CN110363478B - Outdoor storage yard digital system - Google Patents
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Abstract
The invention provides an outdoor storage yard digitization system, which comprises a visual identification system, a 3D visualization management system, a storage yard intelligent operation system, a storage yard storage system and a storage yard management system.
Description
Technical Field
The invention relates to the technical field of outdoor storage yards of digital systems, in particular to a traditional outdoor storage yard digital system for electric power materials.
Background
The bin position distribution of traditional electric power material warehouse is unreasonable, the material is put comparatively dispersedly, reasonable utilization ratio is not high, because the distance between the bin position is far away, the cost of allotment, transportation and transport material between the warehouse is too high, most of electric power enterprises are lower at the information-based management level of flat storehouse management, the storage equipment facility falls behind, in the material warehouse management, what adopted always is the mode of manual classification and transport, plane stack storage, this kind of method has not only taken a large amount of warehouse areas, has reduced work efficiency, the cost expenditure of loading, unloading and carrying material has still been increased. The problems of low working efficiency, low intelligent level and insufficient quantitative management of the outdoor storage yard of the electric power materials are solved. At present, the research on the traditional outdoor storage yard digitization system of electric power materials is still in a blank period.
Disclosure of Invention
The invention aims to provide an outdoor storage yard digitization system which realizes outdoor storage yard material digitization and unmanned management through intelligent visual identification, a depth self-learning algorithm and an automatic control system and solves the problem of difficult outdoor storage yard management of electric power material.
In order to solve the technical problem, the invention provides an outdoor storage yard digitization system, which comprises a visual identification system, a 3D visualization management system, a storage yard intelligent operation system, a storage yard storage system and a storage yard management system; wherein
The visual recognition system carries out automatic recognition of goods and materials of the loading and unloading vehicle and measurement of coordinates and height of the goods and materials based on large-scene visual recognition, the visual recognition system is completed by a large-scene three-dimensional coordinate self-learning algorithm, the large-scene three-dimensional coordinate self-learning algorithm consists of a PRN candidate frame extraction module and a Fast-rcnn detection module, and RPN is a full convolution neural network and is used for extracting candidate frames; fast-rcnn detects and identifies targets in the proposal based on the proposal extracted by RPN, a large-scene three-dimensional coordinate self-learning algorithm proposes a regional suggestion network RPN, a candidate region is rapidly generated, and the RPN and the Fast-rcnn network share parameters through alternate training,
the 3D visual management system consists of radio frequency identification, an infrared sensor, a positioning system and laser scanner information sensing equipment, collects data generated in the processes of connection, monitoring and interaction among objects, exchanges and communicates information through the Internet, the laser scanner information sensing equipment is installed on an installation rod of a scanning execution mechanism, the sensor periodically performs circular scanning and performs uniform motion in the X direction, an output data packet contains distance information, angle information and a timestamp, the Y-direction coordinate and the Z-direction coordinate of a target point are obtained by combining the distance information and the angle information of the target point through data processing, and the storage goods location coordinate position of goods and materials is intelligently pre-allocated according to the types, the quantity, the size and the current storage yard condition of the goods and materials; the system is configured with a navigation terminal positioning system on a forklift, the system is allocated to the coordinate position of a goods and material storage goods position, and prompts an optimized goods taking path, an operator is guided to drive the forklift to the position near an appointed coordinate, the area of the goods and material storage goods position is displayed on a terminal device, goods and material storage operation is accurately guided, the actual storage condition of various goods and materials in an outdoor storage yard is visually displayed through an infrared sensor and radio frequency identification, and the 3D visual management system is in data butt joint with a WMS system to obtain the unique code of the goods and materials, the name of a supplier and the storage time, and further has an intelligent safety helmet: through integrated active RFID label, pressure sensor, cooperation control basic station combines access control system to inject operation personnel activity area, the operation control: monitoring through warehouse field operation and warehouse area security and protection; the WMS information system carries out statistical analysis on the big data and converts the big data into visual image information, the overall operation status of the warehouse is visually displayed, and the business early warning is issued;
the yard intelligent operation system controls intelligent loading and unloading equipment, the intelligent loading and unloading equipment comprises a main control device and a positioning device which are additionally arranged on a traveling crane body, the positioning device on a fine positioning traveling crane is connected with the main control device through a wireless or wired network, so that yard material hoisting operation automation is realized, when the yard is handled to be delivered out of a warehouse, a designated warehouse position material is hoisted to a designated temporary storage position by the fine positioning traveling crane, then a cable conveying track is arranged, the track mutually connects an outlet and each warehouse position, when goods are received and delivered, a cable disc is automatically placed to a unloading/loading temporary storage position by an automatic loading and unloading facility, and then the cable disc is automatically conveyed to the designated warehouse position by a conveying system;
a storage system of a storage yard is integrated into a storage unit, materials are put on and off the shelf, an automatic AGV forklift is used, a box type tray, a wheel type tray or a long special tray is arranged on the forklift,
the stock yard management system consists of a basic information management module, an entrance/exit management module and an inventory management module.
The large-scene three-dimensional coordinate self-learning algorithm comprises the following steps:
s1: inputting the CNN into the whole picture to obtain a feature map;
s2: inputting the convolution characteristics into the RPN to obtain the characteristic information of the candidate frame;
s3: judging whether the features extracted from the candidate frames belong to a specific class by using a classifier;
s4: for a candidate box belonging to a feature, its position is further adjusted with a regressor.
The basic information management module comprises supplier information management, cargo information management, yard information management, staff information management and cargo space information management, the admission management module comprises admission time, supplier information, cargo information and cargo space information, when the delivery management module is used for delivering cargos, a system executes a cargo delivery command, firstly verifies the storage information of the supplier cargos, the inventory management module displays the inventory condition of the yard, and the total conditions of the cargos and the cargo space in the yard are mastered by inquiring the cargo information, the yard and other information of the yard.
After adopting the structure, the invention has the advantages that:
the outdoor storage yard digitization system realizes digital management of storage yard materials, improves the traditional outdoor storage yard digitization system, can improve the reasonable utilization rate of a warehouse, improve the working efficiency of storage management, and can reduce the material storage cost. The method has the advantages that the problems of large-scene detection imaging and coordinate generation of the outdoor storage yard, intelligent operation of outdoor storage yard materials, 3D visual management of the outdoor storage yard and the like are difficult, intelligent visual identification, a deep self-learning algorithm and automatic control are innovatively combined, the digital and unmanned management of the outdoor storage yard materials is realized, and the problem that the outdoor storage yard management of the electric power materials is laggard is solved.
Firstly, automatically identifying materials of a loading and unloading vehicle, measuring coordinates and height of the materials based on large-scene visual identification, and automatically identifying and loading and unloading the materials of the vehicle; secondly, based on the 3D visualization technology, automatic allocation of goods places, automatic navigation of routes, visualization of operation management and the like are achieved, and thirdly, the operation management system solves the problems existing in the traditional logistics yard management, so that a practical and efficient logistics yard management working flow and a corresponding management information system are formed, and the functions of basic information management, departure/entry management, inventory management and the like of the logistics yard are achieved.
Detailed Description
The present invention will be described in detail with reference to the following embodiments, which should not be construed as limiting the invention.
An outdoor storage yard digitization system comprises a visual identification system, a 3D visualization management system, a storage yard intelligent operation system, a storage yard storage system and a storage yard management system; wherein
The visual recognition system carries out automatic recognition of goods and materials of the loading and unloading vehicle and measurement of coordinates and height of the goods and materials based on large-scene visual recognition, the visual recognition system is completed by a large-scene three-dimensional coordinate self-learning algorithm, the large-scene three-dimensional coordinate self-learning algorithm consists of a PRN candidate frame extraction module and a Fast-rcnn detection module, and RPN is a full convolution neural network and is used for extracting candidate frames; fast-rcnn detects and identifies a target in the propusal based on the propusal extracted by the RPN, a large-scene three-dimensional coordinate self-learning algorithm provides a region suggestion network RPN, a candidate region is quickly generated, the RPN and the Fast-rcnn network share parameters through alternate training, and the large-scene three-dimensional coordinate self-learning algorithm comprises the following steps:
s1: inputting the CNN into the whole picture to obtain a feature map;
s2: inputting the convolution characteristics into the RPN to obtain the characteristic information of the candidate frame;
s3: judging whether the features extracted from the candidate frames belong to a specific class by using a classifier;
s4: for a candidate box belonging to a feature, its position is further adjusted with a regressor.
The 3D visual management system comprises a radio frequency identification device, an infrared sensor, a positioning system and a laser scanner information sensing device, data generated in the processes of connection, monitoring and interaction among objects are collected, information exchange and communication are carried out through the Internet, the laser scanner information sensing device is installed on an installation rod of a scanning execution mechanism, a sensor carries out uniform motion in the X direction while carrying out circular scanning periodically, an output data packet contains distance information, angle information and a timestamp, and the Y-direction coordinate and the Z-direction coordinate of a target point are obtained through data processing by combining the distance information and the angle information of the target point. The navigation terminal is configured on the existing forklift, the system distributes the coordinate position of the goods and materials storage goods position, prompts the optimized goods taking path, guides the operating personnel to drive the forklift to the position near the designated coordinate, displays the region of the goods and materials warehousing goods position on the terminal device, and accurately guides goods and materials warehousing operation. The navigation positioning precision can reach 10cm, the system visually displays the actual storage conditions of various materials in an outdoor storage yard in a 3D graphic mode, the actual storage conditions comprise information such as the types, the quantity and the storage directions of the materials, data butt joint is carried out on the system and a WMS system, data such as unique codes of the materials, names of suppliers and storage time are obtained, business personnel click specific material shapes, and the system displays the information.
The system can accurately position the materials of the storage yard, also can position people and vehicles of the storage yard, visually display the operation process of the storage yard, the transportation condition of the forklift and the like, and realize remote 'side station monitoring'.
The material loading and unloading management and control platform is combined with a GPS (global positioning system) or AR (augmented reality) technology to realize the visualization of loading and unloading and inventory of the materials in the storage yard. The warehouse operation efficiency and the precision are improved by mainly improving the standard execution level in the business handling process of physical goods arrival acceptance, warehousing, picking, storage, checking, ex-warehouse and ex-warehouse, and by planning the optimal operation mode and the optimal operation route, the 3D visual management system also has an intelligent safety helmet: through integrated active RFID label, pressure sensor, cooperation control basic station combines access control system to inject the operation personnel active area, the operation control: monitoring through warehouse field operation and warehouse area security and protection; the WMS information system carries out statistical analysis on the big data and converts the big data into visual image information, the overall operation status of the warehouse is visually displayed, and the business early warning is issued;
the bin visualization comprises three aspects of bin management, field operation monitoring and storage area security monitoring, 3D dynamic perception monitoring, two-dimensional plane monitoring and real-scene monitoring are integrated to form a three-dimensional holographic visual monitoring system, single, unit and whole system layered multi-dimensional real-time monitoring is realized, and standard execution level of warehouse personnel in the real-object warehouse process is improved through image display of material bin distribution, visual operation plan display boards and full-coverage video monitoring.
The application analysis visualization is that the integrated information system comprehensively processes demand data, warehousing data, inventory data, ex-warehouse data, bar code data, certificate data, light sensation data, energy consumption data and the like, and displays the current business and energy consumption state in an image-text mode according to the system processing logic, so that a scientific management basis is laid.
Through installing master control set and positioner additional on hanging the body on going, realize hoist and mount goods and materials essence location. The positioning device on the fine positioning traveling crane is connected with the main control device through a wireless or wired network.
Through equipping to secondary research and development intelligence loading and unloading, realize that yard goods and materials hoist and mount operation is automatic, handle when going out to put in storage and hang appointed position goods and materials hoist to appointed position of keeping in by accurate positioning row.
The cable tray chain type automatic storage device comprises a cable tray cable conveying track, the track is used for mutually connecting an entrance and an exit with each bin, when goods are received and sent, the cable tray is automatically placed to an unloading/loading temporary storage position by an automatic loading and unloading facility, and then the cable tray is automatically conveyed to a designated bin through a conveying system, so that the unmanned operation of putting cables on shelves in an outdoor yard is realized.
The intelligent loading and unloading travelling crane realizes unmanned cable loading and unloading process;
storage yard storage system, goods and materials are put on and off the shelf, based on WM position in a storehouse management system, use AGV automatic fork truck. And a manual forklift can be used for assisting operation.
(1) A box-type tray. The box-type tray is a tray with side plates on four sides, and some tray bodies are provided with top plates and some tray bodies are not provided with top plates. The box board has three types of fixed type, folding type and detachable type. The surrounding barrier plates are plate type, grid type and net type, so that the box type pallet with the surrounding barrier plates in the grid type is also called cage type pallet or warehouse cage. The box type pallet has strong protection capability and can prevent stack collapse and goods damage; the goods which are abnormal and can not be stably stacked can be loaded.
(2) A wheeled pallet. The wheel type pallet has more small wheels at the lower part than the column type pallet and the box type pallet. Therefore, the wheel type tray has the advantages of short-distance movement, self-carrying or rolling-on-rolling-off type loading and unloading and the like, and has wide application and strong applicability.
(3) A long special tray. Because the tray work efficiency is high, safety and stability, to long-size goods and materials such as aluminium row, copper bar, channel-section steel, can use microscler special object tray. The tray is specially used for stacking long-size articles, and some trays are of a multilayer structure. After the articles are stacked, a long-size shelf is formed.
The stock yard management system consists of a basic information management module, an entrance/exit management module and an inventory management module.
The basic information management module comprises supplier information management, cargo information management, yard information management, staff information management and cargo space information management, the admission management module comprises admission time, supplier information, cargo information and cargo space information, when the delivery management module is used for delivering cargos, a system executes a cargo delivery command, firstly verifies the storage information of the supplier cargos, the inventory management module displays the inventory condition of the yard, and the total conditions of the cargos and the cargo space in the yard are mastered by inquiring the cargo information, the yard and other information of the yard.
Claims (3)
1. An outdoor storage yard digitizing system, characterized in that: the system comprises a visual identification system, a 3D visual management system, a yard intelligent operation system, a yard storage system and a yard management system; wherein
The visual recognition system carries out automatic recognition of goods and materials of the loading and unloading vehicle and measurement of coordinates and height of the goods and materials based on large-scene visual recognition, the visual recognition system is completed by a large-scene three-dimensional coordinate self-learning algorithm, the large-scene three-dimensional coordinate self-learning algorithm consists of a PRN candidate frame extraction module and a Fast-rcnn detection module, and RPN is a full convolution neural network and is used for extracting candidate frames; fast-rcnn detects and identifies targets in the proposal based on the proposal extracted by RPN, a large-scene three-dimensional coordinate self-learning algorithm proposes a regional suggestion network RPN, a candidate region is rapidly generated, and the RPN and the Fast-rcnn network share parameters through alternate training,
the 3D visual management system consists of radio frequency identification, an infrared sensor, a positioning system and laser scanner information sensing equipment, data generated in the processes of connection, monitoring and interaction among objects are collected, information exchange and communication are carried out through the Internet, the laser scanner information sensing equipment is installed on an installation rod of a scanning execution mechanism, the sensor periodically carries out circular scanning and simultaneously carries out X-direction uniform motion, an output data packet contains distance information, angle information and a timestamp, the distance information and the angle information of a target point are combined, the Y-direction coordinate and the Z-direction coordinate of the target point are obtained through data processing, and the storage cargo space coordinate position of the cargo is intelligently pre-allocated to the cargo according to the type, the quantity, the size and the current storage yard condition of the cargo; the system is provided with a navigation terminal positioning system on a forklift, the system allocates coordinate positions of goods and material storage goods positions, and prompts an optimized goods taking path, an operator is guided to drive the forklift to a position near an appointed coordinate, the area of the goods and material storage goods positions is displayed on a terminal device, goods and material storage operation is accurately guided, actual storage conditions of various goods and materials in an outdoor storage yard are visually displayed through an infrared sensor and radio frequency identification, data butt joint is performed through a WMS system, unique codes of the goods and materials, names of suppliers and storage time are obtained, and the 3D visual management system further comprises an intelligent safety helmet: through integrated active RFID label, pressure sensor, cooperation control basic station combines access control system to inject the operation personnel active area, the operation control: monitoring through warehouse field operation and warehouse area security and protection; the WMS information system carries out statistical analysis on the big data and converts the big data into visual image information, the overall operation status of the warehouse is visually displayed, and the business early warning is issued;
the yard intelligent operation system controls intelligent loading and unloading equipment, the intelligent loading and unloading equipment comprises a main control device and a positioning device which are additionally arranged on a traveling crane body, the positioning device on a fine positioning traveling crane is connected with the main control device through a wireless or wired network, so that yard material hoisting operation automation is realized, when the yard is handled to be delivered out of a warehouse, a designated warehouse position material is hoisted to a designated temporary storage position by the fine positioning traveling crane, then a cable conveying track is arranged, the track mutually connects an outlet and each warehouse position, when goods are received and delivered, a cable disc is automatically placed to a unloading/loading temporary storage position by an automatic loading and unloading facility, and then the cable disc is automatically conveyed to the designated warehouse position by a conveying system;
a storage system of a storage yard is integrated into a storage unit, materials are put on and off the shelf, an automatic AGV forklift is used, a box type tray, a wheel type tray or a long special tray is arranged on the forklift,
the stock yard management system consists of a basic information management module, an entrance/exit management module and an inventory management module.
2. The outdoor yard digitizing system of claim 1, wherein: the large-scene three-dimensional coordinate self-learning algorithm comprises the following steps:
s1: inputting the whole picture into CNN to obtain feature map;
s2: inputting the convolution characteristics into the RPN to obtain the characteristic information of the candidate frame;
s3: judging whether the features extracted from the candidate frames belong to a specific class by using a classifier;
s4: for a candidate box belonging to a feature, its position is further adjusted with a regressor.
3. The outdoor yard digitizing system of claim 1, characterized in that: the basic information management module comprises supplier information management, cargo information management, yard information management, staff information management and cargo space information management, the admission management module comprises admission time, supplier information, cargo information and cargo space information, when the delivery management module is used for delivering cargos, a system executes a cargo delivery command, firstly verifies the storage information of the supplier cargos, the inventory management module displays the inventory condition of the yard, and the total condition of the cargos and the cargo space in the yard is mastered by inquiring the cargo information and the yard information of the yard.
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| CN112418764A (en) * | 2020-11-24 | 2021-02-26 | 上海治云智能科技有限公司 | 5G visual warehouse pipe system |
| CN113011813A (en) * | 2021-02-24 | 2021-06-22 | 江苏安方电力科技有限公司 | Flexible bin allocation method for electric power materials |
| CN113554383A (en) * | 2021-03-04 | 2021-10-26 | 江苏安方电力科技有限公司 | Method and system for distributing bin positions of electric power materials |
| CN113128870B (en) * | 2021-04-16 | 2024-02-27 | 深圳市艾赛克科技有限公司 | Intelligent storage yard management method and system |
| CN113283845B (en) * | 2021-06-11 | 2023-11-14 | 湛江港（集团）股份有限公司 | Intelligent storage yard management system and method |
| CN116513830B (en) * | 2022-12-07 | 2024-03-15 | 国网江苏省电力有限公司泰州供电分公司 | Intelligent warehouse loading and unloading system and control method thereof |
| CN115829479A (en) * | 2023-02-15 | 2023-03-21 | 天津赛象科技股份有限公司 | AGV storage information digitization system and method |
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