CN110443093A - One kind is towards intelligentized infrared digital panorama system and its warehouse management method - Google Patents

One kind is towards intelligentized infrared digital panorama system and its warehouse management method Download PDF

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CN110443093A
CN110443093A CN201910698048.7A CN201910698048A CN110443093A CN 110443093 A CN110443093 A CN 110443093A CN 201910698048 A CN201910698048 A CN 201910698048A CN 110443093 A CN110443093 A CN 110443093A
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cargo
warehouse
information
bar code
infrared
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CN110443093B (en
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符莹
韩凯
段子豪
吴银海
毕婉青
黄明华
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Anhui University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
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    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
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    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • 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
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/041—Camera
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image

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Abstract

The invention discloses one kind towards intelligentized infrared digital panorama system and its warehouse management method, which includes bar code identifying device, day eye device and data processing equipment.Bar code identifying device includes support rod, screen bar code recognizer, multiple support plates and multiple cameras corresponding with multiple support plates respectively.The same end of multiple support plates is each attached to support rod；Each camera is mounted in corresponding support plate, and the image for shooting cargo；The image information that screen bar code recognizer is shot according to camera reads the bar code information of cargo.Its eye device includes multiple infrared distance measurement mechanisms, the distance that infrared distance measurement mechanism is used to detect slide assemblies to the stacking top surface of cargo.The present invention can shorten the length in each tunnel, while can substantially shorten the distance between tunnel, increase warehouse compartment number, improve the space utilization rate in warehouse.And the present invention reduces the overall base pay of warehouse employee, saves labour turnover, cost reduction effect is significant.

Description

One kind is towards intelligentized infrared digital panorama system and its warehouse management method
Technical field
The present invention relates to a kind of infrared digital panorama systems of warehousing management technical field, more particularly to one kind is towards intelligence The infrared digital panorama system of change, further relate to the system towards intelligentized infrared digital panorama warehouse management method.
Background technique
Warehouse is by the storehouse of storing products, transport transmission of facility (such as crane, elevator, slide), the conveying for entering and leaving storehouse The composition such as pipeline and equipment and fire fighting device, Service center.Warehouse can be divided into storing solid object by the form of institute's storing products Product, liquid article, gas article and granular goods warehouses.Since type of merchandize, quantity are very more in warehouse, because This, being managed to cargo in warehouse and warehouse is essential work.
Currently, generalling use artificial barcode scanning technology and AGV bootstrap technique, wherein AGV during goods warehousing outbound Bootstrap technique has coordinate guidance technology, electromagnetism guidance technology, las er-guidance technology, image recognition guidance technology, inertial guide skill Art etc..Wherein, artificial barcode scanning technology has the disadvantage in that type of merchandize is more in warehouse, and quantity is big, need to put into a large amount of manpowers into Row is made an inventory, and speed of making an inventory is slow, the period is long, and artificial counting error rate is high, causes inventory accuracy low.And AGV bootstrap technique There is also following disadvantages: being required to carry out warehouse larger change, and higher cost, especially coordinate guidance technology need on ground Many two dimensional codes are laid with for AGV Scan orientation, it is larger to the change in warehouse, it is at high cost, implement on a large scale relatively difficult.
Summary of the invention
Problem in view of the prior art, the present invention provide one kind towards intelligentized infrared digital panorama system and its warehouse Management method, solves that existing warehouse goes out storage technology or speed of making an inventory is slow, the period is long and error rate is high, or need to warehouse into The larger change of row, and the problem of higher cost.
The present invention is implemented with the following technical solutions: one kind is towards intelligentized infrared digital panorama system comprising:
Bar code identifying device comprising support rod, screen bar code recognizer, multiple support plates and respectively with multiple support plates pair The multiple cameras answered；The same end of multiple support plates is each attached to support rod；Each camera is mounted on corresponding support plate On, and the image for shooting cargo；The image information that the screen bar code recognizer is shot according to camera reads the cargo Bar code information；
Its eye device comprising multiple infrared distance measurement mechanisms；Each infrared distance measurement mechanism includes multiple infrared distance measurement sensings Device, two groups of guide rails disposed in parallel and the slide assemblies moved along the groove direction of guide rail；Two groups of guide rails are located at the cargo Top；Infrared distance sensor is mounted on slide assemblies, and for by emitting infrared ray to the cargo to detect cunning Distance of the dynamic component to the stacking top surface of the cargo；And
Data processing equipment comprising edge dividing processing module, data preprocessing module, gaussian filtering module, edge Detection module and model building module；The edge dividing processing module is used for the data for detecting the infrared distance measurement mechanism It is handled according to institute's pickup area block parallel, and searches the position of cargo according to corresponding elevation information；The data prediction Module is for it is high to calculate cargo physics first according to the position of the cargo and slide assemblies to the distance of the stacking top surface Degree, then to the pixelation image for obtaining the cargo after cargo physical height progress pixelation processing；The gaussian filtering Module is used to carry out gaussian filtering to the pixelation image, obtains gaussian filtering image；The edge detection module is used for will The gaussian filtering image and direction template carry out convolution to obtain the pixel value of each pixel, and according to a preset threshold Calculate corresponding image edge information；Data of the model building module for first being detected according to multiple infrared distance measurement mechanisms And described image marginal information, the three-dimensional information of the cargo is obtained, is believed further according to the height in the warehouse for storing the cargo Breath and the warehouse compartment of planning, obtain the cargo in the three-dimensional coordinate information of the warehouse compartment, finally by the bar code information and goods Data in object information bank compare, and extract length, width and the elevation information of the cargo, and contract by certain proportion It puts to establish the three-dimensional live model in the warehouse.
As a further improvement of the foregoing solution, the edge dividing processing module include measurement data reading unit, just Beginning coordinate definition unit, edge cutting unit, characteristics extraction unit, cargo verification unit, centre coordinate computing unit and Parameter value recording unit；The measurement data reading unit is used to read the data of the infrared distance measurement mechanism detection；It is described first Beginning coordinate definition unit is used for reading data and initialization definitions condition according to the measurement data reading unit, determines institute The physics origin coordinates of infrared distance measurement mechanism region is stated, with the physical plane coordinate of the determination cargo；The edge point Unit is cut for the marginal portion of the reading data being detected, and corresponding height being believed by Sobel edge dividing method Breath divides region；The characteristics extraction unit is used for the division region according to the edge cutting unit, reads each division The elevation information in region, with the physical space coordinates of the determination cargo；The cargo verification unit is according to fuzzy optimal calculating Biggish division region is divided into the smaller area of cargo surfaces, while by Fuzzy Calculation result and presetting retention result by method It compares, examines the specific coordinate and information of the cargo；The centre coordinate computing unit is used for according to calculation formula Oi(xi,yi)=Oi(Xi,Yi)+o(x0,y0) characterization with elevation plane centre coordinate plane coordinates information；Wherein, Oi(Xi,Yi) Indicate level opposite center position coordinates, o (x0,y0) indicate the institute, infrared distance measurement mechanism pickup area original two-dimensional Position coordinates；The parameter value recording unit is used for the O to the centre coordinate computing uniti(Xi,Yi) calculated result increase pair The elevation information answered obtains the three-dimensional location coordinates of the cargo, and the parameter that will record and export the three-dimensional location coordinates Value.
As a further improvement of the foregoing solution, the calculation formula of the cargo physical height are as follows: phyhight= Sethight-measurehight, in formula, phyhight is the cargo physical height, and sethight is that infrared distance measurement senses The antenna height of device, measurehight are the distance of infrared distance sensor detection；
The formula of pixelation processing is carried out to the cargo physical height are as follows:
Wherein, hightpix is the height pixel value of the cargo, and fix is rounding operation symbol.
As a further improvement of the foregoing solution, the edge detection module carries out the calculation formula of convolution are as follows:
| G |=| Gx|+|Gy|
Wherein, GxFor the convolution of horizontal direction in the direction template, GyFor the volume of vertical direction in the direction template Product, G are the gradient of the gaussian filtering image.
As a further improvement of the foregoing solution, the infrared digital panorama system further include:
Warehouse compartment coalignment comprising slotting optimization distribution model module and warehouse compartment matching module；The slotting optimization Distribution model module is for establishing slotting optimization distribution model；The warehouse compartment matching module includes optimal warehouse compartment matching unit, most Excellent warehouse compartment depth calculation unit, sequencing unit and most suitable warehouse compartment acquiring unit；The optimal warehouse compartment matching unit is used for basis The packaging and stacking information of the cargo are matched by the face width that holds of the cargo, and it is highest to obtain matching degree Optimal warehouse compartment；The optimal warehouse compartment depth calculation unit be used for according to warehousing quantity and cargo can heap high-layer, obtain warehouse compartment Warehouse compartment depth when dosage is minimum；The sequencing unit is used to export the warehouse compartment for meeting preset requirement number, and passes through the goods The matching degree of object is ranked up；The most suitable warehouse compartment acquiring unit be used for by the remaining warehouse compartment in the cargo and the warehouse into Row matching, obtains the highest warehouse compartment of current matching degree.
Further, the model formation of the slotting optimization distribution model are as follows:
In formula, f (x, y, z) is the objective function of the slotting optimization distribution model；
f1(x, y, z) is function by adjacent cargo storage at adjacent position, and function formula are as follows:
f2Function when (x, y, z) is consideration cargo outbound efficiency, and function formula are as follows:
Wherein, the coordinate vector of the goods yard coordinate of i class cargo is [Xi,Yi,Zi], goods yard centre coordinate vector is Ri(i= 1,2 ..., N), and calculation formula are as follows:The xth in the warehouse arranges z layers of y column of goods yard coordinate note Are as follows: (x, y, z), x={ 1,2 ..., a }, y={ 1,2 ..., b }, z={ 1,2 ..., c }；A is shared in the warehouse and arranges shelf, often Row's shelf have c layers of b column.
As a further improvement of the foregoing solution, the day eye device further includes data gather computer structure, error correction mechanism And alarm mechanism；The data gather computer structure is used to acquire the data of multiple infrared distance measurement mechanism detections；The error correction The distance signal that infrared distance sensor detects is input to by mechanism for first passing through a reception oscillator with its vibration signal Distance measuring signal is obtained in one mixing one, then passes through transmitting oscillator and the reception oscillator without letter in a mixing two Road directly merges, and forms intermediate frequency reference signal, then compare phase by being input in phase-sensitive detector after frequency-selecting amplification and shaping, obtains Phase difference, finally calculate slide assemblies to the stacking top surface of the cargo correction distance；The alarm mechanism is used for not After one preset time of more new data for receiving at least one infrared distance measurement mechanism, alert message is sent.
As a further improvement of the foregoing solution, the method that the screen bar code recognizer reads the bar code information includes following Step:
(1) judge whether the bar code identifying device enters the barcode scanning area in the warehouse；
(2) when the bar code identifying device enters the barcode scanning area, the figure of the cargo is shot by multiple cameras Picture, until collecting the bar code region of the cargo；
(3) image in the bar code region is shot by corresponding camera, and the camera is made to carry out automatic focusing To obtain the clear image of the cargo；
(4) it according to the clear image, identifies the bar code information in image, and obtains the information of the cargo；
(5) information of the cargo is recorded.
As a further improvement of the foregoing solution, slide assemblies include locater plate, driving motor, driving wheel, belt, cross Beam, two locating wheels and multiple pulleys；Infrared distance sensor is mounted on locater plate；Multiple pulleys are rotatably installed in respectively The both ends of locater plate, and rolled along the groove direction of guide rail；Driving motor is fixed on locater plate, and is driven and driven by belt Wheel rotation；Driving wheel is fixed on crossbeam；Crossbeam is rotatably installed on locater plate, and both ends are respectively inserted in two locating wheels In；Two locating wheels along two groups of guide rails guiding movement.
The present invention also provides one kind towards intelligentized infrared digital panorama warehouse management method, is applied to above-mentioned any It is described towards in intelligentized infrared digital panorama system comprising following steps:
(1) image of cargo in warehouse is shot, and according to image information, reads the bar code information of the cargo；
(2) in the top of the cargo by emitting infrared ray to the cargo, to detect launch point to the cargo The distance of stacking top surface；
(3) range information of the bar code information to the cargo and launch point to the stacking top surface of the cargo counts According to processing, wherein processing method the following steps are included:
(3.1) data by infrared distance measurement mechanism detection are handled according to institute's pickup area block parallel, and according to right The elevation information answered searches the position of cargo；
(3.2) the first position according to the cargo and the range information, calculate cargo physical height, then to described The pixelation image of the cargo is obtained after the progress pixelation processing of cargo physical height；
(3.3) gaussian filtering is carried out to the pixelation image, obtains gaussian filtering image；
(3.4) the gaussian filtering image and direction template are subjected to convolution to obtain the pixel value of each pixel, and Corresponding image edge information is calculated according to a preset threshold；
(3.5) first according to the range information and described image marginal information, the three-dimensional information of the cargo is obtained, then According to the elevation information in the warehouse and the warehouse compartment of planning, the cargo is obtained in the three-dimensional coordinate information of the warehouse compartment, most The bar code information and the data in goods information library are compared afterwards, extract length, width and the height of the cargo Information, and scaled by certain proportion to establish the three-dimensional live model in the warehouse.
Compared to the prior art, of the invention to have towards intelligentized infrared digital panorama system and its warehouse management method Have it is following the utility model has the advantages that
1, cargo should be identified by bar code identifying device towards intelligentized infrared digital panorama system, it is multiple to take the photograph As head can quickly and accurately shoot multiple angular images of cargo, screen bar code recognizer is facilitated to carry out barcode scanning, so can in real time, it is quasi- Really it is collected into the information of cargo in warehouse itself.Meanwhile the infrared distance measurement mechanism of day eye device is capable of forming infrared monitoring net, Comprehensive monitoring ranging is carried out to the cargo in warehouse, grasps the height of the stacking of cargo in real time, and by moving on guide rail, An infrared distance sensor can be enable to be moved to many places, ranging is carried out to multiple cargos, so that the cost of ranging is reduced, It can also guarantee data acquisition efficiency simultaneously.And data processing equipment is by carrying out edge dividing processing to data, data are located in advance Reason, gaussian filtering, edge detection, so as to establish the three-dimensional live model in warehouse, so that convenient carry out panorama pipe to warehouse Reason realizes the intelligent management of warehouse and cargo.
2, it since infrared digital panorama system is without manually making an inventory, only needs to reserve between warehouse compartment to be laid with infrared observing and controlling guide rail The diameter length of Shi Yigen steel can shorten the length in each tunnel, while can substantially shorten the distance between tunnel, increase library Digit, thus the effective area of newly-increased storage storage, substantially Economization on land cost, improves the space utilization rate in warehouse.
3, warehouse headcount can be greatly reduced in the infrared digital panorama system, to reduce the totality of warehouse employee Base pay saves labour turnover, and cost reduction effect is significant.Moreover, the processes such as the present invention receives to storage, stock control, outbound Integrated management and information service are carried out, promotes the efficiency and accuracy of production with dispatching from every side, and then save time cost.
4, the bar code identifying device of the infrared digital panorama system, day eye device and data processing equipment being capable of works at any time Make, can make an inventory at any time cargo, so that the state of cargo is grasped in real time, it is convenient that cargo is managed, and then improve The efficiency of making an inventory in warehouse.
5, the number of store interior various aspects more should can be easily obtained towards intelligentized infrared digital panorama system According to, and linked database is formed, decision is formulated for warehouse department, and enough reliable data supportings are provided.Such as: determine selection The what kind of haulage equipment moved horizontally, the equipment vertically moved, shelf etc.；The transformation in warehouse is carried out with lower cost Upgrading；More accurately determine frame, the configuration of personnel, the configuration of the energy and electric power, the configuration of fund etc. of storage.
Detailed description of the invention
Fig. 1 is facing for the bar code identifying device towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 Figure；
Fig. 2 is the side view of the bar code identifying device in Fig. 1；
Fig. 3 is the work flow diagram of the screen bar code recognizer of the bar code identifying device in Fig. 1；
Fig. 4 is the infrared distance measurement of the day eye device towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 The schematic diagram of mechanism；
Top view of the Fig. 5 by Fig. 4 infrared distance measurement mechanism introduced；
Fig. 6 is the perspective view of the infrared distance measurement mechanism in Fig. 5；
Fig. 7 is the data of the data processing equipment towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 Process flow diagram；
Fig. 8 is the data of the data processing equipment towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 The pixelation figure of preprocessing module；
Fig. 9 is the Gauss of the data processing equipment towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 Filtered experimental result picture；
Figure 10 is the edge of the data processing equipment towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 Segmentation result figure；
Figure 11 is that the three-dimensional live 3D towards intelligentized infrared digital panorama system of the embodiment of the present invention 1 digitizes stream Cheng Tu；
Figure 12 is the operation of the warehouse compartment coalignment towards intelligentized infrared digital panorama system of the embodiment of the present invention 2 Flow chart；
Figure 13 is the force analysis figure towards intelligentized infrared digital panorama system of the embodiment of the present invention 3.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.
Embodiment 1
The present invention provides one kind towards intelligentized infrared digital panorama system, the system include bar code identifying device, Its eye device and data processing equipment.The infrared digital panorama system be used for warehouse to go out storage cargo be monitored, Management, while the cargo stored in warehouse can also be monitored.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, investigates and finds through inventor, traditional storage process are as follows: hold vehicle unloading → the artificial barcode scanning in working area → holds vehicle storage, for this purpose, the present embodiment proposes a kind of bar code identifying device.Bar code identifying device packet Support rod 1, screen bar code recognizer, multiple support plates 2 and multiple cameras 3 are included, may also include pedestal 14.Multiple support plates 2 The same end is each attached to support rod 1, and support rod 1 can be erected on the ground in warehouse.Each camera 3 is mounted on corresponding In support plate 2, and the image for shooting cargo in warehouse.The image information that screen bar code recognizer is shot according to camera 3, to figure As the bar code progress barcode scanning in information, to read the bar code information of cargo.Pedestal 14 is arranged in warehouse, and is used to support branch Strut 1.In some embodiments including the present embodiment, the quantity of bar code identifying device is two, one of bar code The inlet in warehouse is arranged in identification device, and the exit in warehouse is arranged in another one bar code identifying device.It needs exist for Illustrate, existing dimensional code scanner can be used in screen bar code recognizer, can also be using other barcode scanning equipment.
In the present embodiment, the whole height of bar code identifying device is 2m, and the premise that height is arranged is that guarantee is all Cargo can access effective identification.Simultaneously, it is contemplated that the height of cargo is higher, and the position of bar code is not fixed, and is provided with Multiple cameras 3, real-time perfoming handle work.Camera 3 be distributed at various height, it is comprehensive, efficient to bar code into Row identification.The core technology of screen bar code recognizer is Bar Code, the information of discharging of goods, to plan optimal library for it Position.In addition, screen bar code recognizer provides underlying parameter for the foundation of warehouse outdoor scene threedimensional model.In view of reducing server workload Efficiency with work is improved, has increased more mature target identification technology newly.By deep learning, target identification is carried out to bar code And locking, making screen bar code recognizer is the artificial intelligence device for having self-teaching, self judgment, so, in conjunction with the above demand and Design, screen bar code recognizer read bar code information method the following steps are included:
(1) judge whether bar code identifying device enters the barcode scanning area in warehouse；
(2) when bar code identifying device enters barcode scanning area, the image of cargo is shot by multiple cameras 3, until acquisition To the bar code region of cargo；
(3) image in bar code region is shot by corresponding camera 3, and camera 3 is made to carry out automatic focusing to obtain The clear image of cargo；
(4) it according to clear image, identifies the bar code information in image, and obtains the information of cargo；
(5) information of cargo is recorded.
Fig. 4, Fig. 5 and Fig. 6 are please referred to, day eye device includes multiple infrared distance measurement mechanisms, may also include data gather computer Structure, error correction mechanism and alarm mechanism.Each infrared distance measurement mechanism includes 4, two groups of guide rails 5 of multiple infrared distance sensors And slide assemblies 6.Two groups of guide rails 5 are located at the top of cargo, and can fix with respect to warehouse, can be fixed on the top in warehouse On portion's frame.Infrared distance sensor 4 is mounted on slide assemblies 6, and for by emitting infrared ray to cargo to detect cunning The distance of stacking top surface of the dynamic component 6 to cargo.Infrared distance sensor 4 has measurement range wide, and the response time is short, is easy to pacify Dress is convenient for the characteristics of operating, and applies infrared distance measurement technology.And infrared distance measurement technology utilizes indiffusion when infrared ray propagation former Reason, transmitting oscillator generate the modulated signal of certain frequency, are added on infrared launcher by amplifirer, by infrared transmitter Issue infrared ray；Infrared signal of the infrared ray after infrared reflective device (i.e. cargo) reflection, is received by infrared receiving device, Then by the processing of signal, high-frequency distance measuring signal is obtained.In the present embodiment, the maximum inspection of infrared distance sensor 4 From 12m, range performance is excellent for ranging, and precision high, refresh frequency reaches 100HZ and is quick on the draw, and small in size, low in energy consumption.
Wherein, slide assemblies 6 include locater plate 7, driving motor 8, driving wheel 9,11, two belt 10, crossbeam locating wheels 12 and multiple pulleys 13.Infrared distance sensor 4 is mounted on locater plate 7, and for by cargo emit infrared ray with Detect the distance that slide assemblies 6 arrive the stacking top surface of cargo.Multiple pulleys 13 are rotatably installed in the both ends of locater plate 7 respectively, and It is rolled along the groove direction of guide rail 5.Driving motor 8 is fixed on locater plate 7, and drives driving wheel 9 to rotate by belt 10. Driving wheel 9 is fixed on crossbeam 11.Crossbeam 11 is rotatably installed on locater plate 7, and both ends are respectively inserted in two locating wheels 12. Two locating wheels 12, along the guiding movement of two groups of guide rails 5, make multiple infrared distance sensors under the driving effect of driving wheel 9 4 into warehouse multiple regions multiple cargos emit infrared ray.
It is controlled in the present embodiment by central processing unit, and the central processing unit of the present embodiment uses AT89S52 For the central processing unit of core.AT89S52 is a kind of low-power consumption, 8 8-digit microcontroller of high-performance CMOS, and there is 8K can compile in system Journey flash storage.AT89S52 has following standard feature: 8k bytes Flash, 256 byte RAM, 32 I/O mouth lines are guarded the gate Dog timer, 2 data pointers, three 16 bit timing devices/counters, 2 grades of interrupt structures of 6 vector, full duplex serial port. In addition, AT89S52 can be down to the operation of 0Hz static logic, support 2 kinds of softwares that energy-saving mode may be selected.
Data gather computer structure is used to acquire the data of multiple infrared distance measurement mechanism detections, can also acquire screen bar code recognizer reading Data, and these data are transmitted in data processing equipment.Error correction mechanism is for first passing through a reception oscillator (frequency f'=f ± Δ f, wherein Δ f is the intermediate frequency of several kHz.) by infrared distance sensor (4) detection distance signal with Its vibration signal is input to acquisition distance measuring signal in a mixing one, and (intermediate frequency is Δ f, wherein maintain the round-trip middle letter in channel Number it is formed by phase difference standard), then by transmitting oscillator, channel directly can not with reception oscillator in a mixing two It closes, forms intermediate frequency reference signal, then compare phase by being input in phase-sensitive detector after frequency-selecting amplification and shaping, obtain phase difference (the two compares phase by being input to phase-sensitive detector after frequency-selecting amplification and shaping, obtains phase difference), finally calculates slide assemblies 6 To the correction distance of the stacking top surface of cargo.
Alarm mechanism is used for after one preset time of the more new data for not receiving at least one infrared distance measurement mechanism, hair Send alert message.Central processing unit meeting periodic refreshing logic input, after infrared facility part is broken down, central processing unit The updated data of abort situation are not received, central processing unit will send alert message to background server at this time.Also, it ties Three-dimensional live modeling function is closed, shortage of data part can be embodied from warehouse three-dimensional live figure, and maintenance personal is enable to look for as early as possible To fault point and repair.
Referring to Fig. 7, data processing equipment includes edge dividing processing module, data preprocessing module, gaussian filtering mould Block, edge detection module and model building module may also include a cloud storage module.Data processing equipment can know bar code The data that other device and day eye device generate are handled, in order to form the real time information grasped for stock clerk.Its In, data processing equipment builds the three-dimensional live in warehouse by following process realization:
1. putting cloud storage: the acquired data summarization record of infrared distance measuring device.
2. edge is divided: acquisition data being handled according to institute's pickup area block parallel, the position of cargo is found according to height It sets.
3. constructing 3-D image on the basis of edge is divided with datum level, splices part building TIN, finally obtain reality Body three-dimensional models.
4. discharging of goods information plans optimal warehouse compartment, cargo threedimensional model is established.
5. data update, cargo location, and more New Warehouse three-dimensional live model are verified.
The capacity of infrared distance measurement data is larger, if the routinely granular manner of data storage, i.e., using a single point as one Tuple is stored, then when data access, I/O addressing operation is repeated in vernier, will be greatly reduced data storage performance, for this purpose, point Cloud storage module uses the storage of big binary elongated mode group organization data.When carrying out data access using big binary system, deposit The selection of storage granularity is the emphasis of planning, automatic to choose as unit of survey station or with spatial grid for specific data scale Scale is storage cell.For the quick-searching convenient for binary data, tuple need to record the space boundary of a cloud, i.e. goods when storing Beyond the region of objective existence packet frame.
Edge dividing processing module be used for the data that detect infrared distance measurement mechanism according to institute's pickup area block parallel at Reason, and according to the position of corresponding elevation information lookup cargo.For large area warehouse, what infrared array and infrared scan were surveyed Data volume be it is huge, in the present embodiment, being done by the way of the monitoring of subregion, while using computer parallel processing system Method reaches the most effective real-time monitoring of storehouse management to reduce data processing and time that three-dimensional live is built.Wherein, side It includes measurement data reading unit, initial coordinate definition unit, edge cutting unit, characteristics extraction list that fate, which cuts processing module, Member, cargo verification unit, centre coordinate computing unit and parameter value recording unit.
Measurement data reading unit is used to read the data of infrared distance measurement mechanism detection.Initial coordinate definition unit is used for root According to the reading data and initialization definitions condition of measurement data reading unit, the physics of infrared distance measurement mechanism region is determined Origin coordinates, to determine the physical plane coordinate of cargo.Edge cutting unit is used for through Sobel edge dividing method, detection The marginal portion of data is read, and corresponding elevation information is divided into region.Characteristics extraction unit according to edge for dividing Each elevation information for dividing region is read, to determine the physical space coordinates of cargo in the division region of unit.Cargo verification is single Biggish division region is divided into the smaller area of cargo surfaces according to fuzzy optimal calculation method by member, while by Fuzzy Calculation As a result it is compared with default retention result, the specific coordinate and information of check cargo.Centre coordinate computing unit is for pressing According to calculation formula Oi(xi,yi)=Oi(Xi,Yi)+o(x0,y0) characterization with elevation plane centre coordinate plane coordinates information.Its In, Oi(Xi,Yi) indicate level opposite center position coordinates, o (x0,y0) indicate the first of institute, infrared distance measurement mechanism pickup area Beginning two-dimensional position coordinate.Parameter value recording unit is used for the O to centre coordinate computing uniti(Xi,Yi) calculated result increase correspondence Elevation information, obtain the three-dimensional location coordinates of cargo, and will record and output three-dimensional location coordinates parameter value.
Data preprocessing module is calculated for first arriving the distance of stacking top surface according to the position of cargo and slide assemblies 6 Cargo physical height out, then the pixelation image of acquisition cargo after pixelation processing is carried out to cargo physical height.Cargo physics The calculation formula of height are as follows: phyhight=sethight-measurehight, in formula, phyhight is cargo physical height, Sethight is the antenna height of infrared distance sensor 4, and measurehight is the distance that infrared distance sensor 4 detects；
The formula of pixelation processing is carried out to cargo physical height are as follows:
Wherein, hightpix is the height pixel value of cargo, and fix is rounding operation symbol.In this way, passing through data prediction After the processing of module, image as shown in Figure 8 can be obtained.
Gaussian filtering module is used to carry out gaussian filtering to pixelation image, obtains gaussian filtering image.Gaussian filtering exists Under image procossing concept, image frequency domain processing and Time Domain Processing are associated, used as low-pass filter, it can be by low frequency energy It measures (such as noise) to filter off, plays the role of image smoothing.It is a kind of linear smoothing filtering, is suitable for eliminating Gaussian noise, extensively The general noise abatement process applied to image procossing.It is exactly the process being weighted and averaged to entire image, each pixel Value obtains after being all weighted averagely by other pixel values in itself and neighborhood.Under normal conditions, Gaussian Blur is exactly to make It is completed with Gaussian filter, Gaussian Blur is one kind of low-pass filtering.Substantially, Gaussian Blur is exactly by (gray scale) image I Convolution operation: I is carried out with a Gaussian kernelσ=I*Gσ
Wherein * indicates convolution operation, GσIt is the two-dimensional Gaussian kernel that standard deviation is σ, is defined as:
Its variation for image, after can indicating gaussian filtering with matrix below.It numerically shows as putting down , it shows as obscuring on the image.
According to the Preliminary experiment results of the present embodiment, after available cargo physical height pixelation after gaussian filtering As a result, as shown in Figure 9.
Edge detection module is used to gaussian filtering image and direction template carrying out convolution to obtain the picture of each pixel Element value, and corresponding image edge information is calculated according to a preset threshold.It is examined in the present embodiment by Sobel operator It surveys, and Sobel operator: first derivative is mainly utilized, is a kind of common discrete type difference operator.General Sobel operator packet Containing two groups of matrixes, i.e. there are two direction templates, and size 3*3, it is that convolution is schemed that general Sobel operator, which carries out edge detection principle, As carrying out convolution with direction template, so that it may obtain a result, so direction template is also known as convolution kernel.Common two levels with Vertical formwork is as follows:
If GxIt is to the convolution on the direction original image x, GyIt is to the convolution on the direction original image y；Gradient can also be calculated with following formula Size and Orientation:
In this way, available edge detection module carries out the calculation formula of convolution by after abbreviation are as follows:
| G |=| Gx|+|Gy|
Wherein, GxFor the convolution of horizontal direction in direction template, GyFor the convolution of vertical direction in direction template, G is Gauss The gradient of filtering image.It is after the available edge Sobel segmentation as a result, such as figure according to the Preliminary experiment results of the present embodiment Shown in 10.
Figure 11 is please referred to, model building module is for first according to the data of multiple infrared distance measurement mechanisms detection and image side Edge information obtains the three-dimensional information of cargo, and the warehouse compartment of elevation information and planning further according to the warehouse of storage cargo obtains goods Object finally compares bar code information and the data in goods information library in the three-dimensional coordinate information of warehouse compartment, discharging of goods Length, width and elevation information, and scaled by certain proportion to establish the three-dimensional live model in warehouse.Specifically, root The bar code captured according to screen bar code recognizer is compared with information bank, extracts the long L of folded cargoiWide WiHigh HiInformation.Consider Larger to storage area, embodiment has selected the scaling of 10cm:1, carries out threedimensional model and builds.Further according to optimal warehouse compartment Three-dimensional coordinate information establishes corresponding model, and records the information such as mutually deserved cargo model.Meanwhile according to the knot measured next time Fruit verifies the model pre-established, judges that cargo whether there is and whether the Job Operations of worker standardize.When After the foundation of 3D model is completed in region, after zooming in and out according to its specific physical coordinates, the spelling of warehouse three-dimensional panorama is carried out It connects.It is analyzed from amechanical angle, steelframe needed for guide rail is designed using trigonometric expression, and stability structure is preferable.So steel rail laying, from power It learns angle and has high feasibility.
In conclusion the present embodiment has the advantage that towards intelligentized infrared digital panorama system
1, cargo should be identified by bar code identifying device towards intelligentized infrared digital panorama system, it is multiple to take the photograph As head can quickly and accurately shoot multiple angular images of cargo, screen bar code recognizer is facilitated to carry out barcode scanning, so can in real time, it is quasi- Really it is collected into the information of cargo in warehouse itself.Meanwhile the infrared distance measurement mechanism of day eye device is capable of forming infrared monitoring net, Comprehensive monitoring ranging is carried out to the cargo in warehouse, grasps the height of the stacking of cargo in real time, and by moving on guide rail, An infrared distance sensor can be enable to be moved to many places, ranging is carried out to multiple cargos, so that the cost of ranging is reduced, It can also guarantee data acquisition efficiency simultaneously.And data processing equipment is by carrying out edge dividing processing to data, data are located in advance Reason, gaussian filtering, edge detection, so as to establish the three-dimensional live model in warehouse, so that convenient carry out panorama pipe to warehouse Reason realizes the intelligent management of warehouse and cargo.
2, it since infrared digital panorama system is without manually making an inventory, only needs to reserve between warehouse compartment to be laid with infrared observing and controlling guide rail The diameter length of Shi Yigen steel can shorten the length in each tunnel, while can substantially shorten the distance between tunnel, increase library Digit, thus the effective area of newly-increased storage storage, substantially Economization on land cost, improves the space utilization rate in warehouse.
3, warehouse headcount can be greatly reduced in the infrared digital panorama system, to reduce the totality of warehouse employee Base pay saves labour turnover, and cost reduction effect is significant.Moreover, the stream such as the present embodiment receives to storage, stock control, outbound Cheng Jinhang integrated management and information service, from every side promoted production with dispatching efficiency and accuracy, and then save the time at This.
4, the bar code identifying device of the infrared digital panorama system, day eye device and data processing equipment being capable of works at any time Make, can make an inventory at any time cargo, so that the state of cargo is grasped in real time, it is convenient that cargo is managed, and then improve The efficiency of making an inventory in warehouse.
5, the number of store interior various aspects more should can be easily obtained towards intelligentized infrared digital panorama system According to, and linked database is formed, decision is formulated for warehouse department, and enough reliable data supportings are provided.Such as: determine selection The what kind of haulage equipment moved horizontally, the equipment vertically moved, shelf etc.；The transformation in warehouse is carried out with lower cost Upgrading；More accurately determine frame, the configuration of personnel, the configuration of the energy and electric power, the configuration of fund etc. of storage.
Embodiment 2
Figure 12 is please referred to, present embodiments provides one kind towards intelligentized infrared digital panorama system, the system is in reality It applies and increases warehouse compartment coalignment on the basis of example 1.Wherein, warehouse compartment coalignment include slotting optimization distribution model module and Warehouse compartment matching module.
According to defect present on present storehouse management, we recognize that the raising of storehouse management informationization technology is warehouse The basis efficiently managed and guarantee.Therefore, the present embodiment combines modern informationization technology, establishes warehouse compartment matching system, we In storage link, model, specification of cargo and other items information at this time, Interworking Data library are obtained according to screen bar code recognizer；It screens Optimal warehouse compartment under to present condition, system instruct fork truck and hold vehicle driver to put cargo by voice broadcast warehouse compartment number To specified warehouse compartment, storage is completed.After cargo completes storage, the various information for the cargo for putting this warehouse compartment can be obtained, after being Continuous three-dimensional imaging provides reference data.
In storehouse management, the storage process of kinds of goods is accounted for warehouse compartment residue situation, then to storing in a warehouse Kinds of goods carry out warehouse compartment selection.The resource of some warehouse compartments so is not fully utilized.The warehouse compartment coalignment of the present embodiment According to the model of the cargo at this time of screen bar code recognizer acquisition, specification and other items information, warehouse compartment where retrieving similar kinds of goods first is It is no to stack, if can if be preferentially deposited in the warehouse compartments of similar kinds of goods, if matching other suitable warehouse compartments without residue.In commodity Storage when to kinds of goods carry out science warehouse compartment match so that the resource of warehouse compartment is fully utilized.
Slotting optimization distribution model module is for establishing slotting optimization distribution model.The explanation of relevant parameter in the model It is as follows:
A: tiered warehouse facility shelf number of rows, b: tiered warehouse facility shelf columns, c: the tiered warehouse facility shelf number of plies, L0: goods yard unit The length, width and height of the length of lattice, shelf are all consistent, Mi: the unit mass of i-th kind of cargo, Pi: the turnover rate of i-th kind of cargo, x: some The row number of stereo storage location, x={ 1,2 ..., a }；Y: the row number of some stereo storage location, y={ 1,2 ..., b }, z: certain The level number of a stereo storage location, z={ 1,2 ..., c }, Vx: the average movement speed in the direction fork truck x, Vy: it puts down in the direction fork truck y Equal movement speed, Vz: the average movement speed in the direction fork truck z, N: the sum of type of merchandize.
Since three-dimensional imaging needs the length, width and height information of the resulting cargo of barcode scanning, and whereby with survey height and obtain stacking Quantity of goods, identical goods or similar cargo should be stored in adjacent goods yard.Assuming that having n goods yard in warehouse houses i class goods Object, the coordinate vector of the goods yard coordinate representation of this i class cargo is [X in three dimensionsi,Yi,Zi], then the seat in this n goods yard Mark Vector Groups are as follows:
Enable i class cargo goods yard centre coordinate vector are as follows:
Ri(i=1,2 ..., N)
After the centre coordinate for calculating certain the class cargo deposited in warehouse, similar cargo should be placed on apart from the centre coordinate Nearest position, thus: f1(x, y, z) is function by adjacent cargo storage at adjacent position, and function formula are as follows:
In order to improve working efficiency, shorten travel distance, according to the turnover rate of product, shipment and frequency height of stocking up have enough to meet the need The high product of rate should be placed on the place for close to entrance, being easy to operation；The product of poor fluidity is placed on slightly remote apart from entrance Place.It can thus be concluded that: f2Function when (x, y, z) is consideration cargo outbound efficiency, and function formula are as follows:
In conclusion slotting optimization distribution model is from the aspect of two, this system uses weight system method by more mesh Mark optimization problem is converted into single-object problem.In this way, the model formation of slotting optimization distribution model provided in this embodiment Are as follows:
In formula, f (x, y, z) is the objective function of slotting optimization distribution model.The principle of the warehouse storage of above-mentioned analysis can Know, the goods yard of the smaller then distribution depot of objective function f (x, y, z) value is optimal.
Warehouse compartment matching module includes optimal warehouse compartment matching unit, optimal warehouse compartment depth calculation unit, sequencing unit and most Suitable warehouse compartment acquiring unit.Optimal warehouse compartment matching unit is used for packaging and stacking information according to cargo, passes through holding for cargo Face width is matched, and the highest optimal warehouse compartment of matching degree is obtained.Optimal warehouse compartment depth calculation unit is used for according to warehousing quantity With cargo can heap high-layer, obtain warehouse compartment dosage it is minimum when warehouse compartment depth.Sequencing unit meets preset requirement for exporting Warehouse compartment number, and be ranked up by the matching degree of cargo.Most suitable warehouse compartment acquiring unit is used for the surplus of cargo and warehouse Remaining warehouse compartment is matched, and the highest warehouse compartment of current matching degree is obtained.
Embodiment 3
One kind is present embodiments provided towards intelligentized infrared digital panorama system, the system is on the basis of embodiment 2 On refined.The guide material of the present embodiment mainly uses No. 45 steel.Inner orbit (the nearest track away from the sliding rail plane of symmetry) It is needed above using the shape agreed with lubrication groove (have ready conditions and be just made into gear), using abrasion-resistant stee；Sliding rail and cross bar material need The quality such as electric wire, motor can calculate after determining.
1, in the part of guide rail 5:
M=mMotor+mMaterial+mAxis+mLine
b1: wide h1: it is high
It needs to meet: Emax≤ [σ] allowable stress.
2, in the part of crossbeam 11:
S=dl m: motor quality d: upper table length l: following table width
Wherein: b1: outer width b2: inner width h1: outer high h2: interior height
It needs to meet: Emax≤ [σ] allowable stress.
And the present embodiment is actually needed to meet, and determines following design requirement:
1. driving motor 8 need to configure retarder, motor is rotated by 90 ° placement according to schematic diagram, retarder is installed, then according to It installs same as before；
2. electric wire widest place among guide rail 5, rolls with motor and puts down；
3. the material that camera 3 is placed uses sheet iron or rigid plastics；
Meanwhile for the guide rod on infrared observing and controlling guide rail, need to accept 5 infrared distance sensors 4 and a driving Motor 8.From amechanical angle, force analysis is carried out to it, as shown in figure 13.
It can be seen from the above, pulling force T=2T of the steel frame construction to guide rail at the top of warehousePA, the gravity of motor is GEM, infrared survey Gravity away from device itself is G1=5GDE, the gravity of litter is GSL, the gravity of guide rail is G2=2GPA, F is mechanical structure and material The resistance of deformation of material.According to practical investigation, in conjunction with mechanically stressed as a result, can prove that
T=2TPA=GEM+G1+GSL+G2F
From above-mentioned mechanical analysis it is found that engineering practice angle, steel rail laying can be achieved on the installation to device.Together When, because whole operation is not interfere with following warehouse at the top of warehouse and run well.
In summary shown in, the present embodiment towards intelligentized infrared digital panorama system, in practical applications, each Tunnel can shorten the distance of 0.2m.In the case where warehouse compartment width is 1.6 meters, warehouse compartment depth is that 5 meters and 10 meters of warehouse compartment is respectively At 400, there are 14 main channels in warehouse, and there are 50 warehouse compartments, 49 warehouse compartment intervals in the every side in main channel, and 800 warehouse compartments share 786 libraries Bit interval, Distance Shortened 157.2m between tunnel can increase the warehouse compartment that 49 width are 1.6 × 5 meters, 49 1.6 × 10 meters of library Position, increasing effective area newly is 1.6 × 5 × 49+1.6 × 10 × 49=1176 ㎡.
In addition, the present embodiment, by measuring and calculating, this system service life is 10 years or more, in Hefei everyday along one 12000 There is more than 400 similar plane storehouse in 480,000 yuan of escapable cost of the warehouse 5 years of square meter, the estimation whole nation, it is contemplated that can be day in 5 years Day along saving labour turnover 2.1 hundred million, cost reduction effect is very significant.In addition, the system designed using the present embodiment, can contract The tunnel length of the adjacent warehouse compartment of goods kept in stock outside account, such as everyday along Hefei for self-built laundry cabin, now to set tunnel as 30-40cm, in fact Without manually making an inventory after existing this system, then shorten each tunnel spacing about 0.2m, the warehouse of 12000 ㎡ can will increase using area 1176 ㎡, and then improve the utilization rate in warehouse, substantially Economization on land cost.Storage is received based on the Digitized Warehouse of this system The processes such as goods, stock control, outbound carry out integrated management and information service, promote the efficiency and standard of production with dispatching from every side True property, and then save time cost.In addition, by Hefei everyday along warehouse for, Hefei is everyday along the single area in warehouse 12000m2, system generates task of making an inventory daily according to the period when making an inventory, and the big storehouse of level-one is that two weeks warehouses of making an inventory are primary, second level storehouse Weekly, infrared digital panorama system designed by this programme is all everyday used along all plane storehouses in the whole nation known to initial estimate System is, it can be achieved that at any time make an inventory to cargo.
Embodiment 4
One kind is present embodiments provided towards intelligentized infrared digital panorama warehouse management method, this method is applied to real Any one in a 1-3 is applied towards in intelligentized infrared digital panorama system, method includes the following steps:
(1) image of cargo in warehouse is shot, and according to image information, reads the bar code information of cargo；
(2) in the top of cargo by emitting infrared ray to cargo, with detect launch point to the stacking top surface of cargo away from From；
(3) data processing is carried out to the range information of the bar code information of cargo and launch point to the stacking top surface of cargo, Wherein, processing method the following steps are included:
(3.1) data for detecting infrared distance measurement mechanism are handled according to institute's pickup area block parallel, and according to corresponding The position of elevation information lookup cargo；
(3.2) first position and range information according to cargo, calculates cargo physical height, then to cargo physical height The pixelation image of cargo is obtained after progress pixelation processing；
(3.3) gaussian filtering is carried out to pixelation image, obtains gaussian filtering image；
(3.4) gaussian filtering image and direction template are subjected to convolution to obtain the pixel value of each pixel, and according to One preset threshold calculates corresponding image edge information；
(3.5) first according to range information and image edge information, the three-dimensional information of cargo is obtained, further according to the height in warehouse The warehouse compartment of information and planning is spent, obtains cargo in the three-dimensional coordinate information of warehouse compartment, finally by bar code information and goods information library In data compare, length, width and the elevation information of discharging of goods, and scaled by certain proportion to establish warehouse Three-dimensional live model.
Embodiment 5
One kind is present embodiments provided towards intelligentized infrared digital panorama warehouse, which includes embodiment 1, implements Any one is towards intelligentized infrared digital panorama system provided in example 2 and embodiment 3.
Embodiment 6
The present embodiment provides a kind of terminals comprising memory, processor and storage are on a memory and can The computer program run on a processor.Processor execute program when realize embodiment 1 towards intelligentized infrared digital The step of panorama warehouse management method.
The method of embodiment 1 is such as designed to independently operated program in use, can be applied in the form of software, On computer terminals, terminal can be computer, smart phone, control system and other internet of things equipment for installation Deng.The method of embodiment 1 can also be designed to the program of embedded operation, and installation on computer terminals, is such as mounted on monolithic On machine.
Embodiment 7
The present embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program.Program is by processor When execution, realize embodiment 1 towards intelligentized infrared digital panorama warehouse management method the step of.
The method of embodiment 1 is such as designed to computer-readable storage medium in use, can be applied in the form of software Matter can independently operated program, computer readable storage medium can be USB flash disk, is designed to U-shield, be designed to by USB flash disk by outer Start the program of entire method in triggering.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (10)

1. one kind is towards intelligentized infrared digital panorama system, characterized in that it comprises:
Bar code identifying device comprising support rod (1), screen bar code recognizer, multiple support plates (2) and respectively with multiple support plates (2) corresponding multiple cameras (3)；The same end of multiple support plates (2) is each attached to support rod (1)；Each camera (3) peace On corresponding support plate (2), and the image for shooting cargo；The screen bar code recognizer is shot according to camera (3) Image information reads the bar code information of the cargo；
Its eye device comprising multiple infrared distance measurement mechanisms；Each infrared distance measurement mechanism includes multiple infrared distance sensors (4), two groups of guide rails (5) disposed in parallel and the slide assemblies (6) mobile along the groove direction of guide rail (5)；Two groups of guide rails (5) Positioned at the top of the cargo；Infrared distance sensor (4) is mounted on slide assemblies (6), and for by the cargo Transmitting infrared ray is to detect the distance that slide assemblies (6) arrive the stacking top surface of the cargo；And
Data processing equipment comprising edge dividing processing module, data preprocessing module, gaussian filtering module, edge detection Module and model building module；The edge dividing processing module be used for the data that detect the infrared distance measurement mechanism according to The processing of institute's pickup area block parallel, and according to the position of corresponding elevation information lookup cargo；The data preprocessing module The distance for arriving the stacking top surface according to the position of the cargo and slide assemblies (6) for elder generation, it is high to calculate cargo physics Degree, then to the pixelation image for obtaining the cargo after cargo physical height progress pixelation processing；The gaussian filtering Module is used to carry out gaussian filtering to the pixelation image, obtains gaussian filtering image；The edge detection module is used for will The gaussian filtering image and direction template carry out convolution to obtain the pixel value of each pixel, and according to a preset threshold Calculate corresponding image edge information；Data of the model building module for first being detected according to multiple infrared distance measurement mechanisms And described image marginal information, the three-dimensional information of the cargo is obtained, is believed further according to the height in the warehouse for storing the cargo Breath and the warehouse compartment of planning, obtain the cargo in the three-dimensional coordinate information of the warehouse compartment, finally by the bar code information and goods Data in object information bank compare, and extract length, width and the elevation information of the cargo, and contract by certain proportion It puts to establish the three-dimensional live model in the warehouse.
2. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the edge segmentation portion Managing module includes measurement data reading unit, initial coordinate definition unit, edge cutting unit, characteristics extraction unit, cargo Verification unit, centre coordinate computing unit and parameter value recording unit；The measurement data reading unit is described for reading The data of infrared distance measurement mechanism detection；The initial coordinate definition unit is used for the reading according to the measurement data reading unit Data and initialization definitions condition determine the physics origin coordinates of infrared distance measurement mechanism region, described in determination The physical plane coordinate of cargo；The edge cutting unit is used to detect the reading number by Sobel edge dividing method According to marginal portion, and by corresponding elevation information divide region；The characteristics extraction unit is used for according to the edge point The division region of unit is cut, each elevation information for dividing region is read, with the physical space coordinates of the determination cargo；It is described Biggish division region is divided into the smaller area of cargo surfaces, simultaneously according to fuzzy optimal calculation method by cargo verification unit Fuzzy Calculation result and default result of retaining are compared, the specific coordinate and information of the cargo are examined；The center Coordinate calculating unit is used for according to calculation formula Oi(xi,yi)=Oi(Xi,Yi)+o(x0,y0) characterize with elevation plane centre coordinate Plane coordinates information；Wherein, Oi(Xi,Yi) indicate level opposite center position coordinates, o (x0,y0) indicate described infrared The original two-dimensional position coordinates of ranging mechanism institute pickup area；The parameter value recording unit is used to calculate to the centre coordinate The O of uniti(Xi,Yi) the corresponding elevation information of calculated result increase, the three-dimensional location coordinates of the cargo are obtained, and will record With the parameter value for exporting the three-dimensional location coordinates.
3. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the cargo physics is high The calculation formula of degree are as follows: phyhight=sethight-measurehight, in formula, phyhight is that the cargo physics is high Degree, sethight are the antenna height of infrared distance sensor (4), and measurehight is infrared distance sensor (4) detection Distance；
The formula of pixelation processing is carried out to the cargo physical height are as follows:
Wherein, hightpix is the height pixel value of the cargo, and fix is rounding operation symbol.
4. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the edge detection mould The calculation formula of block progress convolution are as follows:
| G |=| Gx|+|Gy|
Wherein, GxFor the convolution of horizontal direction in the direction template, GyFor the convolution of vertical direction in the direction template, G is The gradient of the gaussian filtering image.
5. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the infrared digital is complete Scape system further include:
Warehouse compartment coalignment comprising slotting optimization distribution model module and warehouse compartment matching module；The slotting optimization distribution Model module is for establishing slotting optimization distribution model；The warehouse compartment matching module includes optimal warehouse compartment matching unit, optimal library Bit depth computing unit, sequencing unit and most suitable warehouse compartment acquiring unit；The optimal warehouse compartment matching unit is used for according to The packaging and stacking information of cargo are matched by the face width that holds of the cargo, and it is highest optimal to obtain matching degree Warehouse compartment；The optimal warehouse compartment depth calculation unit be used for according to warehousing quantity and cargo can heap high-layer, obtain warehouse compartment dosage Warehouse compartment depth when minimum；The sequencing unit is used to export the warehouse compartment for meeting preset requirement number, and passes through the cargo Matching degree is ranked up；The most suitable warehouse compartment acquiring unit is used for the progress of the remaining warehouse compartment in the cargo and the warehouse Match, obtains the highest warehouse compartment of current matching degree.
6. as claimed in claim 5 towards intelligentized infrared digital panorama system, which is characterized in that the slotting optimization point Model formation with model are as follows:
In formula, f (x, y, z) is the objective function of the slotting optimization distribution model；
f1(x, y, z) is function by adjacent cargo storage at adjacent position, and function formula are as follows:
f2Function when (x, y, z) is consideration cargo outbound efficiency, and function formula are as follows:
Wherein, the coordinate vector of the goods yard coordinate of i class cargo is [Xi,Yi,Zi], goods yard centre coordinate vector is Ri(i=1, 2 ..., N), and calculation formula are as follows:The xth in the warehouse arranges z layers of y column of goods yard coordinate note Are as follows: (x, y, z), x={ 1,2 ..., a }, y={ 1,2 ..., b }, z={ 1,2 ..., c }；A is shared in the warehouse and arranges shelf, often Row's shelf have c layers of b column.
7. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the day eye device is also Including data gather computer structure, error correction mechanism and alarm mechanism；The data gather computer structure is for acquiring multiple infrared surveys The data of spacing mechanism detection；The error correction mechanism is for first passing through a reception oscillator for infrared distance sensor (4) The distance signal of detection, which with its vibration signal is input to one and is mixed in one, obtains distance measuring signal, then passes through in a mixing two Channel does not merge directly transmitting oscillator with the reception oscillator, formed intermediate frequency reference signal, then by frequency-selecting amplification with It is input in phase-sensitive detector after shaping and compares phase, obtain phase difference, finally calculate the stacking that slide assemblies (6) arrive the cargo The correction distance of top surface；The alarm mechanism is used for pre- at the more new data for not receiving at least one infrared distance measurement mechanism one If after the time, sending alert message.
8. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that the screen bar code recognizer Read the method for the bar code information the following steps are included:
(1) judge whether the bar code identifying device enters the barcode scanning area in the warehouse；
(2) when the bar code identifying device enters the barcode scanning area, the figure of the cargo is shot by multiple cameras (3) Picture, until collecting the bar code region of the cargo；
(3) image in the bar code region is shot by corresponding camera (3), and adjusts the camera (3) automatically Coke is to obtain the clear image of the cargo；
(4) it according to the clear image, identifies the bar code information in image, and obtains the information of the cargo；
(5) information of the cargo is recorded.
9. as described in claim 1 towards intelligentized infrared digital panorama system, which is characterized in that slide assemblies (6) packet Include locater plate (7), driving motor (8), driving wheel (9), belt (10), crossbeam (11), two locating wheels (12) and multiple cunnings It takes turns (13)；Infrared distance sensor (4) is mounted on locater plate (7)；Multiple pulleys (13) are rotatably installed in locater plate (7) respectively Both ends, and along the groove direction of guide rail (5) roll；Driving motor (8) is fixed on locater plate (7), and passes through belt (10) driving wheel (9) rotation is driven；Driving wheel (9) is fixed on crossbeam (11)；Crossbeam (11) is rotatably installed in locater plate (7) On, and both ends are respectively inserted in two locating wheels (12)；Two locating wheels (12) along two groups of guide rails (5) guiding movement.
10. it is a kind of towards intelligentized infrared digital panorama warehouse management method, it is applied to as any one in claim 1-9 Described in towards in intelligentized infrared digital panorama system, which is characterized in that itself the following steps are included:
(1) image of cargo in warehouse is shot, and according to image information, reads the bar code information of the cargo；
(2) the top of the cargo by the cargo emit infrared ray, with detect launch point to the cargo stacking The distance of top surface；
(3) range information of the bar code information to the cargo and launch point to the stacking top surface of the cargo carries out at data Reason, wherein processing method the following steps are included:
(3.1) data by infrared distance measurement mechanism detection are handled according to institute's pickup area block parallel, and according to corresponding The position of elevation information lookup cargo；
(3.2) the first position according to the cargo and the range information, calculate cargo physical height, then to the cargo The pixelation image of the cargo is obtained after physical height progress pixelation processing；
(3.3) gaussian filtering is carried out to the pixelation image, obtains gaussian filtering image；
(3.4) the gaussian filtering image and direction template are subjected to convolution to obtain the pixel value of each pixel, and according to One preset threshold calculates corresponding image edge information；
(3.5) first according to the range information and described image marginal information, the three-dimensional information of the cargo is obtained, further according to The elevation information in the warehouse and the warehouse compartment of planning obtain the cargo in the three-dimensional coordinate information of the warehouse compartment, finally will The bar code information is compared with the data in goods information library, extracts length, width and the elevation information of the cargo, And it is scaled by certain proportion to establish the three-dimensional live model in the warehouse.
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