CN110443093B

CN110443093B - Intelligent-oriented infrared digital panoramic system and warehouse management method thereof

Info

Publication number: CN110443093B
Application number: CN201910698048.7A
Authority: CN
Inventors: 符莹; 韩凯; 段子豪; 吴银海; 毕婉青; 黄明华
Original assignee: Anhui University
Current assignee: Anhui University
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2022-07-29
Anticipated expiration: 2039-07-31
Also published as: CN110443093A

Abstract

The invention discloses an intelligent infrared digital panoramic system and a warehouse management method thereof. The bar code recognition device comprises a support rod, a bar code recognizer, a plurality of support plates and a plurality of cameras respectively corresponding to the support plates. The same ends of the supporting plates are fixed on the supporting rods; each camera is arranged on the corresponding support plate and is used for shooting the image of the goods; the bar code recognizer reads the bar code information of the goods according to the image information shot by the camera. The sky eye device includes a plurality of infrared ranging mechanisms, and infrared ranging mechanism is used for detecting the distance of sliding assembly to the stack top surface of goods. The invention can shorten the length of each roadway, greatly shorten the distance between the roadways, increase the number of warehouse bits and improve the space utilization rate of the warehouse. The invention reduces the total bottom salary of the warehouse staff, saves the labor cost and has obvious cost reduction effect.

Description

Intelligent-oriented infrared digital panoramic system and warehouse management method thereof

Technical Field

The invention relates to an infrared digital panoramic system in the technical field of warehouse management, in particular to an intelligent infrared digital panoramic system and an intelligent infrared digital panoramic warehouse management method for the system.

Background

The warehouse is composed of a storehouse for storing articles, a transportation and transmission facility (such as a crane, an elevator, a slide and the like), a conveying pipeline and equipment for entering and exiting the storehouse, a fire-fighting facility, a management room and the like. The storage may be classified into a storage for storing solid articles, a storage for liquid articles, a storage for gas articles, and a storage for powder articles according to the form of the stored articles. Since the kinds and the number of the goods in the warehouse are very large, it is an indispensable task to manage the warehouse and the goods in the warehouse.

At present, in the process of warehousing and ex-warehouse goods, a manual code scanning technology and an AGV guiding technology are generally adopted, wherein the AGV guiding technology comprises a coordinate guiding technology, an electromagnetic guiding technology, a laser guiding technology, an image recognition guiding technology, an inertial guiding technology and the like. Wherein, the manual code scanning technology has the following disadvantages: the goods in the warehouse are of various types and large in quantity, a large amount of manpower needs to be invested for checking, the checking speed is low, the period is long, the manual counting error rate is high, and the inventory accuracy rate is low. The AGV guiding technique also has the following disadvantages: the warehouse is required to be greatly changed, the cost is high, particularly, a plurality of two-dimensional codes need to be laid on the ground for AGV scanning and positioning in the coordinate guiding technology, the change of the warehouse is large, the cost is high, and the large-scale implementation is difficult.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides an intelligent infrared digital panoramic system and a warehouse management method thereof, and solves the problems that the existing warehouse entry and exit technology is slow in speed or inventory speed, long in period and high in error rate, or a warehouse needs to be greatly changed and the cost is high.

The invention is realized by adopting the following technical scheme: an intelligent infrared-oriented digital panoramic system, comprising:

the bar code identification device comprises a support rod, a bar code identifier, a plurality of support plates and a plurality of cameras respectively corresponding to the support plates; the same ends of the supporting plates are fixed on the supporting rods; each camera is arranged on the corresponding support plate and is used for shooting the image of the goods; the bar code recognizer reads the bar code information of the goods according to the image information shot by the camera;

a skyhole device comprising a plurality of infrared ranging mechanisms; each infrared distance measuring mechanism comprises a plurality of infrared distance measuring sensors, two groups of guide rails arranged in parallel and a sliding assembly moving along the groove direction of the guide rails; two groups of guide rails are positioned above the goods; the infrared distance measuring sensor is installed on the sliding assembly and used for detecting the distance from the sliding assembly to the top surface of the stack of the goods by emitting infrared rays to the goods; and

The data processing device comprises an edge segmentation processing module, a data preprocessing module, a Gaussian filtering module, an edge detection module and a model establishing module; the edge segmentation processing module is used for carrying out block parallel processing on the data detected by the infrared distance measuring mechanism according to the acquired area and searching the position of the goods according to the corresponding height information; the data preprocessing module is used for calculating the physical height of the goods according to the position of the goods and the distance from the sliding assembly to the top surface of the stack, and then performing pixelation processing on the physical height of the goods to obtain a pixelation image of the goods; the Gaussian filtering module is used for performing Gaussian filtering on the pixilated image to obtain a Gaussian filtered image; the edge detection module is used for convolving the Gaussian filtered image with the direction template to obtain the pixel value of each pixel point and calculating corresponding image edge information according to a preset threshold; the model establishing module is used for acquiring three-dimensional information of the goods according to data detected by the infrared distance measuring mechanisms and the image edge information, acquiring three-dimensional coordinate information of the goods at a warehouse position according to height information of a warehouse for storing the goods and a planned warehouse position, comparing the bar code information with data in a goods information base, extracting length, width and height information of the goods, and establishing a three-dimensional live-action model of the warehouse by scaling according to a certain proportion.

As a further improvement of the above scheme, the edge segmentation processing module includes a measurement data reading unit, an initial coordinate defining unit, an edge segmentation unit, a feature value extracting unit, a cargo checking unit, a center coordinate calculating unit, and a parameter value recording unit; the measurement data reading unit is used for reading data detected by the infrared distance measuring mechanism; the initial coordinate defining unit is used for determining a physical initial coordinate of an area where the infrared distance measuring mechanism is located according to the reading data of the measuring data reading unit and an initial defining condition so as to determine a physical plane coordinate of the goods; the edge division unit is used for detecting the edge part of the read data by a Sobel edge division method and dividing the corresponding height information into areas; the characteristic value extraction unit is used for reading the height information of each divided area according to the divided areas of the edge division unit so as to determine the physical space coordinates of the goods; the cargo checking unit divides a larger divided area into smaller areas on the surface of the cargo according to a fuzzy optimal calculation method, compares a fuzzy calculation result with a preset retention result, and checks specific coordinates and information of the cargo; the central coordinate calculation unit is used for calculating the formula O _i (x _i ,y _i )＝O _i (X _i ,Y _i )+o(x ₀ ,y ₀ ) Representing plane coordinate information of the center coordinate of the plane with the same height; wherein, O _i (X _i ,Y _i ) Representing the co-altitude coordinate of the relative center position, o (x) ₀ ,y ₀ ) Representing initial two-dimensional position coordinates of an area acquired by the infrared distance measuring mechanism; the parameter value recording unit is used for recording O of the central coordinate calculation unit _i (X _i ,Y _i ) And adding corresponding height information to the calculation result, acquiring the three-dimensional position coordinates of the goods, and recording and outputting the parameter values of the three-dimensional position coordinates.

As a further improvement of the above solution, the calculation formula of the physical height of the cargo is: phyright is the physical height of the cargo, setheight is the erection height of the infrared distance measuring sensor, and measureright is the distance detected by the infrared distance measuring sensor;

the formula for pixelating the physical height of the cargo is as follows:

wherein, highpix is the height pixel value of the cargo, and fix is the rounding sign.

As a further improvement of the above scheme, a calculation formula of the convolution performed by the edge detection module is as follows:

|G|＝|G _x |+|G _y |

wherein G is _x For the convolution of the horizontal direction in the direction template, G _y And G is the convolution of the vertical direction in the direction template, and G is the gradient of the Gaussian filtering image.

As a further improvement of the above solution, the infrared digital panoramic system further includes:

the storage position matching device comprises a goods position optimizing distribution model module and a storage position matching module; the cargo space optimal allocation model module is used for establishing a cargo space optimal allocation model; the library position matching module comprises an optimal library position matching unit, an optimal library position depth calculating unit, a sorting unit and an optimal library position obtaining unit; the optimal storage position matching unit is used for matching according to the packaging and stacking information of the goods through the width of the clamping surface of the goods to obtain the optimal storage position with the highest matching degree; the optimal warehouse location depth calculation unit is used for acquiring the warehouse location depth when the warehouse location consumption is minimum according to the warehouse entry quantity and the stackable high-layer quantity of the goods; the sorting unit is used for outputting the bin numbers meeting the preset requirements and sorting the bins according to the matching degree of the goods; the most suitable storage position obtaining unit is used for matching the goods with the rest storage positions of the warehouse and obtaining the storage position with the highest current matching degree.

Further, the model formula of the cargo space optimal allocation model is as follows:

wherein f (x, y, z) is an objective function of the cargo space optimization allocation model;

f ₁ (x, y, z) is a function of when adjacent cargo is stored in adjacent locations, and the functional formula is:

f ₂ (x, y, z) is a function considering the cargo delivery efficiency, and the function formula is as follows:

wherein the coordinate vector of the goods position coordinate of the i-type goods is [ X ] _i ,Y _i ,Z _i ]The central coordinate vector of the cargo space is R _i (i ═ 1,2, …, N), and the formula is calculated as:

the x row y column z layer of the warehouse has the following coordinates: (x, y, z), x ═ 1,2, …, a }, y ═ 1,2, …, b }, z ═ 1,2, …, c }; the warehouse is provided with a rows of shelves, each row of shelves is provided with b columns and c layers, and V _x : average moving speed, V, of forklift in x-direction _y : average moving speed, V, of fork truck in y-direction _z : average moving speed of forklift in z direction, L ₀ : the length of the goods position unit grid and the length, width and height of the goods shelf are all consistent，P _i : turnover of the ith cargo, N: total number of cargo categories.

As a further improvement of the above scheme, the sky eye device further comprises a data acquisition mechanism, an error correction mechanism and an alarm mechanism; the data acquisition mechanism is used for acquiring data detected by the infrared distance measurement mechanisms; the error correction mechanism is used for inputting a distance signal detected by the infrared distance measurement sensor and a vibration signal thereof into a first mixing frequency to obtain a distance measurement signal through a receiving oscillator, then directly converging the distance signal and the vibration signal through a transmitting oscillator without a channel in a second mixing frequency to form an intermediate frequency reference signal, inputting the intermediate frequency reference signal into a phase detector after frequency selection amplification and shaping to compare phases to obtain a phase difference, and finally calculating the correction distance from the sliding component to the top surface of the stack of the goods; the alarm mechanism is used for sending an alarm message after receiving the updated data of at least one infrared distance measuring mechanism for a preset time.

As a further improvement of the above solution, the method for reading the barcode information by the barcode reader includes the following steps:

(1) judging whether the bar code identification device enters a code scanning area of the warehouse or not;

(2) when the bar code recognition device enters the code scanning area, shooting the image of the goods through a plurality of cameras until a bar code area of the goods is collected;

(3) shooting the image of the bar code area through a corresponding camera, and automatically focusing the camera to obtain a clear image of the goods;

(4) according to the clear image, identifying bar code information in the image and acquiring information of the goods;

(5) information of the cargo is recorded.

As a further improvement of the scheme, the sliding assembly comprises a distance measuring plate, a driving motor, a driving wheel, a belt, a cross beam, two positioning wheels and a plurality of pulleys; the infrared distance measuring sensor is arranged on the distance measuring plate; the pulleys are respectively rotatably arranged at two ends of the ranging plate and roll along the groove direction of the guide rail; the driving motor is fixed on the distance measuring plate and drives the driving wheel to rotate through a belt; the driving wheel is fixed on the cross beam; the beam is rotatably arranged on the distance measuring plate, and two ends of the beam are respectively inserted into the two positioning wheels; the two positioning wheels move along the guide of the two groups of guide rails.

The invention also provides an intelligent infrared digital panoramic warehouse management method, which is applied to any intelligent infrared digital panoramic system and comprises the following steps:

(1) shooting an image of goods in a warehouse, and reading bar code information of the goods according to the image information;

(2) detecting the distance from an emission point to the top surface of the stack of goods by emitting infrared rays to the goods above the goods;

(3) and carrying out data processing on the bar code information of the goods and the distance information from the transmitting point to the top surface of the stack of the goods, wherein the processing method comprises the following steps:

(3.1) carrying out block parallel processing on the data detected by the infrared distance measuring mechanism according to the acquired area, and searching the position of the goods according to the corresponding height information;

(3.2) calculating the physical height of the cargo according to the position of the cargo and the distance information, and then performing pixelization processing on the physical height of the cargo to obtain a pixelized image of the cargo;

(3.3) carrying out Gaussian filtering on the pixilated image to obtain a Gaussian filtered image;

(3.4) convolving the Gaussian filtered image with a direction template to obtain the pixel value of each pixel point, and calculating corresponding image edge information according to a preset threshold value;

And (3.5) acquiring three-dimensional information of the goods according to the distance information and the image edge information, acquiring three-dimensional coordinate information of the goods in a warehouse position according to the height information of the warehouse and a planned warehouse position, comparing the bar code information with data in a goods information base, extracting the length, width and height information of the goods, and scaling according to a certain proportion to establish a three-dimensional live-action model of the warehouse.

Compared with the prior art, the intelligent infrared digital panoramic system and the warehouse management method thereof have the following beneficial effects:

1. this towards intelligent infrared digital panoramic system passes through bar code recognition device and discerns the goods, and a plurality of cameras can be accurate a plurality of angle images of shooting the goods fast, make things convenient for bar code recognizer to sweep the sign indicating number, and then can collect the information of goods itself in the warehouse real-time, accurately. Simultaneously, the infrared distance measuring mechanism of day eye device can form infrared monitoring net, carries out comprehensive monitoring range finding to the goods in the warehouse, masters the height of the stack of goods in real time, moreover through removing on the guide rail, can make an infrared distance measuring sensor can remove a plurality of places, carries out the range finding to a plurality of goods to reduce the cost of range finding, also can guarantee data acquisition efficiency simultaneously. And the data processing device carries out edge segmentation processing, data preprocessing, Gaussian filtering and edge detection on the data, so that a three-dimensional live-action model of the warehouse can be established, the panoramic management of the warehouse is facilitated, and the intelligent management of the warehouse and goods is realized.

2. Because infrared digital panoramic system need not artifical check, only need reserve the diameter length of a steel when laying infrared measurement and control guide rail between the storehouse position, can shorten the length in every tunnel, can shorten the distance between the tunnel simultaneously by a wide margin, increase storehouse position number to newly increase the effective area of storage, practice thrift the land cost by a wide margin, improve the space utilization in warehouse.

3. The infrared digital panoramic system can greatly reduce the number of the warehouse staff, thereby reducing the total bottom salary of the warehouse staff, saving the labor cost and having obvious cost reduction effect. In addition, the invention carries out integrated management and information service on the processes of warehousing and receiving, inventory management, ex-warehouse and the like, improves the efficiency and the accuracy of production and distribution in all aspects, and further saves the time cost.

4. This bar code recognition device, day eye device and data processing device of infrared digital panoramic system can work at any time, can check the goods at any time to grasp the state of goods in real time, conveniently manage the goods, and then improve the check efficiency in warehouse.

5. The intelligent infrared digital panoramic system can easily acquire data of all aspects in a warehouse, form a correlation database and provide sufficient and reliable data support for decision making of a warehousing department. For example: determining what type of horizontally moving handling equipment, vertically moving equipment, racks, etc. to select; the transformation and upgrading of the warehouse are carried out at lower cost; more accurate determination of the warehousing framework, personnel configuration, energy and power configuration, capital configuration, etc.

Drawings

Fig. 1 is a front view of a barcode recognition device facing an intelligent infrared digital panoramic system in embodiment 1 of the present invention;

FIG. 2 is a side view of the bar code identification device of FIG. 1;

FIG. 3 is a flowchart illustrating the operation of a barcode reader of the barcode identification apparatus of FIG. 1;

fig. 4 is a schematic diagram of an infrared distance measuring mechanism of a skyhook device facing an intelligent infrared digital panoramic system according to embodiment 1 of the present invention;

FIG. 5 is a top view of the infrared ranging mechanism of FIG. 4;

FIG. 6 is a perspective view of the infrared ranging mechanism of FIG. 5;

fig. 7 is a data processing flow chart of a data processing apparatus for an intelligent infrared digital panoramic system according to embodiment 1 of the present invention;

fig. 8 is a pixelized diagram of a data preprocessing module of a data processing apparatus for an intelligent infrared digital panoramic system according to embodiment 1 of the present invention;

fig. 9 is a graph of an experimental result after gaussian filtering of a data processing apparatus for an intelligent infrared digital panoramic system according to embodiment 1 of the present invention;

fig. 10 is a graph of the edge segmentation result of the data processing apparatus of the intelligent infrared digital panoramic system according to embodiment 1 of the present invention;

fig. 11 is a three-dimensional live-action 3D digitization flowchart of an intelligent infrared digital panoramic system in embodiment 1 of the present invention;

Fig. 12 is an operation flowchart of the library location matching device for the intelligent infrared digital panoramic system according to embodiment 2 of the present invention;

fig. 13 is a force analysis diagram of an intelligent infrared digital panoramic system in embodiment 3 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

The invention provides an intelligent infrared digital panoramic system which comprises a bar code recognition device, a sky eye device and a data processing device. The infrared digital panoramic system is used for monitoring and managing the goods entering and exiting the warehouse in the warehouse, and meanwhile, the goods stored in the warehouse can be monitored.

Referring to fig. 1, fig. 2 and fig. 3, the inventor of the present invention found that the conventional warehousing process includes: the clamping vehicle unloading → the temporary storage area manually scanning the code → the clamping vehicle warehousing, and therefore, the embodiment provides a barcode recognition device. The bar code recognition device comprises a support rod 1, a bar code recognizer, a plurality of support plates 2 and a plurality of cameras 3, and further comprises a base 14. The same ends of a plurality of supporting plates 2 are all fixed on the supporting rod 1, and the supporting rod 1 can be erected on the ground of the warehouse. Each camera 3 is mounted on a corresponding support plate 2 and is used to take images of the goods in the warehouse. The bar code recognizer scans the bar code in the image information according to the image information shot by the camera 3 so as to read the bar code information of the goods. The base 14 is provided in a warehouse and serves to support the support rod 1. In some embodiments, including this embodiment, the number of barcode recognition devices is two, wherein one barcode recognition device is disposed at the entrance of the warehouse, and wherein the other barcode recognition device is disposed at the exit of the warehouse. It should be noted that the barcode reader may be an existing two-dimensional code scanner, or may be another code scanning device.

In this embodiment, the overall height of the barcode recognition device is 2m, and the premise of the height setting is to ensure that all goods can be effectively recognized. Meanwhile, considering that the height of the goods is high and the position of the bar code is not fixed, a plurality of cameras 3 are arranged to process the goods in real time. The cameras 3 are distributed at different heights, and the bar codes are identified in an all-around and efficient mode. The core technology of the bar code recognizer is a bar code recognition technology, and information of goods is extracted, so that an optimal storage position is planned for the goods. In addition, the bar code recognizer provides basic parameters for building a warehouse real scene three-dimensional model. In view of reducing the workload of the server and improving the working efficiency, a mature target identification technology is newly added. Through deep learning, carry out target identification and locking to the bar code, make bar code recognizer be the artificial intelligence device that possesses self-learning, self-judgement, so, combine above demand and design, bar code recognizer reads the method of bar code information and includes the following steps:

(1) judging whether the bar code identification device enters a code scanning area of a warehouse or not;

(2) when the bar code recognition device enters a code scanning area, shooting images of goods through a plurality of cameras 3 until a bar code area of the goods is collected;

(3) Shooting an image of the barcode region through the corresponding camera 3, and automatically focusing the camera 3 to obtain a clear image of the goods;

(4) according to the clear image, identifying bar code information in the image and acquiring information of goods;

(5) information about the goods is recorded.

Referring to fig. 4, 5 and 6, the sky-eye device includes a plurality of infrared distance measuring mechanisms, and may further include a data collecting mechanism, an error correcting mechanism and an alarm mechanism. Each infrared ranging mechanism comprises a plurality of infrared ranging sensors 4, two groups of guide rails 5 and a sliding assembly 6. The two sets of guide rails 5 are located above the goods and can be fixed relative to the warehouse, i.e. on the top frame of the warehouse. The infrared distance measuring sensor 4 is installed on the sliding member 6, and serves to detect the distance from the sliding member 6 to the top surface of the stack of goods by emitting infrared rays to the goods. The infrared distance measuring sensor 4 has the characteristics of wide measuring range, short response time, easy installation and convenient operation, and applies an infrared distance measuring technology. The infrared distance measurement technology utilizes the non-diffusion principle of infrared propagation, a transmitting oscillator generates a modulation signal with a certain frequency, the modulation signal is added to an infrared transmitting device through a power amplifier, and an infrared transmitter emits infrared rays; the infrared signal after the infrared ray is reflected by the infrared reflection device (i.e. the goods) is received by the infrared receiving device, and then the high-frequency ranging signal is obtained through the processing of the signal. In this embodiment, the maximum detection distance of the infrared distance measuring sensor 4 is 12m, the distance measuring performance is excellent, the refresh frequency with higher precision reaches 100HZ, the response is sensitive, the size is small, and the power consumption is low.

Wherein, slide assembly 6 includes range finding board 7, driving motor 8, drive wheel 9, belt 10, crossbeam 11, two locating wheels 12 and a plurality of pulley 13. The infrared distance measuring sensor 4 is installed on the distance measuring plate 7, and is used for detecting the distance from the slide assembly 6 to the top surface of the stack of the goods by emitting infrared rays to the goods. The plurality of pulleys 13 are rotatably installed at both ends of the ranging plate 7, respectively, and roll in a groove direction of the guide rail 5. The driving motor 8 is fixed on the distance measuring plate 7 and drives the driving wheel 9 to rotate through the belt 10. The drive wheel 9 is fixed to the cross beam 11. The beam 11 is rotatably mounted on the distance measuring plate 7, and two ends of the beam are respectively inserted into the two positioning wheels 12. The two positioning wheels 12 move along the guide of the two groups of guide rails 5 under the driving action of the driving wheels 9, so that the infrared distance measuring sensors 4 emit infrared rays to a plurality of goods in a plurality of areas in the warehouse.

In the present embodiment, the control is performed by a central processing unit, and the central processing unit of the present embodiment adopts a central processing unit with AT89S52 as a core. The AT89S52 is a low power, high performance CMOS8 bit microcontroller with 8K on-system programmable Flash memory. AT89S52 has the following standard functions: 8 kbyte Flash, 256 bytes RAM, 32-bit I/O port line, watchdog timer, 2 data pointers, three 16-bit timers/counters, a 6-vector 2-level interrupt structure, and full-duplex serial port. In addition, AT89S52 can operate down to 0Hz static logic, supporting 2 software selectable power saving modes.

The data acquisition mechanism is used for acquiring data detected by the infrared distance measurement mechanisms and also acquiring data read by the bar code identifier and transmitting the data to the data processing device. The error correction mechanism is used for inputting a distance signal detected by the infrared distance measuring sensor (4) and a vibration signal thereof into a first mixing frequency through a receiving oscillator (the frequency f is f +/-delta f, wherein delta f is an intermediate frequency of thousands of hertz) to obtain a distance measuring signal (the intermediate frequency is delta f, phase difference formed by signals in the process of returning and returning of a channel is kept), then directly converging the distance measuring signal and the vibration signal through the transmitting oscillator without the channel in a second mixing frequency to form an intermediate frequency reference signal, inputting the intermediate frequency reference signal into a phase detector for comparing phases after frequency selection amplification and shaping to obtain a phase difference (the distance measuring signal and the phase difference are input into the phase detector for comparing the phases after frequency selection amplification and shaping to obtain the phase difference), and finally calculating the correction distance from the sliding component 6 to the top surface of the goods.

The alarm mechanism is used for sending an alarm message after receiving the updated data of at least one infrared distance measuring mechanism for a preset time. The central processing unit can refresh logic input at regular time, and when some part of the infrared device fails, the central processing unit cannot receive the data after the failure position is updated, and at the moment, the central processing unit sends an alarm message to the background server. And in addition, by combining the three-dimensional live-action modeling function, the data missing part can be reflected in the three-dimensional live-action image of the warehouse, so that maintenance personnel can find out a fault point and maintain the fault point as soon as possible.

Referring to fig. 7, the data processing apparatus includes an edge segmentation processing module, a data preprocessing module, a gaussian filtering module, an edge detection module, a model building module, and a point cloud storage module. The data processing device can process the data generated by the bar code recognition device and the sky eye device so as to form real-time information for the warehouse manager to master. The data processing device realizes the three-dimensional live-action construction of the warehouse through the following procedures:

firstly, point cloud storage: and summarizing and recording data acquired by the infrared distance measuring device.

Secondly, edge segmentation: and (4) partitioning and parallel processing the acquired data according to the acquired area, and searching the position of the goods according to the height.

And thirdly, constructing a three-dimensional image by using the reference surface on the basis of edge segmentation, and splicing the local constructed TIN to finally obtain a solid three-dimensional model.

And fourthly, extracting the cargo information, planning an optimal storage position and establishing a cargo three-dimensional model.

And fifthly, updating data, verifying the position of the goods, and updating the three-dimensional live-action model of the warehouse.

The capacity of the infrared ranging data is large, if a granularity mode of conventional data storage is adopted, namely a single point is used as a storage tuple, during data access, the cursor repeatedly performs I/O addressing operation, and the data storage performance can be greatly reduced. When a large binary system is adopted for data access, the selection of storage granularity is the key point of planning, and the station is taken as a unit or the space grid scale is taken as a storage unit according to specific data scale. In order to facilitate the quick retrieval of binary data, the space boundary of point cloud, namely the goods outer package frame, needs to be recorded when the tuple is stored.

The edge segmentation processing module is used for processing the data detected by the infrared distance measuring mechanism in a blocking and parallel mode according to the collected areas and searching the position of the goods according to the corresponding height information. For a large-area warehouse, the data volume measured by the infrared array and the infrared scanning is huge, and in the embodiment, a method of regional monitoring is adopted, and a method of parallel processing of computers is adopted, so that the time for data processing and three-dimensional live-action construction is reduced, and the most effective real-time supervision of warehouse management is achieved. The edge segmentation processing module comprises a measurement data reading unit, an initial coordinate defining unit, an edge segmentation unit, a characteristic value extracting unit, a cargo checking unit, a center coordinate calculating unit and a parameter value recording unit.

The measurement data reading unit is used for reading data detected by the infrared distance measuring mechanism. An initial coordinate defining unit for reading the read data of the unit according to the measured data and an initial defining barAnd determining the physical initial coordinate of the area where the infrared distance measuring mechanism is located so as to determine the physical plane coordinate of the goods. The edge division unit is used for detecting the edge part of the read data by a Sobel edge division method and dividing the corresponding height information into areas. The characteristic value extraction unit is used for reading the height information of each divided area according to the divided areas of the edge division unit so as to determine the physical space coordinates of the goods. The cargo checking unit divides a larger divided area into smaller areas on the surface of the cargo according to a fuzzy optimal calculation method, and meanwhile, compares a fuzzy calculation result with a preset retention result to check specific coordinates and information of the cargo. A central coordinate calculation unit for calculating the central coordinate according to a calculation formula O _i (x _i ,y _i )＝O _i (X _i ,Y _i )+o(x ₀ ,y ₀ ) And representing plane coordinate information of the center coordinates of the same-height plane. Wherein, O _i (X _i ,Y _i ) Representing the co-altitude coordinate of the relative center position, o (x) ₀ ,y ₀ ) Representing the initial two-dimensional position coordinates of the area acquired by the infrared ranging mechanism. Parameter value recording unit for recording O to center coordinate calculation unit _i (X _i ,Y _i ) And adding corresponding height information to the calculation result, acquiring the three-dimensional position coordinates of the goods, and recording and outputting the parameter values of the three-dimensional position coordinates.

The data preprocessing module is used for calculating the physical height of the goods according to the position of the goods and the distance from the sliding assembly 6 to the top surface of the stack, and then performing pixelation processing on the physical height of the goods to obtain a pixelation image of the goods. The calculation formula of the physical height of the cargo is as follows: phyright is set as the physical height of the cargo, setheight is the erection height of the infrared distance measuring sensor 4, and measureright is the distance detected by the infrared distance measuring sensor 4;

the formula for pixelating the physical height of the cargo is as follows:

wherein, highpix is the height pixel value of the cargo, and fix is the rounding symbol. In this way, after processing by the data preprocessing module, an image as shown in fig. 8 can be obtained.

The Gaussian filtering module is used for carrying out Gaussian filtering on the pixilated image to obtain a Gaussian filtered image. Under the image processing concept, the gaussian filter is used as a low-pass filter to filter low-frequency energy (such as noise) and perform image smoothing by linking image frequency domain processing and time domain processing. The method is linear smooth filtering, is suitable for eliminating Gaussian noise, and is widely applied to the noise reduction process of image processing. The method is a process of weighted average of the whole image, and the value of each pixel point is obtained by weighted average of the pixel point and other pixel values in the neighborhood. In general, gaussian blur is achieved using a gaussian filter, which is a type of low-pass filtering. Essentially, gaussian blur is the convolution of the (gray) image I with a gaussian kernel: I.C. A _σ ＝I*G _σ

Wherein denotes a convolution operation, G _σ Is a two-dimensional gaussian kernel with standard deviation σ, defined as:

which for an image may represent the gaussian filtered variation with the following matrix. Numerically, as an average, and appear blurred in the image.

According to the preliminary test result of this embodiment, the result of the cargo after being subjected to gaussian filtering after being physically highly pixilated can be obtained, as shown in fig. 9.

The edge detection module is used for convolving the Gaussian filtered image with the direction template to obtain the pixel value of each pixel point, and calculating corresponding image edge information according to a preset threshold value. In this embodiment, the detection is performed by a Sobel operator, and the Sobel operator: the method mainly utilizes a first derivative and is a common discrete difference operator. The general Sobel operator includes two groups of matrixes, i.e. two direction templates with the size of 3 × 3, and the edge detection principle of the general Sobel operator is convolution, i.e. convolution of an image and a direction template can obtain a result, so the direction template is also called a convolution kernel. Two common horizontal and vertical templates are as follows:

if G is _x Is a convolution of the original image in the x-direction, G _y Convolution is performed on the original image in the y direction; the magnitude and direction of the gradient can also be calculated using the following equation:

thus, after simplification, the calculation formula of the convolution performed by the edge detection module can be obtained as follows:

|G|＝|G _x |+|G _y |

wherein G is _x For the convolution of the horizontal direction in a directional template, G _y The convolution in the vertical direction in the directional template, G is the gradient of the gaussian filtered image. According to the preliminary test results of this example, the results after Sobel edge segmentation can be obtained, as shown in fig. 10.

Referring to fig. 11, the model building module is configured to obtain three-dimensional information of the goods according to data detected by the infrared distance measuring mechanisms and image edge information, obtain three-dimensional coordinate information of the goods at a storage location according to height information of a warehouse storing the goods and a planned storage location, compare bar code information with data in a goods information base, extract length, width, and height information of the goods, and build a three-dimensional live-action model of the warehouse by scaling the bar code information and the data in the goods information base. Specifically, the length L of the clamped goods is extracted by comparing the bar code captured by the bar code recognizer with the information base _i Width W _i High H _i And (4) information. Considering that the warehouse area is large, the embodiment selects the scaling of 10cm:1 to build a three-dimensional model. And establishing a corresponding model according to the three-dimensional coordinate information of the optimal library position, and recording information such as the corresponding goods model and the like. Meanwhile, according to the result of the next measurement, the pre-established model is verified, and whether goods exist or not and whether the operation of workers is standard or not are judged. And after the 3D model is established in the area, zooming according to the specific physical coordinates of the area, and splicing the three-dimensional panorama of the warehouse. From the analysis of mechanics angle, the required steelframe of guide rail adopts the triangle-type design, and stable structure is better. Therefore, the steel rail is laid, and the high feasibility is achieved from the mechanical point of view.

To sum up, the intelligent infrared digital panoramic system of the embodiment has the following advantages:

1. this towards intelligent infrared digital panoramic system discerns the goods through bar code recognition device, and a plurality of cameras can be accurate shoot a plurality of angle images of goods fast, make things convenient for bar code recognizer to sweep the sign indicating number, and then can collect the information of goods itself in the warehouse in real time, accurately. Simultaneously, the infrared distance measuring mechanism of day eye device can form infrared monitoring net, carries out comprehensive monitoring range finding to the goods in the warehouse, masters the height of the stack of goods in real time, moreover through removing on the guide rail, can make an infrared distance measuring sensor can remove a plurality of places, carries out the range finding to a plurality of goods to reduce the cost of range finding, also can guarantee data acquisition efficiency simultaneously. And the data processing device carries out edge segmentation processing, data preprocessing, Gaussian filtering and edge detection on the data, so that a three-dimensional live-action model of the warehouse can be established, the panoramic management of the warehouse is facilitated, and the intelligent management of the warehouse and goods is realized.

3. The infrared digital panoramic system can greatly reduce the number of the warehouse staff, thereby reducing the total base salary of the warehouse staff, saving the labor cost and having obvious cost reduction effect. In addition, the embodiment performs integrated management and information service on the processes of warehousing and receiving, inventory management, ex-warehouse and the like, improves the efficiency and accuracy of production and distribution in all aspects, and further saves the time cost.

Example 2

Referring to fig. 12, the present embodiment provides an intelligent infrared digital panoramic system, which is added with a position matching device based on embodiment 1. The storage position matching device comprises a goods position optimization distribution model module and a storage position matching module.

Based on the defects existing in the warehouse management, the improvement of the warehouse management informatization technology is recognized as the basis and guarantee of the efficient management of the warehouse. Therefore, in the embodiment, a warehouse location matching system is established by combining the modern informatization technology, and the information of the goods such as the type and the specification of the goods at the moment is acquired according to the bar code identifier in the warehousing link to be butted with the database; and screening to obtain the lower optimal warehouse location under the current conditions, and guiding the forklift and the clamping vehicle driver to place the goods to the specified warehouse location by the system through voice broadcasting of the warehouse location number to finish warehousing. After the goods are put in the warehouse, various information of the goods placed in the warehouse can be obtained, and reference data is provided for subsequent three-dimensional imaging.

In warehouse management, the warehousing process of goods is considered according to the remaining situation of the warehouse location, and then the warehouse location selection is carried out on the goods needing to be warehoused. Thus, some of the library bit resources are not fully utilized. The storage location matching device of the embodiment firstly searches whether the storage location of the similar goods can be stacked according to the information of the goods such as the type and the specification of the goods acquired by the bar code recognizer, preferentially stacks the goods in the storage location of the similar goods if the goods can be stacked in the storage location of the similar goods, and matches other suitable storage locations if no goods remain. And scientific stock position matching is carried out on the goods when the goods are put in storage, so that the resources of the stock positions are fully utilized.

The goods location optimal allocation model module is used for establishing a goods location optimal allocation model. The description of the relevant parameters in this model is as follows:

a, the number of rows of shelves in the stereoscopic warehouse, b, the number of rows of shelves in the stereoscopic warehouse, c, the number of layers of shelves in the stereoscopic warehouse, L ₀ The length of the goods position unit cell, the length, the width and the height of the goods shelf are all consistent, M _i The unit mass, P, of the ith cargo _i The turnover rate of the ith goods, x, the rank number of a certain stereoscopic warehouse goods space, and x is {1,2, …, a }; y is the column number of a certain stereoscopic warehouse cargo space, y is {1,2, …, b }, z is the layer number of a certain stereoscopic warehouse cargo space, z is {1,2, …, c }, and V is _x Average moving speed, V, of fork truck in x-direction _y Average moving speed, V, of fork truck in y-direction _z Average moving speed of the forklift in the z direction, and N is the total number of the goods.

Because three-dimensional imaging needs to scan length, width and height information of goods obtained by codes, and the number of stacked goods is obtained according to the length and the height, the same goods or the same kind of goods should be stored in adjacent goods positions. Assuming that n cargo spaces have stored i-type cargos, the coordinate vector represented by the cargo space coordinates of the i-type cargos in the three-dimensional space is [ X ] _i ,Y _i ,Z _i ]Then the set of coordinate vectors for these n cargo spaces is:

let the i-type cargo space center coordinate vector be:

R _i (i＝1,2,…,N)

After the center coordinates of a certain kind of goods stored in the warehouse are calculated, the same kind of goods should be placed at the position closest to the center coordinates, and therefore the following steps are obtained: f. of ₁ (x, y, z) is a function of when adjacent cargo is stored in adjacent locations, and the functional formula is:

in order to improve the working efficiency and shorten the travel distance, according to the turnover rate of the products, the products with high delivery and receiving frequency, namely the products with high turnover rate, are required to be placed at a place which is close to an entrance and an exit and is easy to operate; the poorly flowing product is placed slightly further away from the access opening. This gives: f. of ₂ (x, y, z) is a function considering the cargo delivery efficiency, and the function formula is as follows:

in summary, the cargo space optimization allocation model is considered from two aspects, and the system converts the multi-objective optimization problem into the single-objective optimization problem by using a weight system method. Thus, the model formula of the cargo space optimal allocation model provided by the embodiment is as follows:

in the formula, f (x, y, z) is an objective function of the goods space optimization allocation model. The principle of warehouse storage analyzed above shows that the smaller the value of the objective function f (x, y, z), the optimal allocation of the warehouse is.

The library position matching module comprises an optimal library position matching unit, an optimal library position depth calculating unit, a sorting unit and an optimal library position obtaining unit. The optimal storage position matching unit is used for matching the goods according to the packaging and stacking information of the goods through the width of the clamping face of the goods, and the optimal storage position with the highest matching degree is obtained. And the optimal storage position depth calculating unit is used for acquiring the storage position depth when the storage position consumption is minimum according to the storage quantity and the stackable high-layer number of the goods. The sorting unit is used for outputting the library position numbers meeting the preset requirements and sorting the library position numbers according to the matching degree of the goods. The most suitable storage position obtaining unit is used for matching the goods with the rest storage positions of the warehouse and obtaining the storage position with the highest matching degree currently.

Example 3

The embodiment provides an intelligent infrared digital panoramic system, which is refined on the basis of the embodiment 2. The material of the guide rail of the embodiment is mainly No. 45 steel. The upper surface of the inner rail (the rail closest to the symmetrical surface of the slide rail) needs to adopt a shape matched with the inner wheel (the inner wheel is made into a gear under certain conditions), and wear-resistant steel is adopted; slide rail and horizontal pole material need the quality such as electric wire, motor to confirm the back and can calculate.

1. In the portion of the guide rail 5:

m＝m _{electric machine} +m _Material +m _Shaft +m _Thread

The requirements are as follows: e _max ≤[σ]Allowable stress is only needed.

2. In the portion of the cross beam 11:

wherein: b ₁ Outer width b ₂ Inner width h ₁ Height outside h ₂ High inside

The requirements are as follows: e _max ≤[σ]Allowable stress is only needed.

In order to meet the actual requirement, the following design requirements are determined in the embodiment:

firstly, a speed reducer is required to be configured on a driving motor 8, the motor is placed by rotating 90 degrees according to a schematic diagram, the speed reducer is installed, and then the motor is installed according to the original shape;

secondly, the wire is wound up and put down along with the motor at the widest position in the middle of the guide rail 5;

thirdly, the camera 3 is made of sheet iron or hard plastic;

meanwhile, for a guide rod on the infrared measurement and control guide rail, 5 infrared distance measurement sensors 4 and a driving motor 8 need to be carried. From the mechanical point of view, it was subjected to force analysis, as shown in fig. 13.

From the above, the tension T of the warehouse top steel frame structure to the guide rail is 2T _PA Gravity of the motor is G _EM The gravity of the infrared distance measuring device is G ₁ ＝5G _DE Gravity of the rod is G _SL The gravity of the guide rail is G ₂ ＝2G _PA And F is the deformation resistance of the mechanical structure and the material. According to the practical investigation, combined with the mechanical stress results, it can be proved that:

T＝2T _PA ＝G _EM +G ₁ +G _SL +G ₂ F

from the above mechanical analysis, it can be known that the installation of the device can be realized by laying the steel rail in the aspect of engineering practice. Meanwhile, the integral operation is at the top of the warehouse, so that the normal operation of the lower warehouse is not influenced.

In summary, in the intelligent infrared digital panoramic system of the present embodiment, in practical application, each roadway can be shortened by 0.2 m. Under the condition that the width of a warehouse location is 1.6 meters, when the depth of the warehouse location is 5 meters and the depth of the warehouse location is 10 warehouse locations of 400, the warehouse has 14 main channels, each side of the main channel has 50 warehouse locations, 49 warehouse location intervals, the 800 warehouse locations have 786 warehouse location intervals in total, the distance between the roadways is shortened by 157.2m, 49 warehouse locations with the width of 1.6 multiplied by 5 meters and 49 warehouse locations with the width of 1.6 multiplied by 10 meters can be increased, and the newly increased effective area is 1.6 multiplied by 5 multiplied by 49+1.6 multiplied by 10 multiplied by 49 which is 1176 square meters.

In addition, according to the embodiment, through measurement and calculation, the service life of the system is more than ten years, the cost can be saved by 48 ten thousand yuan for five years in a 12000 square meter warehouse in the daily direction of combined fertilizer, more than 400 similar plane bins are estimated in the whole country, the labor cost can be saved by 2.1 hundred million for the daily direction in five years, and the cost reduction effect is very obvious. In addition, the system designed by the embodiment can reduce the length of the roadway of the adjacent warehouse positions of the warehouse, for example, a daily self-built washing machine warehouse is taken as an example, the roadway is arranged to be 30-40cm at present, manual checking is not needed after the system is realized, the distance between every two roadways is shortened by about 0.2m, the usable area of the warehouse of 12000 square meters is increased by 1176 square meters, the utilization rate of the warehouse is further improved, and the land cost is greatly saved. The digital warehouse based on the system performs integrated management and information service on the processes of warehousing and receiving goods, inventory management, ex-warehouse and the like, improves the efficiency and accuracy of production and distribution in all aspects, and further saves the time cost. In addition, taking a combined fertilizer day-by-day warehouse as an example, the single area of the combined fertilizer day-by-day warehouse is 12000m ² The system generates daily checking tasks according to a period during checking, the primary large warehouse is a two-week checking warehouse and the secondary warehouse is a week, preliminary calculation shows that all the plane warehouses in the same country on the day and the day adopt the infrared digital panoramic system designed by the scheme, and the goods can be checked at any time.

Example 4

The embodiment provides an intelligent infrared digital panoramic warehouse management method, which is applied to any one of intelligent infrared digital panoramic systems in embodiments 1 to 3, and comprises the following steps:

(1) shooting images of goods in a warehouse, and reading bar code information of the goods according to the image information;

(2) detecting the distance from the emission point to the top surface of the stack of the goods by emitting infrared rays to the goods above the goods;

(3) carrying out data processing on the bar code information of the goods and the distance information from the transmitting point to the top surface of the stack of the goods, wherein the processing method comprises the following steps:

(3.1) carrying out block parallel processing on data detected by the infrared distance measuring mechanism according to the acquired area, and searching the position of the goods according to the corresponding height information;

(3.2) firstly, calculating the physical height of the goods according to the position and distance information of the goods, and then performing pixelization processing on the physical height of the goods to obtain a pixelized image of the goods;

(3.4) convolving the Gaussian filtered image with the direction template to obtain the pixel value of each pixel point, and calculating corresponding image edge information according to a preset threshold value;

and (3.5) acquiring three-dimensional information of the goods according to the distance information and the image edge information, acquiring three-dimensional coordinate information of the goods at the warehouse location according to the height information of the warehouse and the planned warehouse location, comparing the bar code information with data in a goods information base, extracting the length, width and height information of the goods, and scaling according to a certain proportion to establish a three-dimensional live-action model of the warehouse.

Example 5

The present embodiment provides an intelligent infrared digital panorama warehouse, which includes any one of the intelligent infrared digital panorama systems provided in

embodiments

1, 2, and 3.

Example 6

The present embodiments provide a computer terminal comprising a memory, a processor, and a computer program stored on the memory and executable on the processor. And when the processor executes the program, the steps of the intelligent infrared digital panoramic warehouse management method in the embodiment 1 are realized.

When the method in embodiment 1 is applied, the method can be applied in a software form, for example, a program designed to run independently is installed on a computer terminal, and the computer terminal can be a computer, a smart phone, a control system, other internet of things equipment, and the like. The method of embodiment 1 may also be designed as an embedded running program, and installed on a computer terminal, such as a single chip microcomputer.

Example 7

The present embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by the processor, the steps of the intelligent infrared digital panoramic warehouse management method in embodiment 1 are realized.

When the method of embodiment 1 is applied, the method may be applied in the form of software, such as a program designed to be independently run by a computer-readable storage medium, which may be a usb disk designed as a usb shield, and the usb disk is designed to be a program for starting the whole method through external triggering.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An infrared digital panorama system oriented to intellectualization, comprising:

the bar code recognition device comprises a support rod (1), a bar code recognizer, a plurality of support plates (2) and a plurality of cameras (3) which respectively correspond to the support plates (2); the same ends of the supporting plates (2) are all fixed on the supporting rod (1); each camera (3) is arranged on the corresponding support plate (2) and is used for shooting the image of the goods; the bar code recognizer reads the bar code information of the goods according to the image information shot by the camera (3);

a skyhole device comprising a plurality of infrared ranging mechanisms; each infrared distance measuring mechanism comprises a plurality of infrared distance measuring sensors (4), two groups of guide rails (5) arranged in parallel and a sliding assembly (6) moving along the groove direction of the guide rails (5); two groups of guide rails (5) are positioned above the goods; the infrared distance measuring sensor (4) is installed on the sliding assembly (6) and is used for detecting the distance from the sliding assembly (6) to the top surface of the stack of the goods by emitting infrared rays to the goods; and

the data processing device comprises an edge segmentation processing module, a data preprocessing module, a Gaussian filtering module, an edge detection module and a model establishing module; the edge segmentation processing module is used for carrying out block parallel processing on the data detected by the infrared distance measuring mechanism according to the acquired area and searching the position of the goods according to the corresponding height information; the data preprocessing module is used for calculating the physical height of the goods according to the position of the goods and the distance from the sliding assembly (6) to the top surface of the stack, and then performing pixelation processing on the physical height of the goods to obtain a pixelation image of the goods; the Gaussian filtering module is used for performing Gaussian filtering on the pixilated image to obtain a Gaussian filtered image; the edge detection module is used for convolving the Gaussian filtered image with the direction template to obtain the pixel value of each pixel point and calculating corresponding image edge information according to a preset threshold; the model establishing module is used for acquiring three-dimensional information of the goods according to data detected by the infrared distance measuring mechanisms and the image edge information, acquiring three-dimensional coordinate information of the goods at a warehouse position according to height information of a warehouse for storing the goods and a planned warehouse position, comparing the bar code information with data in a goods information base, extracting length, width and height information of the goods, and establishing a three-dimensional live-action model of the warehouse by scaling according to a certain proportion;

Wherein, considering that the height of the goods is higher and the position of the bar code is not fixed, a plurality of cameras (3) are arranged; the cameras (3) are distributed at different heights, and the method for reading the bar code information by the bar code recognizer comprises the following steps:

(2) when the bar code recognition device enters the code scanning area, shooting the image of the goods through a plurality of cameras (3) until the bar code area of the goods is collected;

(3) shooting the image of the bar code area through a corresponding camera (3), and automatically focusing the camera (3) to obtain a clear image of the goods;

(5) recording information of the goods;

the infrared digital panoramic system also comprises a storage position matching device, wherein the storage position matching device comprises a goods position optimal distribution model module and a storage position matching module; the cargo space optimal allocation model module is used for establishing a cargo space optimal allocation model; the library position matching module comprises an optimal library position matching unit, an optimal library position depth calculating unit, a sorting unit and an optimal library position obtaining unit; the optimal storage position matching unit is used for matching according to the packaging and stacking information of the goods through the width of the clamping surface of the goods to obtain the optimal storage position with the highest matching degree; the optimal warehouse location depth calculation unit is used for acquiring the warehouse location depth when the warehouse location consumption is minimum according to the warehouse entry quantity and the stackable high-layer quantity of the goods; the sorting unit is used for outputting the bin numbers meeting the preset requirements and sorting the bins according to the matching degree of the goods; the optimal warehouse location acquisition unit is used for matching the goods with the rest warehouse locations of the warehouse and acquiring the warehouse location with the highest current matching degree;

The model formula of the cargo space optimal allocation model is as follows:

the x row y column z layer of the warehouse has the following coordinates: (x, y, z), x ═ 1,2, …, a }, y ═ 1,2, …, b }, z ═ 1,2, …, c }; the warehouse is provided with a rows of shelves, and each row of shelves is provided with b columns and c layers; v _x : average moving speed, V, of forklift in x-direction _y : average moving speed, V, of fork truck in y-direction _z : average moving speed of forklift in z direction, L ₀ : the length of the goods position unit grid and the length, width and height of the goods shelf are all consistent, P _i : turnover of the ith cargo, N: total number of cargo categories.

2. The intelligent-oriented infrared digital panoramic system of claim 1, wherein the edge segmentation processing module comprises a measurement data reading unit, an initial coordinate defining unit, an edge segmentation unit, a characteristic value extraction unit, a cargo verification unit, a center coordinate calculation unit and a parameter value recording unit; the measurement data reading unit is used for reading data detected by the infrared distance measuring mechanism; the initial coordinate defining unit is used for determining a physical initial coordinate of an area where the infrared distance measuring mechanism is located according to the reading data of the measuring data reading unit and an initial defining condition so as to determine a physical plane coordinate of the goods; the edge division unit is used for detecting the edge part of the read data by a Sobel edge division method and dividing the corresponding height information into areas (ii) a The characteristic value extraction unit is used for reading the height information of each divided area according to the divided areas of the edge division unit so as to determine the physical space coordinates of the goods; the cargo checking unit divides a larger divided area into smaller areas on the surface of the cargo according to a fuzzy optimal calculation method, compares a fuzzy calculation result with a preset retention result, and checks specific coordinates and information of the cargo; the central coordinate calculation unit is used for calculating the formula O _i (x _i ,y _i )＝O _i (X _i ,Y _i )+o(x ₀ ,y ₀ ) Representing plane coordinate information of a plane center coordinate with the same height; wherein, O _i (X _i ,Y _i ) Representing the co-altitude coordinate of the relative center position, o (x) ₀ ,y ₀ ) Representing an initial two-dimensional position coordinate of an area acquired by the infrared distance measuring mechanism; the parameter value recording unit is used for recording O of the central coordinate calculation unit _i (X _i ,Y _i ) And adding corresponding height information to the calculation result, acquiring the three-dimensional position coordinates of the goods, and recording and outputting the parameter values of the three-dimensional position coordinates.

3. The intelligent infrared-oriented digital panoramic system of claim 1, wherein the physical height of the cargo is calculated by the formula: phyright is the physical height of the cargo, setheight is the erection height of the infrared distance measuring sensor (4), and measureright is the distance detected by the infrared distance measuring sensor (4);

The formula for pixelizing the physical height of the cargo is as follows:

4. The intelligent infrared-oriented digital panoramic system of claim 1, wherein the edge detection module performs convolution according to the following formula:

|G|＝|G _x |+|G _y |

wherein, G _x For the convolution of the horizontal direction in the direction template, G _y And G is the convolution of the vertical direction in the direction template, and G is the gradient of the Gaussian filtering image.

5. The intelligent infrared-oriented digital panoramic system of claim 1, wherein the skyhook device further comprises a data acquisition mechanism, an error correction mechanism, and an alarm mechanism; the data acquisition mechanism is used for acquiring data detected by the infrared distance measurement mechanisms; the error correction mechanism is used for inputting a distance signal detected by the infrared distance measurement sensor (4) and a vibration signal thereof into a first mixing frequency to obtain a distance measurement signal through a receiving oscillator, then directly converging the distance measurement signal and the vibration signal through a transmitting oscillator without a channel in a second mixing frequency to form an intermediate frequency reference signal, inputting the intermediate frequency reference signal into a phase detector for phase comparison after frequency selection amplification and shaping to obtain a phase difference, and finally calculating the correction distance from the sliding component (6) to the top surface of the stack of the goods; the alarm mechanism is used for sending an alarm message after receiving the updated data of at least one infrared distance measuring mechanism for a preset time.

6. The intelligent-oriented infrared digital panoramic system according to claim 1, characterized in that the sliding assembly (6) comprises a distance measuring plate (7), a driving motor (8), a driving wheel (9), a belt (10), a cross beam (11), two positioning wheels (12) and a plurality of pulleys (13); the infrared distance measuring sensor (4) is arranged on the distance measuring plate (7); the pulleys (13) are respectively rotatably arranged at two ends of the ranging plate (7) and roll along the groove direction of the guide rail (5); the driving motor (8) is fixed on the distance measuring plate (7) and drives the driving wheel (9) to rotate through a belt (10); the driving wheel (9) is fixed on the cross beam (11); the beam (11) is rotatably arranged on the distance measuring plate (7), and two ends of the beam are respectively inserted into the two positioning wheels (12); two positioning wheels (12) move along the guide of the two groups of guide rails (5).

7. An intelligent-oriented infrared digital panoramic warehouse management method applied to the intelligent-oriented infrared digital panoramic system of any one of claims 1 to 6, and characterized by comprising the following steps of: