CN106915585B - Warehouse article intelligent positioning system - Google Patents
Warehouse article intelligent positioning system Download PDFInfo
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- CN106915585B CN106915585B CN201710105159.3A CN201710105159A CN106915585B CN 106915585 B CN106915585 B CN 106915585B CN 201710105159 A CN201710105159 A CN 201710105159A CN 106915585 B CN106915585 B CN 106915585B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of warehouse article intelligent positioning systems, it solves the problems, such as accurately be quickly found out commodity, its key points of the technical solution are that including several evenly arranged shelf, mobile terminal, the controlling terminal at the doorway in warehouse and for receiving commodity signal and output position signal, being set on shelf and guide device in response to positioning signal and the instruction device for being used to indicate shelf corresponding to required commodity；Controlling terminal based on the received commodity signal with by shelf locating for the commodity instruction device starting with realize corresponding shelf instruction and start guide device simultaneously to guide staff to shelf corresponding to required commodity, warehouse article intelligent positioning system of the invention, the position of locating commodity is indicated by instruction device, it is guided at staff to shelf by corresponding guide device simultaneously, so that looking for more convenient, the efficiency of raising acquisition corresponding goods.
Description
Technical field
The present invention relates to warehouse storage systems, in particular to warehouse article intelligent positioning system.
Background technique
Warehouse is by the storehouse of storing products, transport transmission of facility (such as crane, elevator, slide), the conveying for entering and leaving storehouse
The composition such as pipeline and equipment and fire fighting device, Service center.Warehouse by construction style can be divided into single layer warehouse, multistoried storehouse,
Cylinder-shaped warehouse.
For the warehouse of some large sizes, inside has very multiple shelf, and corresponding shelf are evenly spaced in warehouse
Portion, each shelf bracket all have passageway to facilitate every trade people or fork truck to pass through；But entire warehouse is unfamiliar with for some
New person or the other staff commodity required for look for when, need to find corresponding position step by step, first find in place
Region finds corresponding shelf in several rows of, is finding the product on corresponding shelf later；But the process integrally looked for
In, inefficiency can not quickly and effectively understand the position of commodity and obtain commodity, so having certain room for improvement.
Summary of the invention
The object of the present invention is to provide it is a kind of can fast and easy find the warehouse article intelligent positioning systems of commodity.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of warehouse article intelligent positioning system further includes including several evenly arranged shelf being set in warehouse
Correspond to the mobile terminal of the commodity signal of required commodity, at the doorway in warehouse and for receiving commodity signal for exporting
And it the controlling terminal of output position signal, is set on shelf and the guide device in response to positioning signal and is used to indicate institute
Need the instruction device of shelf corresponding to commodity；Controlling terminal based on the received commodity signal with by shelf locating for the commodity
On instruction device starting with realize corresponding shelf instruction and simultaneously start guide device with to staff guide to
Shelf corresponding to required commodity.
Using the above scheme, controlling terminal determines corresponding to commodity according to commodity signal corresponding in mobile terminal
Shelf facilitate staff to understand needs so that corresponding instruction device starts to complete the instruction of present position on shelf
Which rough position the commodity of extraction are in, while being guided staff to be rapidly obtained by guide device
The position of shelf enables staff rapidly to get product and shortens the time for finding shelf, improves whole work effect
Rate.
Preferably, the mobile terminal is equipped with positioning device for exporting positioning signal, the controlling terminal with
Receive positioning signal and according to positioning signal present position starting the shelf upper guiding device of surrounding to guide.
Using the above scheme, corresponding positioning device is provided on mobile terminal, so that no matter staff holds shifting
Dynamic terminal be in where, can be guided by guide device, improve guidance convenience, facilitate controlling terminal according to
The location of staff provides the path of guidance.
Preferably, several shelf define after uniformly arranging several columns and several rows, between two column shelf of arbitrary neighborhood
Equipped with vertical passage, interconnection is set, the vertical passage and interconnection are interconnected and determine between two row of arbitrary neighborhood
Adopted vertical passage and the overlapped region of interconnection are overlapping area；It is described if the positioning device is in vertical passage
Controlling terminal controls positioning device present position and starts along guide device corresponding to the shelf of vertical passage direction two sides
And the guide device starting on front and rear row shelf corresponding to both racks；If the positioning device is in interconnection, institute
It states control device control positioning device present position and transversely guide device corresponding to the shelf of channel direction two sides starts；
If the positioning device is in overlapping area, the control device controls the guide device starting on the shelf to form overlapping area.
Using the above scheme, it is arranged by neat ranks, so that whole shelf arrangement is more rationally and more
It is clear, and after the completion of arranging, it is corresponding the vertical passage overlapping area overlapped with interconnection and the two occur；According to fixed
Different position locating for the device of position, to complete to refer to staff to facilitate the starting of the guide device of different number
Also electric energy can be further saved while showing, reduce cost；When in vertical passage, since shelf are long strip type, and it is general
Width will not be especially big, draws well so can not only start to the shelf upper guiding device for opening positioning device present position
Effect is led, therefore needs also to start the shelf before and after present position, is needed in next step with facilitating staff to get toward that
While the information walked about, so that part is more filled in guidance；When in interconnection, since shelf lateral length is generally longer, so
It is only merely the guide device for opening interconnection two sides；When in overlapping area, due to overlapping the position in area just
Centre in four shelf, so starting four shelf can be completed guidance to staff, it is clear to walk about in next step
Direction；By the setting of three kinds of positions, so that can be good at being drawn no matter where warehouse at staff
It leads, improves whole boot efficiency.
Preferably, the guide device includes the arrow display screen for being set to shelf surrounding, the arrow display screen by
It controls in controlling terminal to indicate different directions.
Using the above scheme, arrow display screen can complete the instruction to different directions according to the requirement of controlling terminal, make
The information walked about toward that direction can be got faster by obtaining staff, and low in cost, more economical.
Preferably, further including for being distributed in the surrounding in warehouse to monitor the monitoring device of shelf situation, the monitoring
Device includes several image collecting devices being all set on interconnection, and described image acquisition device and interconnection are one by one
It is corresponding.
Using the above scheme, image collecting device can be monitored the situation on interconnection, to go to adjust after facilitating
The case where taking image data, while effectively reducing stolen commodity or loss, improves the ability of whole supervision；Guarantee commodity
Safety and personnel safety.
Preferably, further including image data base, described image acquisition device acquires image data on interconnection and deposits
To image data base, the controlling terminal transfers image data from image data base and analyze simultaneously root to image data for storage
According to analysis result to obtain path of navigation, the controlling terminal control guide device starting along path of navigation obtained to draw
It is directed at position corresponding to commodity.
Using the above scheme, controlling terminal obtains a path of navigation by the analysis to image data, and the guidance
Path is that staff has just entered the path more having behind warehouse, for the purpose of the shelf for coming commodity placement faster, to the greatest extent
It is possible to avoid having the path got in stocks or unloaded goods on channel, the efficiency for obtaining commodity is improved, and calculate corresponding path of navigation
It is capable of the opening and closing of more convenient pair of guide device afterwards to complete to guide.
Preferably, the controlling terminal analyzes image data, if in corresponding interconnection in loading or
Person's unladen state then path of navigation obtained and is defined as more new route before controlling terminal switching, the control end
Control guide device starting in end is along position corresponding to update Route guiding to commodity obtained.
Using the above scheme, it in selected path process, avoids by the interconnection in loading or unladen state,
The rate advanced is improved, also can effectively avoid causing unnecessary trouble in collision, reduce the risk of congestion.
Preferably, be in place of difference between the more new route and path of navigation will in loading or unloading shape
The interconnection of state replaces with any one adjacent interconnection.
Using the above scheme, the interconnection in loading or unladen state is directly replaced with into another adjacent cross
To channel, not only can be improved switching rate, at the same can also guarantee the changed path of staff and caused by distance not
Can change it is excessive so that staff is still able to efficiently get corresponding commodity.
In conclusion leading to simultaneously the invention has the following advantages: indicate the position of locating commodity by instruction device
Corresponding guide device is crossed to guide at staff to shelf, so that looking for more convenient, the effect of raising acquisition corresponding goods
Rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of warehouse article intelligent positioning system；
Fig. 2 is the structural schematic diagram of shelf；
Fig. 3 is the schematic diagram of path of navigation；
Fig. 4 is the schematic diagram of more new route.
In figure: 1, shelf；2, mobile terminal；3, controlling terminal；4, guide device；5, instruction device；6, positioning device；7,
Vertical passage；8, interconnection；9, area is overlapped.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
A kind of warehouse article intelligent positioning system, as shown in Fig. 1 to 2, including is set in warehouse disclosed in the present embodiment
Several evenly arranged shelf 1, definition has a several columns and several rows, equipped with vertical passage between two column shelf 1 of arbitrary neighborhood
7, interconnection 8 is set between two row of arbitrary neighborhood, vertical passage 7 and interconnection 8 be interconnected and define vertical passage 7 with
The overlapped region of interconnection 8 is overlapping area 9；Shelf 1 are multilayer setting, make it possible to place more commodity；Warehouse
Commodity intelligent positioning system further includes for exporting the mobile terminal 2 for the commodity signal for corresponding to required commodity, positioned at warehouse
At doorway and it is used to receive the controlling terminal 3 of commodity signal and output position signal, is set on shelf 1 and believe in response to positioning
Number guide device 4 and be used to indicate the instruction devices 5 of shelf 1 corresponding to required commodity；Controlling terminal 3 is according to being received
To commodity signal with by shelf 1 locating for the commodity instruction device 5 start to realize the instruction of corresponding shelf 1 and open simultaneously
Guide device 4 is moved to guide staff to shelf 1 corresponding to required commodity.
Wherein merchandise news is the location information of commodity, and the position signal has stored in controlling terminal 3 with convenient
Subsequent tune is gone；And mobile terminal 2 is preferably PAD, smart phone and Portable handheld computer etc.；Controlling terminal 3 is fixed
Terminal, fixed terminal can be control host, desktop computer, server etc..
Mobile terminal 2 can be sent to control eventually during exporting merchandise news by way of wirelessly transmitting data
End 3 is so that controlling terminal 3 can get corresponding merchandise news；It can also be using other modes, i.e. radio frequency identification system
System is realized；Wherein radio-frequency recognition system includes electronic tag and locating base station (i.e. reader), and electronic tag is set to mobile whole
On end 2 and locating base station is arranged in controlling terminal 3, information corresponding to electronic tag is read by locating base station, and is transmitted
To controlling terminal 3；Complete the reading of merchandise news.
Instruction device 5 is display screen and the various information of display, can show number, content of good and number etc.；Display
Content is controlled by controlling terminal 3, when controlling terminal 3 receives merchandise news, then controls display screen display of commodity number；Instruction dress
It sets 5 to be also possible to indicate lamp, when controlling terminal 3 receives merchandise news, then shelf 1 where starting the merchandise news are corresponding
Indicator light starting, the location of commodity needed for being illustrated with instruction.
Guide device 4 includes being set to the arrow display screen of 1 surrounding of shelf, arrow display screen be controlled by controlling terminal 3 with
Indicate different directions.Arrow display screen preferably uses electronic display, and the side by showing arrow on the electronic display screen
Formula realizes instruction, and an electronic display can indicate both direction；And the corresponding four arrow display screens of a shelf 1, and
Four arrow display screen rings are located at 1 upper end of shelf.
As shown in figure 3, controlling terminal 3 carries out route planning according to merchandise news, route planning mode is as follows:
First determine that commodity are on the shelf 1 of which row and which column according to merchandise news, locating goods are located at X row and Y
On the shelf 1 of column；It is preferred that being planned with the channel along warehouse periphery, i.e., along warehouse periphery after entering from barndoor gate
Vertical passage 7 enter and interconnection 8 locating on selected shelf 1 enters, directly reach the location of commodity.
After the completion of route planning, controlling terminal 3 guides the guide device 4 of corresponding position；So that staff
Corresponding product locations can be entered according to guide device 4.Mobile terminal 2 is equipped with for exporting determining for positioning signal simultaneously
Position device 6, controlling terminal 3 is to receive positioning signal and be filled according to positioning signal present position with guiding on the shelf 1 by surrounding
4 startings are set to guide；If positioning device 6 is in vertical passage 7, controlling terminal 3 control 6 present position of positioning device and
Front and rear row goods corresponding to the starting of guide device 4 corresponding to shelf 1 along 7 direction two sides of vertical passage and both racks 1
Guide device 4 on frame 1 starts；If positioning device 6 is in interconnection 8, control device controls 6 present position of positioning device
And transversely guide device 4 corresponding to the shelf 1 of 8 direction two sides of channel starts；If positioning device 6 is in overlapping area 9, control
The guide device 4 that device processed controls on the shelf 1 to form overlapping area 9 starts.
Positioning device 6 preferably uses the indoor positioning device 6 based on CW with frequency modulation, and includes:
Base station: under the control of master controller, the foundation of base station and label communicate, and to label send locating base station coding with
Coordinate, base station is to the frequency-modulated continuous-wave signals synchronous to indoor positioning spatial emission by antenna.The quantity and cloth set of base station
It sets needs and (base station number is at least 3 in two-dimensional surface) is determined according to space size and shape, each architecture of base station and function
It is identical, it mutually cooperates between base station and completes positioning function.
Label: after label receives the communication instruction of base station, into reception state, the echo-signal received is carried out certainly
Beat passes through ADC(A-D converter after filter and amplification) it is sampled, and export to digital signal processor
Reason, the base coded and transmitting base station coordinate that the comprehensive base station of digital signal processor receives, determines tag coordinate and passes through
Display is shown.
Master controller: after control base station is communicated with label foundation, the control base station frequency-modulated continuous-wave signals synchronous to transmitting.
This programme uses the ranging of frequency modulation method, and the transmitting of signal, which is located at, to be fixed on multiple base stations of different location, the reception of signal then position
On multiple labels in area to be targeted, after base station is communicated with label to be positioned foundation, the transmitting between base station pair needs logical
Synchronization control module is crossed to synchronize.
Communication in the present invention between base station and label realizes preferably through ZigBee technology, ZigBee technology due to by
It is limited to the working frequency range of 2.4GHz, bandwidth of operation is smaller, and positioning accuracy exists compared with big limitation, and the present invention will communicate and position frequency
Section separates, and is positioned in high band using the CW with frequency modulation of big bandwidth, improves positioning accuracy.
Warehouse article intelligent positioning system further includes the monitoring dress for being distributed in the surrounding in warehouse to monitor 1 situation of shelf
It sets and image data base, monitoring device includes several image collecting devices being all set on interconnection 8, and Image Acquisition
Device and interconnection 8 correspond, and image data and store to image data on image acquisition device interconnection 8
Library, controlling terminal 3 transfer image data from image data base and analyze and based on the analysis results to obtain to image data
Path of navigation is obtained, controlling terminal 3 controls the starting of guide device 4 to guide along path of navigation obtained to corresponding to commodity
Position.
Image collecting device is preferably thermal infrared video camera；What is stored in image data base is a width reference picture, reference
The storage mode of image is stored in a manner of characteristic point；Video camera obtain image, that is, image to be matched, first have to
Human body information is extracted on matching image；The method for extracting human body contour outline is Moving split-window technique；After extracting human body contour outline, root
According to the characteristic point on reference picture, match point is found in image to be matched, Feature Points Matching algorithm here can be used existing
The SIFT algorithms of some comparative maturities, Harris algorithm, Surf algorithm etc.；It is realized according to above-mentioned mode at staff
It is identified and is judged in the image for removing goods and unladen state, if successful match, be defined as in loading or unloading
State.
Image collecting device can also be Kinect；And the specific step of the human motion recognition method of motion information image conversion
Suddenly are as follows:
Learn sample matrix step 1: capturing instrument using human action and obtaining human motion；
Each sample matrix M includes a complete movement.The size of all sample matrix is all identical, is 3P*T,
In, P is the amount of articulation that human body motion capture instruments capture arrives, and T is a fixed frame number, and single sample matrix M's is each
Column data is in a certain each artis of frame people relative to the distance in the X, Y in pelvis joint, Z-direction；
The column data of sample matrix M is divided into three joint groups in order, is joint group X, joint group Y, joint group respectively
Z, each joint group have P data；Data in the group X of joint be each artis of human body relative to pelvis artis in X
Distance on direction；Data in the group Y of joint are distance of each artis of human body relative to pelvis artis in the Y direction；
Data in the group Z of joint are distance of each artis of human body relative to pelvis artis in z-direction；
In addition, human synovial is arranged by regulation sequence in each joint group, P artis is divided into according to hierarchical relationship
5 strut groups are main trunk group, left arm group, right arm group, left leg group and right leg group respectively in order, it may be assumed that
Main trunk group: including head, neck, vertebra and pelvis in order；
Left arm group: including left shoulder, left hand elbow, left finesse, left hand in order；
Right arm group: including right shoulder, right hand elbow, right finesse, the right hand in order；
Left leg group: including left leg root, left knee, left foot wrist, left foot in order；
Right leg group: including right leg root, right knee, right crus of diaphragm wrist, right crus of diaphragm in order；
Step 2: converting all learning sample matrixes to the grayscale image of 3P*T size.
All data in sample matrix M are mapped in the big minizone of (0,255) first；
The mapping method is as follows:
m[i,j]=M[i,j]*50+120；
That is the gray scale size of each point of m is equal to M corresponding data and adds 120 multiplied by 50.
Secondly grayscale equalization processing is done to grayscale image m, difference to amplify the motion information of each node and is cut down with this
Influence of the human body type for recognition accuracy.
I is line number, and j is row number, 0≤i < m line number, 0≤j < m columns.
Certainly, in the present invention mapping method that uses can there are many, be not necessarily multiplied by 50 plus 120, other methods
It can also be with as long as being able to achieve above-mentioned mapping purpose.
Learn step 3: the grayscale image that second step is obtained is put into PCA image recognizer.
Be put into learn in PCA image recognizer be second step generate a series of grayscale images and its corresponding movement
Title.The robustness of action recognition can be adjusted by adjusting the parameter of PCA image recognizer.The present embodiment it is preferable to use
The EigenObjectRecognizer that OpenCV open source library provides is as identifier.If the recognition threshold used is higher, movement
The probability being identified is lower, the accuracy for if recognition threshold is lower, acting that the probability being identified is higher, but identifying can under
Drop, i.e., the robustness of action recognition declines with the rising of threshold value, and the threshold range that the present invention uses is 2000 to 2500.
Step 4: capturing instrument using human action obtains human motion sample matrix to be identified.
Each kinematic matrix X to be identified has recorded one section of exercise data.The line number of all sample matrix be all it is identical,
For 3P, columns is a unfixed frame number, depending on the run duration of the movement sample.Wherein, the data structure of each file
At identical as the first step；
Step 5: converting matrix to be identified to the grayscale image of 3P*T size.
Processing identical in second step is done to kinematic matrix first；Secondly obtained image is scaled it using interpolation method
To the size of 3P*T.
It is identified step 6: the grayscale image that the 5th step obtains is put into the PCA image recognizer that third step succeeds in school.
Step 7: the recognition result of human motion sample to be identified is the calculated identification knot of the 6th step in the 4th step
Fruit.
The exercise data that each joint of human body changes over time is converted gray level image by the method, recycles image recognition
Algorithm learns and identifies these gray level images, identifies human action with this, knows to improve systemic human action
Other accuracy rate and robustness, and the robustness of action recognition can also be adjusted according to real-time scene difference in a certain range.
As shown in figure 4, controlling terminal 3 analyzes image data, if in corresponding interconnection 8 in loading or
Unladen state path of navigation obtained and is defined as more new route before then controlling terminal 3 switches, and the control of controlling terminal 3 is drawn
The starting of device 4 is led along position corresponding to update Route guiding to commodity obtained.More new route and path of navigation it
Between difference in place of be by loading or the interconnection 8 of unladen state replace with any one adjacent interconnection
8。
Various illustrative arrangements, logical block, module, circuit, element and/or the group described in conjunction with embodiments disclosed herein
Part can be by general processor, digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array
(FPGA) it or other programmable logic components, discrete gate or transistor logic, discrete hardware components or is designed to execute this paper
Any combination of described function is practiced or carried out.General processor can be microprocessor, but it is another be selected as, the place
Reason device can be any conventional processor, controller, microcontroller or state machine.It is computation module that processor is also implementable
Combination, such as the combination of DSP and microprocessor, the combination of multi-microprocessor, one or more microprocessors and DSP core
The joint of the heart or any other this configuration.
Claims (5)
1. a kind of warehouse article intelligent positioning system, including several evenly arranged shelf (1) being set in warehouse, feature
It is: further includes for exporting the mobile terminal (2) for the commodity signal for corresponding to required commodity, at the doorway in warehouse and being used for
It receives the controlling terminal (3) of commodity signal and output position signal, be set on shelf (1) and in response to the guidance of positioning signal
Device (4) and the instruction device (5) for being used to indicate shelf corresponding to required commodity (1)；Controlling terminal (3) is according to being received
To commodity signal with by shelf locating for the commodity (1) instruction device (5) starting with realize corresponding shelf (1) instruction and
Start guide device (4) simultaneously to guide staff to shelf corresponding to required commodity (1)；Several shelf (1)
Uniformly definition has several columns and several rows after arrangement, is equipped with vertical passage (7) between two column shelf (1) of arbitrary neighborhood, any phase
Interconnection (8) are set between adjacent two rows, the vertical passage (7) and interconnection (8) are interconnected and define vertical passage
It (7) is overlapping area (9) with interconnection (8) overlapped region；
The mobile terminal (2) is equipped with the positioning device (6) for exporting positioning signal, and the controlling terminal (3) is to receive
Positioning signal and according to positioning signal present position with by the shelf of surrounding (1) upper guiding device (4) start to guide；Institute
Stating guide device (4) includes the arrow display screen for being set to shelf (1) surrounding, and the arrow display screen is controlled by controlling terminal
(3) to indicate different directions；
If the positioning device (6) is in vertical passage (7), the controlling terminal (3) controls positioning device (6) present position
And it is right along the starting of guide device (4) corresponding to the shelf (1) of vertical passage (7) direction two sides and both racks (1) institute
The guide device (4) on front and rear row shelf (1) is answered to start；If the positioning device (6) is in interconnection (8), the control
Terminal (3) processed controls positioning device (6) present position and transversely guidance corresponding to the shelf (1) of channel (8) direction two sides
Device (4) starting；If the positioning device (6) is in overlapping area (9), controlling terminal (3) control forms overlapping area (9)
Shelf (1) on guide device (4) starting.
2. warehouse article intelligent positioning system according to claim 1, it is characterized in that: further including for being distributed in warehouse
For surrounding to monitor the monitoring device of shelf (1) situation, the monitoring device includes several figures being all set on interconnection (8)
As acquisition device, and described image acquisition device and interconnection (8) correspond.
3. warehouse article intelligent positioning system according to claim 1, it is characterized in that: further including for being distributed in warehouse
For surrounding to monitor the monitoring device of shelf (1) situation, the monitoring device includes several figures being all set on interconnection (8)
As acquisition device, and described image acquisition device and interconnection (8) correspond.
4. warehouse article intelligent positioning system according to claim 3, it is characterized in that: the controlling terminal (3) is to image
Data are analyzed, if in loading or unladen state, controlling terminal (3) switching in corresponding interconnection (8)
Path of navigation obtained and be defined as more new route before, controlling terminal (3) control guide device (4) starting with along
Position corresponding to update Route guiding to commodity obtained.
5. warehouse article intelligent positioning system according to claim 4, it is characterized in that: the more new route and path of navigation
Between difference in place of be will in loading or the interconnection of unladen state (8) replace with any one adjacent transverse direction
Channel (8).
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| CN109741577A (en) * | 2018-11-20 | 2019-05-10 | 广东优世联合控股集团股份有限公司 | A kind of device failure alert system and method |
| CN111746991A (en) * | 2019-03-26 | 2020-10-09 | 朱春光 | Non-automatic stereoscopic warehouse and warehouse-in and warehouse-out method thereof |
| CN110104561B (en) * | 2019-05-05 | 2020-10-02 | 三峡大学 | Lifting operation object lifting trajectory planning system under obstacle space |
| CN110980100B (en) * | 2019-12-22 | 2021-05-28 | 江西金虎保险设备集团有限公司 | Navigation method for article placement position |
| CN114781977B (en) * | 2022-06-15 | 2022-09-16 | 国网浙江省电力有限公司杭州供电公司 | Data processing method and system suitable for material linkage |
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