camera is mounted on a mobile device, the mobile device must be controlled to change its position and capture images multiple times. Automatic inspection of shelf 1 structure can be performed during idle time in the warehouse. Images captured during each inspection must be saved for before-and-after comparison and analysis.

[0041] Step S6: Based on 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. By comparing the detection results under different states, the deformation of the detection position is obtained; combined with the structural mechanical model of shelf 1, the overall deformation of the shelf 1 structure is analyzed.

[0042] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any person skilled in the art can, without departing from the scope of the present invention, utilize the methods and technical content disclosed above to make many possible variations and modifications to the present invention, or modify it into equivalent embodiments with equivalent variations. Therefore, any equivalent variations based on the shape, structure, and principle of the present invention that do not depart from the content of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A shelf structure deformation detection device based on laser-assisted calibration, characterized in that: including 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 a shelf, and the mapping component emits a light spot onto a projection plane; The light spot is set as a cross light spot, and the position of the light spot relative to the reference line reflects the displacement of the top of the shelf, and the angle of the cross light spot reflects the torsion of the top of the shelf; The image acquisition component acquires an image of the positional relationship between the reference line and the light spot within its acquisition range.

2. The device for detecting shelf structure deformation based on laser-assisted calibration according to claim 1, characterized in that: It also includes a reference component, which emits a laser reference line onto the projection plane, and the laser reference line is fixed on the projection plane.

3. The device for detecting shelf structure deformation based on laser-assisted calibration according to 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 device for detecting shelf structure deformation based on laser-assisted calibration according to claim 1, characterized in that: The mapping assembly includes a laser emitter and an emitter clamping device, and the laser emitter is fixedly mounted on the shelf through the emitter clamping device.

5. The device for detecting shelf structure deformation based on laser-assisted calibration according to claim 4, characterized in that: The laser emitter is fixedly mounted on the top of the shelf column through a emitter clamping device, and the optical path of the laser emitter is consistent with the tangent line at the top of the shelf column axis.

6. The device for detecting shelf structure deformation based on laser-assisted calibration according to 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 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 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.

7. The device for detecting shelf structure deformation based on laser-assisted calibration according to claim 1, characterized in that: The projection plane is located above, on the side or below the shelf.

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