CN112528950A - Moving target identification system and method for warehousing channel - Google Patents
Moving target identification system and method for warehousing channel Download PDFInfo
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- CN112528950A CN112528950A CN202011554838.7A CN202011554838A CN112528950A CN 112528950 A CN112528950 A CN 112528950A CN 202011554838 A CN202011554838 A CN 202011554838A CN 112528950 A CN112528950 A CN 112528950A
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- 238000013507 mapping Methods 0.000 claims description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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- 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
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Abstract
The invention provides a moving target identification system and a moving target identification method for a warehousing channel. Then, the scanning unit collects the range and coordinate information of the light beam which is emitted by the emitter and is shielded in real time, and transmits the information to the control unit; the control unit finishes the comparison of the moving target with the object and the human motion information through the length change rule of the shielding light beam, and realizes the distinction of the human body and the object; judging the running direction of the moving target according to the sequence of the size change of the moving target mapped to the scanning unit; and calculating the running speed of the human moving target according to the size change and the change time of the moving target mapped to the scanning system. The invention can safely and reliably identify the human body and the object in the storage channel and judge the state information of the human body and the object such as the running direction, the running speed and the like.
Description
Technical Field
The invention relates to the technical field of modern warehousing, in particular to a moving target identification system and a moving target identification method for a warehousing channel.
Background
Modern warehousing becomes one of the important links of commodity circulation and is an important pillar of logistics activity. The logistics storage automation is realized by the automation of equipment and facilities in the logistics operation process, including the operation processes of transportation, loading and unloading, packaging, sorting, identification and the like, for example, an automatic three-dimensional storage system, an automatic conveying system (including a mobile robot system AGVS), an automatic identification system and an automatic sorting system, and other auxiliary systems of a robot operation system and the like.
However, in the logistics operation process, a problem that generally exists at present is that when goods are transferred to the automatic object storage channel, due to the fact that complete isolation between workers and the goods cannot be achieved, the accuracy of goods identification is poor.
Therefore, how to detect and identify workers or other unexpected objects in the storage passage, so as to improve the accuracy of goods identification, is a problem to be solved urgently.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a moving target identification system and method for a storage channel, which can safely and reliably identify a human body and an object in the storage channel and determine status information such as a moving direction and a moving speed of the human body and the object.
In order to achieve the purpose, the invention is realized by the following technical scheme: a moving object identification system for a warehouse aisle, comprising:
the scanning unit comprises a safety light curtain emitter and a safety light curtain scanner which are oppositely arranged on the storage channel; the scanning unit is used for collecting the range and the coordinate information of a light beam which is blocked by a moving target in the light beam emitted by the light curtain emitter, and transmitting the range and the coordinate information to the control unit;
the control unit is used for determining the change rule of the light beam according to the range and the coordinate information of the light beam shielded by the moving target, classifying the moving target, judging the moving direction of the moving target and calculating the moving speed of the moving target according to the change rule of the light beam, and generating a judgment result;
the output unit is used for transmitting the judgment result to the external execution unit in a preset data format;
and the external execution unit is used for processing the data of the judgment result according to the presetting of the user.
Further, the control unit includes:
the classification module is used for finishing the comparison of the motion information of the object and the human body according to the length change rule of the light beam and distinguishing the moving target from the human body;
the judging module is used for judging the moving direction of the moving target by mapping the moving target to the sequence of the scanned size change;
and the calculation module is used for calculating the running speed of the moving target according to the size change mapped to the scanning unit by the moving target and the corresponding change time.
Correspondingly, the invention also discloses a moving target identification method for the warehousing channel, which comprises the following steps:
s1: presetting the length, the movement speed and the movement direction of a moving target in a scanning unit as legal trigger event characteristics which are allowed to pass through;
s2: the method comprises the steps that the range and coordinate information of a light beam which is shielded by a moving target in the light beam emitted by a light curtain emitter are collected through a scanning unit, and the range and coordinate information are transmitted to a control unit;
s3: the control unit obtains length change rule data of the moving target for shielding the light beam through a preset algorithm, and obtains size change data and corresponding change time of the moving target mapped to the scanning unit;
s4: comparing the length change rule data of the light beam shielded by the moving target with preset object and human motion information to determine that the moving target is a human body or an object;
s5: judging the moving direction of the moving target and calculating the moving speed according to the size change data mapped to the scanning unit by the moving target and the corresponding change time;
s6: generating a judgment result by the determination result of the moving target, the judged moving direction and the calculated moving speed;
s7: and transmitting the judgment result to an external execution unit in a preset data format.
Further, the step S4 includes:
and if the length information of the light beam blocked by the moving target is not changed and the moving track of the moving target is an uninterrupted straight line, the moving target is an object.
Further, the step S4 further includes:
if the length information of the light beam blocked by the moving target is discontinuous and alternate, the moving target is a human body.
Further, the step S5 includes:
the size change direction in which the moving object is mapped to the scanning unit is determined as the moving direction of the moving object.
Further, the step S5 further includes:
and when the moving target is mapped to the scanning unit, calculating the moving speed of the moving target according to the change duration of the size data acquired by each probe of the safety light curtain scanner.
Further, the step S7 is followed by:
s8: and the external execution unit stores the judgment result into a preset memory and sends the judgment result to the remote server through a network.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a moving target identification system and a moving target identification method for a warehousing channel. Then, the scanning unit collects the range and coordinate information of the light beam which is emitted by the emitter and is shielded in real time, and transmits the information to the control unit; the control unit finishes the comparison of the moving target with the object and the human motion information through the length change rule of the shielding light beam, and realizes the distinction of the human body and the object; judging the running direction of the moving target according to the sequence of the size change of the moving target mapped to the scanning unit; and calculating the running speed of the human moving target according to the size change and the change time of the moving target mapped to the scanning system. The output unit transmits the judgment result of the control unit to an external execution mechanism in a data format, and the external execution mechanism carries out corresponding processing according to the presetting of a user.
The invention can safely and reliably identify the human body and the object in the storage channel and judge the state information of the human body and the object such as the running direction, the running speed and the like.
In addition, the scanning unit of the invention adopts an active detector, is not influenced and limited by ambient light and background environment, and can realize high-precision and stable remote detection.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a system block diagram of the present invention.
FIG. 2 is a flow chart of the method of the present invention.
Fig. 3 is a schematic diagram of the movement of an object of the present invention.
Figure 4 is a schematic diagram of the human body movement of the present invention.
In the figure, 1 is a scanning unit, 2 is a mapping of an object in the scanning unit, and 3 is a mapping of a human body in the scanning unit.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
A moving object recognition system for a storage aisle as shown in fig. 1, comprising:
the scanning unit comprises a safety light curtain emitter and a safety light curtain scanner which are oppositely arranged on the storage channel; the scanning unit is used for collecting the range and the coordinate information of the light beam which is blocked by the moving target in the light beam emitted by the light curtain emitter, and transmitting the range and the coordinate information to the control unit.
And the control unit is used for determining the change rule of the light beam according to the range and the coordinate information of the light beam shielded by the moving target, classifying the moving target, judging the moving direction of the moving target and calculating the moving speed of the moving target according to the change rule of the light beam, and generating a judgment result.
The control unit includes:
the classification module is used for finishing the comparison of the motion information of the object and the human body according to the length change rule of the light beam and distinguishing the moving target from the human body;
the judging module is used for judging the moving direction of the moving target by mapping the moving target to the sequence of the scanned size change;
and the calculation module is used for calculating the running speed of the moving target according to the size change mapped to the scanning unit by the moving target and the corresponding change time.
And the output unit is used for transmitting the judgment result to the external execution unit in a preset data format.
And the external execution unit is used for processing the data of the judgment result according to the presetting of the user.
Correspondingly, as shown in fig. 2, the invention also discloses a moving target identification method for the warehousing channel, which comprises the following steps:
s1: the length, the movement speed and the movement direction of the moving target are preset in the scanning unit as legal trigger event characteristics which are allowed to pass through.
S2: the scanning unit is used for collecting the range and the coordinate information of the light beam which is shielded by the moving target in the light beam emitted by the light curtain emitter, and transmitting the range and the coordinate information to the control unit.
S3: the control unit obtains length change rule data of the moving target for shielding the light beam through a preset algorithm, and obtains size change data and corresponding change time of the moving target mapped to the scanning unit.
S4: and comparing the length change rule data of the light beam blocked by the moving target with preset object and human motion information to determine that the moving target is a human body or an object.
As shown in fig. 3, in the process of the object moving, the moving state is stable, the moving track is continuous and fixed, and the length information of the beam shielded by the scanning unit is fixed. Therefore, if the length information of the light beam blocked by the moving target is not changed and the moving track of the moving target is an uninterrupted straight line, the moving target is an object.
As shown in fig. 4, in the human body operation process, since the scanning unit detects the leg of the human body, the operation track and the length information of the light beam blocked by the scanning unit are intermittently and alternately changed, and thus, if the length information of the light beam blocked by the moving target is intermittently and alternately changed, the moving target is the human body.
S5: and judging the moving direction of the moving target and calculating the moving speed according to the size change data mapped to the scanning unit by the moving target and the corresponding change time.
Specifically, the size change direction in which the moving object is mapped to the scanning unit is determined as the moving direction of the moving object. And when the moving target is mapped to the scanning unit, calculating the moving speed of the moving target according to the change duration of the size data acquired by each probe of the safety light curtain scanner.
S6: and generating a judgment result by using the determination result of the moving target, the judged moving direction and the calculated moving speed.
S7: and transmitting the judgment result to an external execution unit in a preset data format.
S8: and the external execution unit stores the judgment result into a preset memory and sends the judgment result to the remote server through a network.
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in the form of a software product, where the computer software product is stored in a storage medium, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, and the storage medium can store program codes, and includes instructions for enabling a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, and the like) to perform all or part of the steps of the method in the embodiments of the present invention. The same and similar parts in the various embodiments in this specification may be referred to each other. Especially, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the description in the method embodiment.
In the embodiments provided by the present invention, it should be understood that the disclosed system, system and method can be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit.
Similarly, each processing unit in the embodiments of the present invention may be integrated into one functional module, or each processing unit may exist physically, or two or more processing units are integrated into one functional module.
The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Claims (8)
1. A moving object identification system for a warehouse aisle, comprising:
the scanning unit comprises a safety light curtain emitter and a safety light curtain scanner which are oppositely arranged on the storage channel; the scanning unit is used for collecting the range and the coordinate information of a light beam which is blocked by a moving target in the light beam emitted by the light curtain emitter, and transmitting the range and the coordinate information to the control unit;
the control unit is used for determining the change rule of the light beam according to the range and the coordinate information of the light beam shielded by the moving target, classifying the moving target, judging the moving direction of the moving target and calculating the moving speed of the moving target according to the change rule of the light beam, and generating a judgment result;
the output unit is used for transmitting the judgment result to the external execution unit in a preset data format;
and the external execution unit is used for processing the data of the judgment result according to the presetting of the user.
2. The system of claim 1, wherein the control unit comprises:
the classification module is used for finishing the comparison of the motion information of the object and the human body according to the length change rule of the light beam and distinguishing the moving target from the human body;
the judging module is used for judging the moving direction of the moving target by mapping the moving target to the sequence of the scanned size change;
and the calculation module is used for calculating the running speed of the moving target according to the size change mapped to the scanning unit by the moving target and the corresponding change time.
3. A moving target identification method for a warehousing channel is characterized by comprising the following steps:
s1: presetting the length, the movement speed and the movement direction of a moving target in a scanning unit as legal trigger event characteristics which are allowed to pass through;
s2: the method comprises the steps that the range and coordinate information of a light beam which is shielded by a moving target in the light beam emitted by a light curtain emitter are collected through a scanning unit, and the range and coordinate information are transmitted to a control unit;
s3: the control unit obtains length change rule data of the moving target for shielding the light beam through a preset algorithm, and obtains size change data and corresponding change time of the moving target mapped to the scanning unit;
s4: comparing the length change rule data of the light beam shielded by the moving target with preset object and human motion information to determine that the moving target is a human body or an object;
s5: judging the moving direction of the moving target and calculating the moving speed according to the size change data mapped to the scanning unit by the moving target and the corresponding change time;
s6: generating a judgment result by the determination result of the moving target, the judged moving direction and the calculated moving speed;
s7: and transmitting the judgment result to an external execution unit in a preset data format.
4. The moving object identification method for the warehousing channel as claimed in claim 3, wherein the step S4 includes:
and if the length information of the light beam blocked by the moving target is not changed and the moving track of the moving target is an uninterrupted straight line, the moving target is an object.
5. The moving object identification method for the warehousing channel as claimed in claim 3, wherein the step S4 further comprises:
if the length information of the light beam blocked by the moving target is discontinuous and alternate, the moving target is a human body.
6. The moving object identification method for the warehousing channel as claimed in claim 3, wherein the step S5 includes:
the size change direction in which the moving object is mapped to the scanning unit is determined as the moving direction of the moving object.
7. The moving object identification method for the warehousing channel as claimed in claim 3, wherein the step S5 further comprises:
and when the moving target is mapped to the scanning unit, calculating the moving speed of the moving target according to the change duration of the size data acquired by each probe of the safety light curtain scanner.
8. The method as claimed in claim 3, wherein the step S7 is followed by further comprising:
s8: and the external execution unit stores the judgment result into a preset memory and sends the judgment result to the remote server through a network.
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| CN202011554838.7A CN112528950A (en) | 2020-12-24 | 2020-12-24 | Moving target identification system and method for warehousing channel |
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| CN202011554838.7A CN112528950A (en) | 2020-12-24 | 2020-12-24 | Moving target identification system and method for warehousing channel |
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Application publication date: 20210319 |