CN110371565B - Intelligent warehousing system - Google Patents
Intelligent warehousing system Download PDFInfo
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- CN110371565B CN110371565B CN201910646699.1A CN201910646699A CN110371565B CN 110371565 B CN110371565 B CN 110371565B CN 201910646699 A CN201910646699 A CN 201910646699A CN 110371565 B CN110371565 B CN 110371565B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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- Warehouses Or Storage Devices (AREA)
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Abstract
The invention relates to the technical field of warehousing, and particularly discloses an intelligent warehousing system which comprises a warehousing cabinet for storing and taking articles, an operation platform and a storage control system, wherein the operation platform is used for a user to select the warehousing cabinet and an appointed place which need to be subjected to storing and taking operation, and record appointed place information and warehousing cabinet selection information; the warehouse cabinet also comprises an information management unit and a mobile robot; the information management unit is used for receiving the information of the specified place and the storage cabinet selection information and judging whether the storage cabinet selection information is the storage cabinet, if so, the information management unit sends the specified place to the mobile robot; if not, the information management unit does not operate; the mobile robot is used for planning a path and moving to a specified place according to the planned path after receiving the information of the specified place; the information management unit is also used for carrying out face authentication when the user accesses the article. By adopting the technical scheme of the invention, the problem that the existing storage cabinet is inconvenient to store and take can be solved.
Description
Technical Field
The invention relates to the technical field of warehousing, in particular to an intelligent warehousing system.
Background
Along with the development of the times, the variety of articles is more and more, people pay more and more attention to the safe storage and the safe management of the articles, and the requirements of the market on the storage aspect are higher and higher. In the face of rising of labor cost and continuous rising of interaction frequency, the labor efficiency cannot catch up with the increase of the industry, so that the traditional warehousing industry cannot meet the current requirements.
In order to solve the above problems, chinese patent publication No. CN107479412A discloses an intelligent storage cabinet, which includes: the signal receiving and transmitting devices are arranged at intervals at each goods storage position of the intelligent warehouse cabinet and used for receiving and confirming the internal capacity of the warehouse cabinet through signal transmission; the control background is used for controlling the signal receiving and transmitting device to transmit and receive signals, judging the use condition of the corresponding storage position according to the signal receiving state of the signal receiving and transmitting device, and outputting a control signal to the display module according to the judgment result; and the display module is used for displaying the corresponding storage position use state information according to the control signal of the control background. This intelligence warehouse cabinet can directly detect the in service behavior of storage position, need not to realize the automated inspection of warehouse cabinet capacity through artifical the affirmation, can promote the utilization ratio of warehouse cabinet.
However, in the above scheme, because the intelligent storage cabinet is fixed, when articles are stored and taken, people still need to continuously move to search for an empty storage position, and after the empty storage position is found, manual storage is performed; when the intelligent storage cabinet is more or the space for placing the intelligent storage cabinet is too large, the moving distance of people can be increased, and the use is inconvenient.
Disclosure of Invention
The invention aims to provide an intelligent storage system to solve the problem that the existing storage cabinet is inconvenient to store and take.
The technical scheme of the invention is as follows:
the intelligent storage system comprises a storage cabinet for storing and taking articles, and also comprises an operation platform, a storage cabinet and an appointed place, wherein the operation platform is used for a user to select the storage cabinet and the appointed place which need to be subjected to storing and taking operation, and recording appointed place information and storage cabinet selection information;
the warehouse cabinet also comprises an information management unit and a mobile robot;
the information management unit is used for receiving the information of the specified place and the storage cabinet selection information and judging whether the storage cabinet selection information is the storage cabinet, if so, the information management unit sends the specified place to the mobile robot; if not, the information management unit does not operate; the mobile robot is used for planning a path and moving to a specified place according to the planned path after receiving the information of the specified place;
the information management unit is also used for carrying out face authentication when the user accesses the article.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, after the user passes through operation platform selection appointed place and storage cabinet, the storage cabinet that selects can the automated movement to appointed place, convenience of customers carries out the access operation. Compared with the existing access environment in which the user needs to search for the storage position, the method saves the time of the user and improves the user experience.
The traditional password verification is usually adopted in the existing operation of storing and taking articles, the password needs to be repeatedly input, the steps are relatively complex, and the scheme is quick through face recognition, high in safety, convenient to use and good in user experience.
Further, the information management unit comprises a processing chip, a storage chip, a communication chip, a display screen and a collection camera; the communication chip, the display screen and the acquisition camera are in signal connection with the processing chip;
the display screen is used for displaying a storage interface and a face recognition interface, and the storage interface comprises a cabinet entering option and a fetching option; the face recognition interface comprises a registration option and a recognition option; the display screen defaults to display a storage interface; the acquisition camera is used for acquiring a human face;
after a user selects a cabinet entry option or a fetching option on a storage interface, a processing chip acquires the operation of the user and controls a display screen to display a human face identification interface; if the user selects the registration option, the processing chip controls the acquisition camera to acquire the face of the user after acquiring the operation of the user, and stores the face information into the storage chip; if the user selects the identification option, the processing chip controls the acquisition camera to acquire the face of the user after acquiring the operation of the user, the face information is matched with the face information stored in the storage chip, and if the matching is successful, the face verification is passed.
After the storage cabinet selected by the user moves to a designated place, the user can select to enter the cabinet or take objects through the display screen, for example, the user selects to enter the cabinet, the display screen can display a face recognition interface after the user clicks, if the user is a new user, the user can select a registration option to register, if the user is registered, the user can select the recognition option to directly perform face verification, and the use is convenient.
Furthermore, the storage cabinet also comprises a storage unit, and the storage unit comprises a plurality of vertically arranged storage drawers; and when the face verification is passed, the processing chip opens the storage drawer corresponding to the user, and if the user does not have the corresponding storage drawer, an unused storage drawer is automatically allocated and opened.
When the face verification is passed, the storage drawer corresponding to the user is opened by the processing chip, so that the step of searching the corresponding drawer by the user is omitted, and the operation of the user is simplified.
Further, the collecting camera is also used for collecting article bar codes; when the user selects the option of entering the cabinet, the processing chip is also used for acquiring the bar code of the article stored by the user from the acquisition camera and storing the bar code information into the storage chip.
The type of the article stored by the user is conveniently recorded through the bar code.
Further, the information management unit further comprises a monitoring camera, and the monitoring camera is used for monitoring the video.
Whether events such as violent damage occur or not can be recorded through the monitoring camera, the safety is high, and meanwhile, the effect of deterrence is also achieved for people with illegal attempts.
Furthermore, the storage unit also comprises a control panel and electromagnetic locks, and each electromagnetic lock corresponds to one storage drawer; the control panel is respectively connected with the processing chip and the electromagnetic lock through signals; when the face verification passes, the processing chip sends unlocking information to the control panel, and the control panel opens the electromagnetic lock corresponding to the storage drawer based on the unlocking signal of the processing chip.
Each storage drawer can be conveniently opened or locked through the electromagnetic lock, and the control is convenient and safe.
Further, the control panel is also used for feeding back the state information of the corresponding storage drawer to the processing chip; the state information comprises that the storage drawer is opened and the storage drawer is not opened, and when the state that the storage drawer is not opened exceeds the preset time, the processing chip closes the electromagnetic lock of the corresponding storage drawer through the control panel.
If the user does not operate the opened storage drawer for a long time, the user may forget to operate the opened storage drawer; when the state that the storage drawer is not opened exceeds the preset time, the processing chip closes the electromagnetic lock corresponding to the storage drawer through the control panel, so that the loss of articles caused by forgetting of a user can be avoided, and the safety is high.
Further, the display screen is also used for displaying a return interface, the return interface comprises a return option, and after the user selects the return option, the processing chip acquires the operation of the user and sends a return signal to the mobile robot; and returning to the position according to the planned route after the mobile robot receives the returned signal.
The mobile robot returns automatically, namely the warehouse cabinet returns automatically, so that the complicated operation of manually moving the warehouse cabinet is greatly simplified.
Further, the predetermined time is 10-20 s.
10-20s reserve sufficient access time for the user.
Further, the mobile robot comprises a chassis, a controller, a path planning module, a detection wheel module and a vehicle body deviation adjusting module.
Route planning can be carried out fast through the route planning module, and the detection of chassis gesture can be carried out through detection wheel module and automobile body deviation adjustment module.
Drawings
Fig. 1 is a perspective view of a storage cabinet of a first embodiment of the smart storage system;
FIG. 2 is a logic diagram of an information management unit in an embodiment of the smart warehousing system.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include:
the cabinet body 1, surveillance camera 2, gather camera 3, display screen 4, storage drawer 5, mobile robot 6.
Example one
The intelligent warehousing system comprises a warehousing cabinet and an operating platform.
The operation platform is used for the user to select the storage cabinet needing to be accessed and record the storage cabinet selection information of the user, and is used for the user to select the specified place for accessing and record the specified place information. The operation platform can run based on a PC or a smart phone, and in the implementation, the operation platform runs based on the smart phone.
As shown in fig. 1, the storage cabinet includes a cabinet 1, an information management unit on the upper portion of the cabinet 1, a storage unit in the middle of the cabinet 1, and a mobile robot 6 on the lower portion of the cabinet 1; in this embodiment, the cabinet 1 is a cuboid, and the information management unit, the storage unit and the mobile robot 6 are connected together through the casing of the cabinet 1 to form a whole.
The storage unit comprises a plurality of vertically arranged storage drawers 5; in this embodiment, the number of the storage drawers 5 is 5, and in other embodiments, the number of the storage drawers 5 may be set according to actual conditions.
As shown in fig. 2, the information management unit includes a processing chip, a storage chip, a communication chip, a display screen 4, a monitoring camera 2 and a collecting camera 3; the communication chip, the display screen 4, the monitoring camera 2 and the collecting camera 3 are all in signal connection with the processing chip. In this embodiment, the processing chip is an AMD keenlon CPU, the display screen 4 is an LCD screen with a touch function, the storage chip is a mechanical hard disk, and the communication chip is a chip with a WIFI communication function or a 4G communication function, specifically, an SX1278R1616R type wireless transceiver module.
The display screen 4 is arranged on the left side of the upper part of the cabinet body 1, and the acquisition camera 3 is arranged on the right side of the upper part of the cabinet body 1; the monitoring camera 2 is installed at the top of the cabinet body 1. The mounting mode can be bonding or screw connection.
The display screen 4 is used for displaying a storage interface and a face recognition interface, and the storage interface comprises a cabinet entering option and a fetching option; the face recognition interface comprises a registration option and a recognition option; the display 4 displays the storage interface by default. The acquisition camera 3 is used for acquiring human faces and bar codes of articles; the monitoring camera 2 is used for monitoring video and storing video information to the storage chip. Gather camera 3 and surveillance camera head 2 and all select common camera in the market for use, all adopt the mijia intelligent camera in this embodiment.
The communication chip is used for receiving the storage cabinet selection information and the appointed place information of the operation platform, the processing chip judges whether the storage cabinet selection information is the storage cabinet or not after acquiring the storage cabinet selection information and the appointed place information from the communication chip, and if yes, the processing chip sends the appointed place to the mobile robot 6; if not, the processing chip does not operate. And when the mobile robot 6 receives the information of the appointed place, planning a path and moving to the appointed place according to the planned path.
After a user selects a cabinet entering or fetching option on the storage interface, the processing chip acquires the operation of the user and controls the display screen 4 to display a face recognition interface; if the user is a new user, the user can select a registration option, and after the processing chip acquires the operation of the user, the acquisition camera 3 is controlled to acquire the face of the user, and the face information is stored in the storage chip; if the user selects the identification option, the processing chip controls the acquisition camera 3 to acquire the face of the user after acquiring the operation of the user, the face information is matched with the face information stored in the storage chip, if the matching is successful, the storage drawer 5 corresponding to the user is opened, and if the user does not have the corresponding storage drawer 5, an unused storage drawer 5 is automatically allocated and opened; when the user selects to enter the cabinet, the processing chip is also used for acquiring the bar code of the article stored by the user from the acquisition camera 3 and storing the bar code information into the storage chip. In this embodiment, the specific algorithm of face recognition is based on the face recognition SDK of the soft rainbow open platform.
The storage unit also comprises a control panel and electromagnetic locks, and each electromagnetic lock corresponds to one storage drawer 5; the control panel is respectively connected with the processing chip and the electromagnetic lock through signals; the control panel opens the electromagnetic lock corresponding to the storage drawer 5 based on the unlocking signal of the processing chip and feeds back the state information of the corresponding storage drawer 5 to the processing chip; wherein, the state information comprises that the storage drawer 5 is opened and the storage drawer 5 is not opened, and when the state that the storage drawer 5 is not opened exceeds the preset time, the processing chip closes the electromagnetic lock corresponding to the storage drawer 5 through the control panel. The predetermined time is 10-20s, 10s in this embodiment. The control of the electromagnetic lock by the control panel is disclosed in a safely locked multi-door vending machine with publication number CN103400450B, which belongs to the prior art and will not be described herein.
The display screen 4 is further used for displaying a return interface, the return interface comprises a return option, and after the user selects the return option, the processing chip acquires the operation of the user and sends a return signal to the mobile robot 6; and returning to the home position according to the planned route after the mobile robot 6 receives the returned signal.
The mobile robot 6 comprises a chassis, a controller, a path planning module, a detection wheel module and a vehicle body deviation adjusting module. The chassis comprises a vehicle body and wheels; the number of the wheels is four, and the left side and the right side of the vehicle body are respectively provided with two wheels. The wheel can adopt two front wheel hub motors and two rear universal wheels, and also can adopt four wheel hub motors. Two front-mounted hub motors and two rear-mounted universal wheels are adopted in the implementation. The two hub motors are arranged in front to realize driving, the rear universal wheels can make the steering more flexible, and the robot is easier to control in motion due to less slippage of the universal wheels when compared with the four-wheel structure differential steering. The path planning and the driving control of the mobile robot 6 are disclosed in and disclosed in the patent document with publication number CN106020200B, which discloses an AGV cart driven by a hub motor and a path planning method, and belong to the prior art, and are not described herein again.
Example two
The intelligent warehousing system is different from the first embodiment in that the mobile robot 6 comprises a chassis, a visual detection module and a control module. The mobile robot 6 travels on a road surface having a lane. In this embodiment, the bus line is brushed with yellow paint.
The chassis comprises a vehicle body and wheels; the number of the wheels is four, and the left side and the right side of the vehicle body are respectively provided with two wheels. The wheel can adopt two front wheel hub motors and two rear universal wheels, and also can adopt four wheel hub motors. Two front-mounted hub motors and two rear-mounted universal wheels are adopted in the implementation. The two hub motors are arranged in front to realize driving, the rear universal wheels can make the steering more flexible, and the robot is easier to control in motion due to less slippage of the universal wheels when compared with the four-wheel structure differential steering.
The visual detection module comprises an image acquisition unit and a processing unit.
The image acquisition unit is used for acquiring images; the image acquisition unit is arranged right in front of the chassis. In this embodiment, the image acquisition unit adopts a MT9V034 camera. The hardware of the camera is characterized by a global shutter and wide dynamic. Compared with the conventional linear array sensor such as OV7725, the global shutter has the advantages that the output speed is not as high as that of the global shutter, the distortion of dynamic images is small, and the speed of collecting the whole picture is much higher than that of OV 7725. The maximum output resolution of MT9V034 is 752 × 480, the exposure time can be set, and the exposure time needs to be reduced in order to obtain better stability and smooth distortion in dynamic monitoring. After the arrangement, the camera shoots the dynamic state of the road when moving, the image is not blurred, no trailing exists, and the stability and the accuracy of the road visual detection can be improved.
The image acquisition unit is also used for graying the acquired image and sending the grayed image to the processing unit. Graying refers to the conversion of an image from color to black and white. In this embodiment, the pixel format of the image is set to 8 bits, i.e., 0 to 255 gray scale images, the resolution is set to 120 × 188, and 60 frames are output per second. In this embodiment, the processing unit adopts an IMXRT1052 single chip microcomputer. The high-performance single chip microcomputer based on the Cortex-M7 framework and introduced by NXP is very quick in processing logic due to the fact that the super-500 MB main frequency enables the logic to be processed, meanwhile, the real-time performance is considered, and the high-performance single chip microcomputer is very suitable for design of a visual system. The application environment of the single chip microcomputer is based on the standard of automobile electronics, and the single chip microcomputer has high reliability and stability.
The processing unit preprocesses the image, extracts the road surface information after the preprocessing, and then sends the road surface information to the control module.
Pretreatment of
In the preprocessing, a processing unit compresses an image to reduce the size of the image; and then, counting information in the image, and finally eliminating noise of the image.
When the image is compressed, pixels are extracted in alternate rows, and the image is compressed to be one fourth of the size, namely, the resolution of 60 × 94.
When the information in the image is counted, a threshold value can be obtained by adopting a double-peak method, a maximum entropy threshold value method or a maximum inter-class variance method, and in this embodiment, the threshold value is obtained by adopting the maximum inter-class variance method; the maximum inter-class variance method has moderate operation speed, and only needs about one third of time for processing one frame of image compared with the maximum entropy threshold method; and the accuracy is high.
The maximum inter-class variance method realizes the automatic selection of a global Threshold (Threshold) by counting the histogram characteristics of the whole image, and the algorithm comprises the following steps:
(1) firstly, calculating a histogram of an image, namely counting the number of pixel points falling into each bin according to 256 bins of all pixel points of the image from 0 to 255;
(2) normalizing the histogram, namely dividing the number of pixel points in each bin by the total pixel points;
(3) i represents the threshold of classification, i.e. a grey level, starting from 0;
(4) counting the proportion w0 of pixels with 0-i gray levels (assuming that the pixels with the pixel values in the range are called foreground pixels) in the whole image through the normalized histogram, and counting the average gray level u0 of the foreground pixels; counting the proportion w1 of pixels with i-255 gray levels (assuming that the pixels with the pixel values in the range are called background pixels) in the whole image, and counting the average gray level u1 of the background pixels;
(5) calculating the variance g-w 0-w 1 (u0-u1) of the foreground pixels and the background pixels (u0-u 1);
(6) i + +; go to 4), end iteration until i is 256; i + + is a self-increment operator in C and C + + languages, i + + refers to i +1 after i is used;
(7) taking the value i corresponding to the maximum g as a global threshold value of the image;
(8) the obtained global Threshold is Threshold.
When noise of the image is eliminated, each pixel is searched from bottom to top based on the pixels of the bottommost row, then other three adjacent pixel points around the pixel are searched, and if more than two pixels are opposite to the pixel, the pixel is turned over.
In an actual operation environment, the lower part of the image is closer to the vehicle body, so that the image can be identified more accurately and is not easy to make mistakes; most of noise points can be filtered by the mode, and the effect of reducing a large number of noise point blocks can be achieved.
Extracting road surface information
In extracting the road surface information, the processing unit binarizes the image, extracts a route based on the color features, and calculates the road deviation.
When the image is binarized, the processing unit compares the gray level value GreyLevel of each pixel with Threshold, if the gray level value GreyLevel is smaller than Threshold, the pixel value is 0 (black), otherwise, the pixel value is 255 (white). It can be extracted that the main body of the image is white and the background is black. In this embodiment, the lane is displayed in white and the road surface is displayed in black.
When the driving line is extracted based on the color characteristics, the processing unit establishes a two-dimensional array taking the lower left corner of the image as the starting point, compares the pixels of a frame of binary image from top to bottom and from left to right line by line, and records the x-axis positions of all white pixels, so that an array only related to the driving line can be obtained. A two-dimensional coordinate system is established, the positions of the driving lines can be all marked and then calculated.
The X-axis position X0 is recorded and summed in the array, assigned to X0, and divided by the number of white pixels to obtain the middle position of the line of white pixels. After the calculation of all the 60 lines of data is completed, the center line position of the road in the frame image can be drawn.
When the road deviation is calculated, the processing unit compares the theoretical median with the actual driving line median to calculate a deviation value, different weights are respectively added on the basis of the distance of the image, the sum is finally obtained, the sum is divided by all effective pixel rows to obtain an overall deviation value, and the deviation value is compared with the theoretical median to obtain a deviation direction. The processing unit further determines the lane type, and in this embodiment, the lane type includes a straight lane and a curved lane. The processing unit obtains the midpoint of the nearest route to extend to the far end to form a side a, obtains the midpoint of the farthest route to connect with the midpoint of the nearest route as a point b, and constructs a right triangle. And calculating the included angle between the side a and the side b, and judging the curve when the included angle (the included angle is not an angle) is larger than a certain value.
Road surface information transmission
When the road surface information is sent, each group of calculated parameters are sent to the control module through the serial port according to a set protocol. In this embodiment, the protocol is': '+ offset low byte + offset high byte + offset plus minus + angle system offset angle + offset plus minus + current road type + road ahead type + emergency type + enter' and is transmitted once in 200 ms. Because the offset is not calculated and the image pixel may exceed 255, two bytes are adopted to represent the offset, and the offset may be left offset or right offset, so positive and negative are needed, and the same principle of offset angle is adopted, the acceleration and deceleration is realized through the current road type and the front road type, and the emergency condition can be used for emergency stop, deceleration, slow running, avoidance and the like.
Protocol table
Serial port data example
The control module comprises a control chip, a driver, an angle sensor and an ultrasonic sensor. The control chip sends a control signal to the driver based on the received road surface information, and then the driver changes the current magnitude, direction and the like of the hub motor to realize the motion of the mobile robot 6. The direction change of the mobile robot 6 is realized by the differential speed of two wheels, so that each wheel hub motor needs to be matched with a driver.
In this embodiment, the control chip employs a plc54606 single chip microcomputer; the angle sensor adopts an MPU6050 gyroscope chip and can read data such as absolute direction, angular velocity, angular acceleration and the like; the communication mode of the LPC54606 single chip microcomputer and the MPU6050 gyroscope transmission chip adopts an IIC protocol.
In the aspect of direction control, the simple adjustment of the rotating speed of each hub motor for differential turning is free of closed-loop control, and inaccurate control is easily caused. The direction can be detected in real time by installing the angle sensor, and a direction signal is sent to the control chip to form a closed loop. The control chip can be adjusted in real time conveniently.
The number of the ultrasonic sensors is 4-8; the number of the chassis is 8 in the embodiment, and the chassis is respectively arranged in eight directions, namely front, back, left upper, left middle, left lower, right upper, right middle and right lower. In this embodiment, the ultrasonic sensor employs an AJ-SR04M transceiver integrated ultrasonic module. The ultrasonic sensor is used for detecting the distance between an object and the mobile robot 6, and the range of the probe is 0.2-8 m; when the distance between the object and the mobile robot 6 is lower than the warning value, the control chip controls the mobile robot 6 to stop moving. In this embodiment, the guard value is 0.2m, and in other embodiments, the guard value may be set according to actual conditions.
During the movement of the mobile robot 6, if an emergency situation is encountered, for example, an animal or an illegal person breaks into the driving route; the ultrasonic sensor can detect the distance between an object and the mobile robot 6, and when the distance is lower than a warning value, the control chip controls the mobile robot 6 to stop moving, so that the safety is high.
In a backlight environment, due to diffuse reflection on the road surface, the actual reflection brightness of the road surface is not less than that of a yellow lane, so that image recognition is blurred, and normal recognition cannot be performed in such a case. For this situation, the existing platforms cannot completely avoid the influence of uneven illumination. Therefore, when the mobile robot 6 of this embodiment extracts the road surface information, when the number of white pixels of the image is far greater than the number of black pixels, that is, when the ratio of the number of pixels having a pixel value of 255 to the number of pixels having a pixel value of 0 of the image exceeds the value α, the processing unit determines that the road surface information is abnormal; the processing unit reduces the proportion of the far image and enlarges the proportion of the near image, and the reduction of the proportion of the far image can reduce the influence because the far image has high possibility of being interfered. Finally, the processing unit eliminates the noise of the image again. And an algorithm for eliminating image noise in preprocessing is introduced, so that the white area of the image can be reduced, and the interference is reduced. Alpha is 1.5-5, in this example, alpha is 3.
The device also comprises a storage module, a positioning module and a communication module. The positioning module is used for acquiring the position information of the mobile robot 6 and sending the position information to the processing unit; the positioning module adopts a GPS positioning module or a Beidou positioning module, and in the embodiment, the positioning module adopts the GPS positioning module and the position information is a coordinate. The communication modules are used for information transmission between one mobile robot 6 and another mobile robot 6, in other words, the communication modules of the two mobile robots 6 communicate with each other, thereby realizing information transmission. In this embodiment, the communication module adopts a WIFI communication module. The storage module is used for storing the position information and the road surface information. When the processing unit extracts the road surface information, two crossed driving lines appear when the road surface information is judged to be abnormal or judged to be a curve or the driving lines are extracted; the processing unit records the position information of the position, when the road surface information is sent subsequently, each group of calculated parameters are sent to the communication module of the adjacent mobile robot 6 through the communication module of the mobile robot 6 according to a set protocol, and the communication module sends the road surface information and the position information of the position. In this embodiment, adjacent means within 20 m. The distance calculation is performed by the processing unit based on the current position information of the mobile robot 6 and the current position information of another mobile robot 6, and the sending of the position information and the distance calculation belong to the prior art and are not described herein again.
When the adjacent mobile robots 6 move to the same position, the processing unit compares the road information obtained by the processing unit with the road information obtained by the outside, judges the difference degree, sends the road information obtained by the processing unit to the control chip if the difference degree is less than 20%, and sends the road information obtained by the outside to the control chip if the difference degree is more than 20%.
Because the processing unit has limited computing capability, when complex road conditions are met, such as abnormal road information, curves and two crossed driving lines, the situation of wrong computation is easy to occur, the processing unit in the scheme compares the road information obtained by the processing unit with the road information obtained from the outside, judges the difference degree, and can effectively evaluate whether a larger computation error occurs. When the error is small, the error is not easy to occur according to the movement of the self-obtained road surface information; when the error is larger, the road surface information acquired from the outside is verified, so that the vehicle can move more safely according to the road surface information acquired from the outside.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (9)
1. The intelligent warehousing system comprises a warehousing cabinet for storing and taking articles, and is characterized by also comprising an operation platform, a storage cabinet and a storage cabinet selection information, wherein the operation platform is used for a user to select the warehousing cabinet and a designated place which need to be subjected to storing and taking operations, and recording the designated place information and the warehousing cabinet selection information;
the warehouse cabinet also comprises an information management unit and a mobile robot;
the information management unit is used for receiving the information of the specified place and the storage cabinet selection information and judging whether the storage cabinet selection information is the storage cabinet, if so, the information management unit sends the specified place to the mobile robot; if not, the information management unit does not operate; the mobile robot is used for planning a path and moving to a specified place according to the planned path after receiving the information of the specified place;
the information management unit is also used for carrying out face authentication when a user accesses an article;
the mobile robot comprises a visual detection module, a control module, a storage module, a positioning module and a communication module, and runs on a road surface with a traffic line;
the visual detection module comprises an image acquisition unit and a processing unit;
the image acquisition unit is used for acquiring images;
the image acquisition unit is also used for graying the acquired image and sending the grayed image to the processing unit;
the processing unit is used for preprocessing the image, extracting road surface information after preprocessing and then sending the road surface information to the control module;
the positioning module is used for acquiring the position information of the mobile robot and sending the position information to the processing unit;
the communication module is used for information transmission between one mobile robot and another mobile robot;
the storage module is used for storing position information and road surface information;
when the processing unit extracts the road surface information, two crossed driving lines appear when the road surface information is judged to be abnormal or judged to be a curve or the driving lines are extracted; the processing unit records the position information of the position, when the subsequent road surface information is sent, each group of calculated parameters are sent to the communication module of the adjacent mobile robot through the communication module of the mobile robot according to a set protocol, and the communication module sends the road surface information and the position information of the position;
when adjacent mobile robots move to the same position, the processing unit compares the road information obtained by the processing unit with the road information obtained by the outside, judges the difference degree, sends the road information obtained by the processing unit to the control module if the difference degree is less than 20%, and sends the road information obtained by the outside to the control module if the difference degree is more than 20%.
2. The smart warehousing system of claim 1, wherein: the information management unit comprises a processing chip, a storage chip, a communication chip, a display screen and a collection camera; the communication chip, the display screen and the acquisition camera are in signal connection with the processing chip;
the display screen is used for displaying a storage interface and a face recognition interface, and the storage interface comprises a cabinet entering option and a fetching option; the face recognition interface comprises a registration option and a recognition option; the display screen defaults to display a storage interface; the acquisition camera is used for acquiring a human face;
after a user selects a cabinet entry option or a fetching option on a storage interface, a processing chip acquires the operation of the user and controls a display screen to display a human face identification interface; if the user selects the registration option, the processing chip controls the acquisition camera to acquire the face of the user after acquiring the operation of the user, and stores the face information into the storage chip; if the user selects the identification option, the processing chip controls the acquisition camera to acquire the face of the user after acquiring the operation of the user, the face information is matched with the face information stored in the storage chip, and if the matching is successful, the face verification is passed.
3. The smart warehousing system of claim 2, wherein: the storage cabinet also comprises a storage unit, and the storage unit comprises a plurality of vertically arranged storage drawers; and when the face verification is passed, the processing chip opens the storage drawer corresponding to the user, and if the user does not have the corresponding storage drawer, an unused storage drawer is automatically allocated and opened.
4. The smart warehousing system of claim 3, wherein: the acquisition camera is also used for acquiring article bar codes; when the user selects the option of entering the cabinet, the processing chip is also used for acquiring the bar code of the article stored by the user from the acquisition camera and storing the bar code information into the storage chip.
5. The smart warehousing system of claim 4, wherein: the information management unit further comprises a monitoring camera, and the monitoring camera is used for monitoring the video.
6. The smart warehousing system of claim 5, wherein: the storage unit also comprises a control panel and electromagnetic locks, and each electromagnetic lock corresponds to one storage drawer; the control panel is respectively connected with the processing chip and the electromagnetic lock through signals; when the face verification passes, the processing chip sends unlocking information to the control panel, and the control panel opens the electromagnetic lock corresponding to the storage drawer based on the unlocking signal of the processing chip.
7. The smart warehousing system of claim 6, wherein: the control panel is also used for feeding back the state information of the corresponding storage drawer to the processing chip; the state information comprises that the storage drawer is opened and the storage drawer is not opened, and when the state that the storage drawer is not opened exceeds the preset time, the processing chip closes the electromagnetic lock of the corresponding storage drawer through the control panel.
8. The smart warehousing system of claim 2, wherein: the display screen is also used for displaying a return interface, the return interface comprises a return option, and after the user selects the return option, the processing chip acquires the operation of the user and sends a return signal to the mobile robot; and returning to the position according to the planned route after the mobile robot receives the returned signal.
9. The smart warehousing system of claim 7, wherein: the predetermined time is 10-20 s.
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| CN112723245B (en) * | 2020-12-28 | 2022-12-09 | 深圳市扬彩科技有限公司 | Intelligent carrying robot and use method thereof |
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