CN113313444A - Forklift real-time positioning system and method for logistics warehouse - Google Patents
Forklift real-time positioning system and method for logistics warehouse Download PDFInfo
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- 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
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
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- 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
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- G06K7/1417—2D bar codes
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0833—Tracking
Abstract
The invention relates to the technical field of forklift positioning, in particular to a forklift real-time positioning system for a logistics warehouse and a method thereof, wherein the forklift real-time positioning system comprises a camera, a server terminal, a monitoring system, a fixed database, a forklift dispatching system and a mobile terminal, wherein the output end of the camera is electrically connected with the input end of the server terminal, and the input end of the server terminal is electrically connected with a power supply module; according to the forklift real-time positioning system and the forklift real-time positioning method, the hexahedral codes arranged on the top of the forklift are detected, the forklift is positioned in real time, the specific position of the forklift in a warehouse can be obtained in real time through software, the forklift position identification precision is improved, the equipment device is simplified, the positioning cost is reduced, the problems that the specific position of the forklift relative to the warehouse cannot be given in the existing positioning mode, the forklift cannot be efficiently scheduled, and the required equipment cost is high are solved, and further the logistics operation efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of forklift positioning, in particular to a forklift real-time positioning system and method for a logistics warehouse.
Background
Forklifts are industrial handling vehicles, which refer to various wheeled handling vehicles that handle, stack and transport operations over short distances to piece pallet goods, and can be generally classified into three categories: diesel fork truck, electric fork truck and storage fork truck use storage fork truck to transport the article in commodity circulation warehouse usually today, and storage fork truck owner is the fork truck who designs for goods transport in the warehouse. At present, forklift positioning in a warehouse still stops in a stage of fixedly attaching two-dimensional codes or fixing the forklift at fixed points by laser, the positioning mode needs to attach a large number of two-dimensional codes to the warehouse ground and possibly needs to mount equipment such as a laser radar on the forklift, and the required equipment is high in cost and troublesome to implement.
At present, most of forklift positioning in the popular industry depends on a laser radar/infinite pulse distance measurement technology, and still stays in the range measurement by depending on industrial equipment, and the specific position of the forklift relative to a warehouse cannot be given by the positioning mode, so that the high-efficiency scheduling of the forklift cannot be completed.
Disclosure of Invention
The invention aims to provide a forklift real-time positioning system for a logistics warehouse and a method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a commodity circulation is fork truck real-time positioning system for warehouse, includes camera, server terminal, monitored control system, fixed database, fork truck dispatch system and mobile terminal, the output of camera and the input electric connection at server terminal, the input electric connection at server terminal has power module, two-way electricity is connected between server terminal and the monitored control system, the output electric connection at server terminal has fork truck orientation module, electric connection between fork truck orientation module passing signal line and the fixed database, the output electric connection at fixed database has data transmission module, data transmission module's output and fork truck dispatch system's input electric connection, carry out data transmission through data network between mobile terminal and the fork truck dispatch system.
Preferably, the monitoring system comprises a communication port, a display module, a detection module and an alarm module, the communication port is electrically connected with the server terminal through a signal line, the input end of the display module is electrically connected with the communication port, the output end of the display module is electrically connected with the input end of the detection module, and the output end of the detection module is electrically connected with the input end of the alarm module.
Preferably, the forklift dispatching system comprises a data receiving module, a data management module, an MCU controller and a wireless communication module, the data receiving module is in signal connection with the data transmission module through a data network, the output end of the data receiving module is electrically connected with the input end of the data management module, the output end of the data management module is electrically connected with the input end of the MCU control module, and the output end of the MCU control module is electrically connected with the input end of the wireless communication module.
Preferably, the mobile terminal comprises a wireless receiving module, a display and a loudspeaker, the wireless receiving module performs data transmission with the wireless communication module through a wireless network, and the output end of the wireless receiving module is electrically connected with the input ends of the display and the loudspeaker respectively.
A forklift real-time positioning method for a logistics warehouse comprises the following steps:
s1: the tops of the forklifts are respectively provided with a hexahedron, five surfaces of the hexahedron except the bottom surface are respectively pasted with an aurco code, pictures of each area in the warehouse are collected through a camera, and then the pictures are transmitted to a server terminal through the camera;
s2: performing target detection on the picture of each camera, and if a forklift is detected to be under the current camera, extracting positioning characteristics of the forklift by reading the two-dimensional code to obtain pose information of the forklift relative to the camera;
s3: when the same forklift is seen under the multiple cameras, the poses of the forklift relative to the cameras are obtained through target detection, and the poses close to the depth of the cameras are filtered out to be used as the poses of the forklift at the moment;
s4: the position and the pose of the forklift relative to the camera and the position and the pose of the camera relative to the world coordinate system are cross-multiplied, so that the coordinate of the forklift relative to the world coordinate system is obtained, and the real-time positioning of the forklift in the world coordinate system is realized;
s5: the forklift positioning module stores the identified positioning information of the multiple forklifts into a fixed database, and when the uploading frequency is reached, the positioning information is uploaded to a forklift dispatching system in batches.
Preferably, in step S1, the arico code on each forklift has uniqueness, and the arico code is a two-dimensional code generated by the computer vision and machine learning software library, and each forklift has a specific non-repeating id number.
Preferably, in step S2, the forklift positioning feature is pose information of six degrees of freedom of the forklift, specifically including x, y, z, yaw, pitch, and row.
Preferably, in step S3, when the same forklift is detected under multiple cameras, the forklift position is regressed to one positioning information by using a positioning deduplication algorithm.
Preferably, in step S4, when the forklift enters the visual field of another camera from the visual field of one camera, the posture of the forklift relative to each camera changes, and the posture of the forklift relative to the cameras is converted into a posture in the world coordinate system.
Preferably, in step S5, when the forklift truck positioning module acquires new positioning data, the positioning data in the fixed database is continuously updated.
Compared with the prior art, the invention has the following beneficial effects:
according to the forklift real-time positioning system and the forklift real-time positioning method, the hexahedral codes arranged on the top of the forklift are detected, the forklift is positioned in real time, the specific position of the forklift in a warehouse can be obtained in real time through software, the forklift position identification precision is improved, the equipment device is simplified, the positioning cost is reduced, the problems that the specific position of the forklift relative to the warehouse cannot be given in the existing positioning mode, the forklift cannot be efficiently scheduled, and the required equipment cost is high are solved, and further the logistics operation efficiency can be improved.
Drawings
FIG. 1 is a flow chart of the forklift positioning of the present invention;
FIG. 2 is a schematic diagram of a forklift real-time positioning system of the present invention;
FIG. 3 is a system block diagram of the monitoring system of the present invention;
FIG. 4 is a system block diagram of the forklift dispatching system of the present invention;
fig. 5 is a system block diagram of the mobile terminal of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a fork truck real-time positioning system for logistics warehouse, including the camera, the server terminal, the monitored control system, the fixed database, fork truck dispatch system and mobile terminal, the output of camera and the input of server terminal electric connection, the input electric connection of server terminal has power module, two-way electricity is connected between server terminal and the monitored control system, the output electric connection of server terminal has fork truck orientation module, fork truck orientation module passes through electric connection between signal line and the fixed database, the output electric connection of fixed database has data transmission module, the output of data transmission module and the input electric connection of fork truck dispatch system, carry out data transmission through data network between mobile terminal and the fork truck dispatch system.
In this embodiment, the monitoring system includes the communication port, the display module, detection module and alarm module, the communication port passes through electric connection between signal line and the server terminal, electric connection between display module's input and the communication port, display module's output and detection module's input electric connection, detection module's output and alarm module's input electric connection, through the communication port, the display module, detection module and alarm module's setting, can show fork truck's real-time position, be favorable to security personnel to carry out the on-the-spot monitoring, and can detect the calculation to fork truck's operation route, in time report to the police and avoid causing the incident.
In this embodiment, fork truck dispatch system includes data receiving module, data management module, MCU controller and wireless communication module, data receiving module passes through signal connection between data network and the data transmission module, data receiving module's output and data management module's input electric connection, data management module's output and MCU control module's input electric connection, MCU control module's output and wireless communication module's input electric connection, through data receiving module, data management module, MCU controller and wireless communication module's setting, be favorable to transmitting fork truck's real-time position data to on-the-spot dispatch system, and can transmit scheduling instruction to the staff, thereby be favorable to dispatching the management to fork truck.
In this embodiment, mobile terminal includes wireless receiving module, display and speaker, and wireless receiving module carries out data transmission through between wireless network and the wireless communication module, and wireless receiving module's output respectively with the input electric connection of display and speaker, through the setting of wireless receiving module, display and speaker, can make the staff obtain the concrete position of fork truck in the warehouse in real time through software to the high-efficient dispatch of realizing fork truck in the warehouse improves workman's work efficiency.
A forklift real-time positioning method for a logistics warehouse comprises the following steps:
s1: the method comprises the following steps that a hexahedron is respectively arranged on the tops of forklifts, aurco codes are attached to five surfaces of the hexahedron except the bottom surface, pictures of all areas in a warehouse are collected through a camera, then the pictures are uploaded to a server terminal through the camera, the aurco codes on each forklift are unique, the aurco codes are two-dimensional codes generated by computer vision and a machine learning software library, each forklift has a specific non-repetitive id number, each forklift can be accurately positioned, the situation that positioning information is repetitive is avoided, the accuracy of identifying the position of the forklift is improved, and efficient dispatching of the forklift is achieved;
s2: the method comprises the steps that target detection is carried out on pictures of each camera, if a forklift is detected to be under the current camera, positioning features of the forklift are extracted by reading a two-dimensional code, and position and attitude information of the forklift relative to the camera is obtained, the positioning features of the forklift are position and attitude information of six degrees of freedom of the forklift, specifically comprise x, y, z, yaw, pitch and row, and the forklift can be accurately positioned through the position and attitude information of multiple degrees of freedom;
s3: when the same forklift is seen under the multiple cameras, the poses of the forklift relative to the cameras are obtained through target detection, the poses close to the depth of the cameras are filtered out to be used as the poses of the forklift at the moment, when the same forklift is detected under the multiple cameras, the forklift position is regressed into positioning information through a positioning deduplication algorithm, repeated pose information of the forklift can be filtered, and the more accurate the poses of the forklift are closer to the cameras;
s4: the position and pose of the forklift relative to the cameras and the position and pose of the cameras relative to the world coordinate system are crossed, so that the coordinates of the forklift relative to the world coordinate system are obtained, real-time positioning of the forklift in the world coordinate system is realized, when the forklift enters the visual field range of another camera from the visual field range of one camera, the position and pose of the forklift relative to each camera are changed, the position and pose of the forklift relative to the cameras are converted into the position and pose of the forklift under the world coordinate system, cross-border head tracking can be carried out on the forklift, and the position and pose of the forklift relative to the world coordinate system are favorably obtained;
s5: the forklift positioning module stores the identified positioning information of multiple forklifts into the fixed database, when the uploading frequency is reached, the positioning information is uploaded to the forklift dispatching system in a unified batch, and when the forklift positioning module acquires new positioning data, the positioning data in the fixed database is continuously updated, so that the positioning accuracy of the forklift can be increased, accurate dispatching of the forklift is facilitated, and the purpose of improving the working efficiency is achieved.
According to the forklift real-time positioning system and the forklift real-time positioning method, the hexahedral codes arranged on the top of the forklift are detected, the forklift is positioned in real time, the specific position of the forklift in a warehouse can be obtained in real time through software, the forklift position identification precision is improved, the equipment device is simplified, the positioning cost is reduced, the problems that the specific position of the forklift relative to the warehouse cannot be given in the existing positioning mode, the forklift cannot be efficiently scheduled, and the required equipment cost is high are solved, and further the logistics operation efficiency can be improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a fork truck real-time positioning system for commodity circulation warehouse, includes camera, server terminal, monitored control system, fixed database, fork truck dispatch system and mobile terminal, its characterized in that: the utility model discloses a monitoring system of a forklift truck, including camera, server terminal, power module, fixed database, data transmission module, fork truck dispatch system, mobile terminal and fork truck dispatch system, the output of camera and the input electric connection at server terminal, the input electric connection at server terminal has power module, two-way electricity is connected between server terminal and the monitored control system, the output electric connection at server terminal has fork truck orientation module, electric connection between fork truck orientation module passing signal line and the fixed database, the output electric connection at fixed database has data transmission module, data transmission module's output and fork truck dispatch system's input electric connection, carry out data transmission through data network between mobile terminal and the fork truck dispatch.
2. The forklift real-time positioning system for the logistics warehouse as claimed in claim 1, wherein: the monitoring system comprises a communication port, a display module, a detection module and an alarm module, wherein the communication port is electrically connected with the server terminal through a signal line, the input end of the display module is electrically connected with the communication port, the output end of the display module is electrically connected with the input end of the detection module, and the output end of the detection module is electrically connected with the input end of the alarm module.
3. The forklift real-time positioning system for the logistics warehouse as claimed in claim 1, wherein: the forklift dispatching system comprises a data receiving module, a data management module, an MCU controller and a wireless communication module, wherein the data receiving module is in signal connection with a data transmission module through a data network, the output end of the data receiving module is electrically connected with the input end of the data management module, the output end of the data management module is electrically connected with the input end of the MCU control module, and the output end of the MCU control module is electrically connected with the input end of the wireless communication module.
4. The forklift real-time positioning system for the logistics warehouse as claimed in claim 3, wherein: the mobile terminal comprises a wireless receiving module, a display and a loudspeaker, wherein the wireless receiving module is used for data transmission with the wireless communication module through a wireless network, and the output end of the wireless receiving module is electrically connected with the input ends of the display and the loudspeaker respectively.
5. A forklift real-time positioning method for a logistics warehouse is characterized by comprising the following steps: the method comprises the following steps:
s1: the tops of the forklifts are respectively provided with a hexahedron, five surfaces of the hexahedron except the bottom surface are respectively pasted with an aurco code, pictures of each area in the warehouse are collected through a camera, and then the pictures are transmitted to a server terminal through the camera;
s2: performing target detection on the picture of each camera, and if a forklift is detected to be under the current camera, extracting positioning characteristics of the forklift by reading the two-dimensional code to obtain pose information of the forklift relative to the camera;
s3: when the same forklift is seen under the multiple cameras, the poses of the forklift relative to the cameras are obtained through target detection, and the poses close to the depth of the cameras are filtered out to be used as the poses of the forklift at the moment;
s4: the position and the pose of the forklift relative to the camera and the position and the pose of the camera relative to the world coordinate system are cross-multiplied, so that the coordinate of the forklift relative to the world coordinate system is obtained, and the real-time positioning of the forklift in the world coordinate system is realized;
s5: the forklift positioning module stores the identified positioning information of the multiple forklifts into a fixed database, and when the uploading frequency is reached, the positioning information is uploaded to a forklift dispatching system in batches.
6. The real-time positioning method of the forklift for the logistics warehouse as claimed in claim 5, wherein the real-time positioning method comprises the following steps: in the step S1, the arico code on each forklift has uniqueness, and the arico code is a two-dimensional code generated by the computer vision and machine learning software library, and each forklift has a specific unrepeated id number.
7. The real-time positioning method of the forklift for the logistics warehouse as claimed in claim 5, wherein the real-time positioning method comprises the following steps: in the step S2, the forklift positioning feature is pose information of six degrees of freedom of the forklift, specifically including x, y, z, yaw, pitch, and row.
8. The real-time positioning method of the forklift for the logistics warehouse as claimed in claim 5, wherein the real-time positioning method comprises the following steps: in step S3, when the same forklift is detected under multiple cameras, the forklift position is regressed to be positioning information by using a positioning deduplication algorithm.
9. The real-time positioning method of the forklift for the logistics warehouse as claimed in claim 5, wherein the real-time positioning method comprises the following steps: in step S4, when the forklift enters the visual field range of another camera from the visual field range of one camera, the pose of the forklift relative to each camera changes, and the pose of the forklift relative to the cameras is converted into the pose in the world coordinate system.
10. The real-time positioning method of the forklift for the logistics warehouse as claimed in claim 5, wherein the real-time positioning method comprises the following steps: in step S5, when the forklift truck positioning module acquires new positioning data, the positioning data in the fixed database is continuously updated.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113963563A (en) * | 2021-09-23 | 2022-01-21 | 合肥哈工库讯智能科技有限公司 | AMF (advanced metering framework) scheduling control system based on 5G and edge calculation |
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Application publication date: 20210827 |