CN113503920A - Warehouse material monitoring system and monitoring method - Google Patents
Warehouse material monitoring system and monitoring method Download PDFInfo
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- CN113503920A CN113503920A CN202110776318.9A CN202110776318A CN113503920A CN 113503920 A CN113503920 A CN 113503920A CN 202110776318 A CN202110776318 A CN 202110776318A CN 113503920 A CN113503920 A CN 113503920A
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- 239000000463 material Substances 0.000 title claims abstract description 155
- 238000012544 monitoring process Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012806 monitoring device Methods 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims description 35
- 230000007613 environmental effect Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000004576 sand Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention relates to a warehouse material monitoring system and a monitoring method, comprising the following steps: the environment monitoring device is used for acquiring and preprocessing the warehouse environment data in real time and transmitting the preprocessed environment monitoring data to the main processor through the wireless transmission device; a wireless router for connecting the environment monitoring device to a wireless network; the main processor is used for receiving, processing or storing the environment monitoring data transmitted by the wireless transmission device; the display is used for displaying the environment monitoring data received, processed or stored by the main processor, comparing the environment monitoring data with the corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
Description
Technical Field
The invention relates to the field of warehouse monitoring, in particular to a warehouse material monitoring system and a monitoring method.
Background
With the development of the internet, intelligent factories and intelligent warehouses have gradually emerged, and machines have gradually replaced some simple and repetitive tasks. In some places with harsh production environment, human labor should be avoided.
In a harsh plant environment, dust is high and the scale of the machine operation is large, but it is necessary to monitor whether there is a lack of material in each warehouse. If the materials are short, the materials need to be supplemented in time, otherwise, the production efficiency is influenced. Because the factory structure is designed in advance, the structure is not easy to change, most factories do not reserve installation sensors, network cables required by data transmission are not reserved, and the installation of data transmission lines obviously increases the cost and brings danger to the working environment. Conventional sensor arrangements require the lidar to be connected to a processor via a network cable. However, in a remote warehouse environment, multiple lidar is required and it is inconvenient to connect the lidar to the network by pulling the network cable.
Disclosure of Invention
Based on the above defects in the prior art, the invention aims to provide a warehouse material monitoring system and a monitoring method, which do not need to install cables, are flexible and convenient, use a wireless router to connect each environment monitoring device to a network, monitor the material quantity in a warehouse in real time, and can be applied to warehouse monitoring in complex environments.
The purpose of the invention can be realized by the following technical scheme:
a warehouse material monitoring system, comprising:
the environment monitoring device is used for acquiring and preprocessing the warehouse environment data in real time and transmitting the preprocessed environment monitoring data to the main processor through the wireless transmission device;
a wireless router for connecting the environment monitoring device to a wireless network;
the main processor is used for receiving, processing or storing the environment monitoring data transmitted by the wireless transmission device;
and the display is used for displaying the environment monitoring data received, processed or stored by the main processor, comparing the environment monitoring data with a corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
Preferably, the environment monitoring device includes:
the data acquisition device is used for acquiring warehouse environment data in real time and transmitting the warehouse environment data to the microprocessor, and comprises a laser radar and a camera;
the microprocessor is used for preprocessing the warehouse environment data acquired by the data acquisition device in real time;
and the information device is connected with the microprocessor and is used for transmitting the environment monitoring data obtained after the pretreatment to the wireless transmission device.
Preferably, the warehouse comprises a material storage area and a material operation area; the material storage area is used for storing materials, and the materials in the material operation area are used for production and consumption;
the main processor includes: the material volume calculating module is used for calculating the material volumes in the material storage area and the material operation area; the material transfer device detection module is used for identifying a forklift and a loading vehicle in a warehouse; the warehouse scene recovery module is used for identifying the three-dimensional space distribution state of the material stack in the material operation area; and the material operation area monitoring module is used for identifying the working state of the forklift in the material operation area.
Preferably, the display comprises:
the display module is used for displaying the environment monitoring data received, processed or stored by the main processor;
the comparison module is used for comparing the environment monitoring data with a corresponding preset environment threshold value, outputting a material storage area alarm signal when the volume of the materials in the material storage area is smaller than the preset environment threshold value of the material storage area, reminding the loading vehicle to convey the materials to the material storage area, and conveying the materials from the outside of the warehouse to the material storage area in the warehouse by the loading vehicle; when the volume of the materials in the material operation area is smaller than a preset environment threshold value of the material operation area, outputting a material operation area alarm signal to remind a forklift to convey the materials to the material operation area, and conveying the materials from the material storage area to the material operation area by the forklift;
and the warning module is used for receiving the alarm signal of the material storage area or the alarm signal of the material operation area and executing the alarm of the material storage area or the alarm of the material operation area.
Preferably, the material storage area comprises 1-3 and the material operation area comprises 1-2.
Preferably, an environmental monitoring device is installed above each material storage area and each material working area.
Preferably, the wireless transmission device includes a wireless bridge, configured to receive the environmental monitoring data preprocessed by the environmental monitoring device, and transmit the environmental monitoring data preprocessed by the environmental monitoring device to the main processor.
The invention also provides a warehouse material monitoring method, which is applied to a warehouse material monitoring system and comprises the following steps:
step S1: starting a wireless router to connect the environment monitoring device to a wireless network;
step S2: the environment monitoring device collects and preprocesses warehouse environment data in real time, and transmits the preprocessed environment monitoring data to the main processor through the wireless transmission device;
step S3: the main processor receives, processes or stores the environment monitoring data transmitted by the wireless transmission device and displays the environment monitoring data through the display;
step S4: and comparing the environment monitoring data with a corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
Preferably, step S3 includes the following material volume calculation steps:
step A1: extracting material monitoring data from the preprocessed environmental monitoring data;
step A2: rasterizing the extracted material monitoring data;
step A3: the volume of the material was obtained by integration calculation.
Preferably, the preprocessing in step S2 includes calculating the environmental monitoring data by using a camera-radar joint calibration algorithm, a camera-radar external reference calibration algorithm, or a point-cloud image fusion algorithm, to obtain the preprocessed environmental monitoring data.
Compared with the prior art, the invention has the following beneficial effects:
the warehouse material monitoring system disclosed by the invention has the advantages that each environment monitoring device is connected to the wireless network by using the wireless router, cables are not required to be installed, the system is flexible and convenient, and the system can be applied to warehouse monitoring of old factories and complex environments.
The environment monitoring device comprises a laser radar, a camera and a Jetson NX microprocessor, and adopts an edge calculation method, namely, the environment data of an original warehouse is preprocessed on each environment monitoring device in real time, all environment monitoring devices in a local area network are combined through a wireless router, and data are sent through a wireless transmission device, so that the dependence of the monitoring devices on cables is avoided, the data processing amount of a main processor is greatly reduced, and the calculation speed and the analysis efficiency of the main processor are increased.
The wireless transmission device preferably uses a wireless network bridge, so that the installation and the replacement are convenient, and the wireless network bridges of different models can meet different data transmission requirements, so that the whole warehouse monitoring system is not easily limited by the distance between a warehouse and a monitoring terminal.
Drawings
FIG. 1 is a schematic diagram of the connection of a warehouse material monitoring system according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection of an environmental monitoring device according to one embodiment 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 the described embodiments are only some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
A warehouse material monitoring system, comprising:
the environment monitoring device is used for acquiring and preprocessing the warehouse environment data in real time and transmitting the preprocessed environment monitoring data to the main processor through the wireless transmission device; the environment monitoring device includes: the data acquisition device is used for acquiring warehouse environment data in real time and transmitting the warehouse environment data to the microprocessor, the data acquisition device comprises a Livox Horizon laser radar and a camera, and the data acquisition device is a producer of data, generates a stable and reliable data source and is divided into laser radar data and image data. The laser radar data can perceive a three-dimensional space, has centimeter-level precision, can acquire the reflection intensity of a target object, and can be used for distinguishing objects with different reflection loudness. The image data has rich color information and can be used for detecting a target object with obvious color, and the perception performance and the reliability of the sensor can be enhanced by the combined calibration of the image data and the target object.
The Jetson NX microprocessor is used for preprocessing warehouse environment data acquired by the data acquisition device in real time, processing the data generated by the environment monitoring device by the microprocessor to generate a self-defined ROI (region of interest) signal, local point cloud and image block data, abstracting the original warehouse environment data by the layer, and generating data required by an upper layer system, namely a main processor; and the information device is connected with the microprocessor and is used for transmitting the environment monitoring data obtained after the pretreatment to the wireless transmission device. The wireless transmission device in the present embodiment is preferably a wireless bridge; the wireless network bridge comprises a wireless network bridge transmitting end and a wireless network bridge receiving end, wherein the wireless network bridge transmitting end is used for receiving and transmitting the environment monitoring data preprocessed by the environment monitoring device to the wireless network bridge receiving end, and the wireless network bridge receiving end is used for receiving and transmitting the environment monitoring data transmitted by the wireless network bridge transmitting end to the main processor. The connection diagram of the environment monitoring device is shown in fig. 2.
The WIFI3 AX3 wireless router, which adopts wireless network configuration information and is used for connecting the environment monitoring device to a wireless network; the network deployment of the system uniformly adopts a static IP mode; each environment monitoring device is an IP, and all the environment monitoring devices form a wireless local area network through wifi pairing, wherein the communication mode is multicomputer communication of ROS.
The main processor is used for receiving, processing or storing the environment monitoring data transmitted by the wireless transmission device; the main processor includes: the material volume calculating module is used for calculating the material volumes in the material storage area and the material operation area; the material transfer device detection module is used for identifying a forklift and a loading vehicle in a warehouse; the warehouse scene recovery module is used for identifying the three-dimensional space distribution state of the material stack in the material operation area; and the material operation area monitoring module is used for identifying the working state of the forklift in the material operation area.
The display comprises a display module, a comparison module and a warning module, wherein the display module is used for displaying the environment monitoring data received, processed or stored by the main processor; the material storage area is used for storing materials, the materials in the material operation area are used for production and consumption, in the embodiment, there are 2 material storage areas and 1 material operation area, as shown in fig. 1, 1 environment monitoring device is respectively installed above the 2 material storage areas and the 1 material operation area; the comparison module is used for comparing the environment monitoring data with a corresponding preset environment threshold value, outputting a material storage area alarm signal when the volume of the materials in the material storage area is smaller than the preset environment threshold value of the material storage area, reminding the loading vehicle to convey the materials to the material storage area, and conveying the materials from the outside of the warehouse to the material storage area in the warehouse by the loading vehicle; when the volume of the materials in the material operation area is smaller than a preset environment threshold value of the material operation area, outputting a material operation area alarm signal to remind a forklift to convey the materials to the material operation area, and conveying the materials from the material storage area to the material operation area by the forklift; the warning module is used for receiving the alarm signal of the material storage area or the alarm signal of the material operation area and executing the alarm of the material storage area or the alarm of the material operation area.
A warehouse material monitoring method can be applied to a warehouse material monitoring system and comprises the following steps:
step S1: starting a wireless router to connect the environment monitoring device to a wireless network;
step S2: the environment monitoring device collects and preprocesses warehouse environment data in real time, and transmits the preprocessed environment monitoring data to the main processor through the wireless transmission device; the preprocessing comprises the step of calculating the environment monitoring data by adopting a camera radar combined calibration algorithm, a camera radar external reference calibration algorithm or a point cloud image fusion algorithm to obtain the preprocessed environment monitoring data.
Step S3: the main processor receives, processes or stores the environment monitoring data transmitted by the wireless transmission device and displays the environment monitoring data through the display;
the method comprises the following steps of calculating the volume of materials:
step A1: the method comprises the steps of extracting material monitoring data from preprocessed environment monitoring data, wherein the position where materials exist in a warehouse has large dust, the range distance of the warehouse is large, and the RGB-G camera in the market is lower than a laser radar in precision and detection distance, so that the laser radar is selected to obtain three-dimensional data, the requirement on distance can be met, and certain robustness on dust can be achieved. Extracting point cloud data of the surface of the material from the complete point cloud data of the material area;
step A2: rasterizing the extracted material monitoring data; the point cloud projection is to project the filtered point cloud into pixels, and the gray value of each pixel represents the height of the material grid. Firstly, determining the range of the point cloud on an x axis and a y axis, rasterizing a point cloud area according to the grid size of 0:1m multiplied by 0:1m to determine the size of a picture, and traversing all the point clouds to determine which pixel each point cloud belongs to. When each point cloud is projected, multiple points may be projected into one pixel at the same time. The average of the dot heights is used as the gray value of the pixel. In actual practice, two pictures of the same size will be used. One picture M1 stores the total height of all point projections and one picture M2 stores several point clouds per pixel projection. After traversing all the point clouds, M1-M2 is the average height corresponding to the gray value of each pixel. After the scanned area is rasterized, some pixels may not have point cloud projection, and these pixels do not conform to the sand heap model and do not belong to a part of image prediction. Image expansion is used directly on the image to fill the blank spots in the scanned area. The prediction of the point cloud area that cannot be scanned at the back of the sand heap is based on a model of the sand heap that is symmetric about the highest point. As the columns of the picture are traversed, the edges of each sand pile and the vertices of the sand pile will be recorded to complete each sand pile estimation.
Step A3: the volume of the material was obtained by integration calculation.
The weight of the material can also be calculated from the known material density.
Step S4: and comparing the environment monitoring data with a corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (10)
1. A warehouse material monitoring system, comprising:
the environment monitoring device is used for acquiring and preprocessing the warehouse environment data in real time and transmitting the preprocessed environment monitoring data to the main processor through the wireless transmission device;
a wireless router for connecting the environment monitoring device to a wireless network;
the main processor is used for receiving, processing or storing the environment monitoring data transmitted by the wireless transmission device;
and the display is used for displaying the environment monitoring data received, processed or stored by the main processor, comparing the environment monitoring data with a corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
2. The warehouse material monitoring system of claim 1, wherein the environmental monitoring device comprises:
the data acquisition device is used for acquiring warehouse environment data in real time and transmitting the warehouse environment data to the microprocessor, and comprises a laser radar and a camera;
the microprocessor is used for preprocessing the warehouse environment data acquired by the data acquisition device in real time;
and the information device is connected with the microprocessor and is used for transmitting the environment monitoring data obtained after the pretreatment to the wireless transmission device.
3. The warehouse material monitoring system of claim 1, wherein:
the warehouse comprises a material storage area and a material operation area;
the main processor comprises: the material volume calculating module is used for calculating the material volumes in the material storage area and the material operation area; the material transfer device detection module is used for identifying a forklift and a loading vehicle in a warehouse; the warehouse scene recovery module is used for identifying the three-dimensional space distribution state of the material stack in the material operation area; and the material operation area monitoring module is used for identifying the working state of the forklift in the material operation area.
4. The warehouse material monitoring system of claim 3, wherein the display comprises:
the display module is used for displaying the environment monitoring data received, processed or stored by the main processor;
the comparison module is used for comparing the environment monitoring data with a corresponding preset environment threshold value, outputting a material storage area alarm signal when the volume of the material in the material storage area is smaller than the preset environment threshold value of the material storage area, and reminding the loading vehicle to convey the material to the material storage area; when the volume of the materials in the material operation area is smaller than a preset environment threshold value of the material operation area, outputting a material operation area alarm signal to remind the forklift to convey the materials to the material operation area;
and the warning module is used for receiving the alarm signal of the material storage area or the alarm signal of the material operation area and executing the alarm of the material storage area or the alarm of the material operation area.
5. The warehouse material monitoring system of claim 4, wherein the material storage areas comprise 1-3 and the material working areas comprise 1-2.
6. The warehouse material monitoring system of claim 5, wherein an environmental monitoring device is installed above each material storage area and each material working area.
7. The warehouse material monitoring system of claim 1, wherein the wireless transmission device comprises a wireless network bridge for receiving the environmental monitoring data preprocessed by the environmental monitoring device and transmitting the preprocessed environmental monitoring data to the main processor.
8. A warehouse material monitoring method applied to the warehouse material monitoring system according to any one of claims 3 to 7, comprising the steps of:
step S1: starting a wireless router to connect the environment monitoring device to a wireless network;
step S2: the environment monitoring device collects and preprocesses warehouse environment data in real time, and transmits the preprocessed environment monitoring data to the main processor through the wireless transmission device;
step S3: the main processor receives, processes or stores the environment monitoring data transmitted by the wireless transmission device and displays the environment monitoring data through the display;
step S4: and comparing the environment monitoring data with a corresponding preset environment threshold value, and giving an alarm when the environment monitoring data exceeds the corresponding preset environment threshold value.
9. The warehouse material monitoring method according to claim 8, wherein the step S3 includes the following material volume calculation steps:
step A1: extracting material monitoring data from the preprocessed environmental monitoring data;
step A2: rasterizing the extracted material monitoring data;
step A3: the volume of the material was obtained by integration calculation.
10. The warehouse material monitoring method of claim 8, wherein the preprocessing in step S2 includes calculating the environmental monitoring data by using a camera radar joint calibration algorithm, a camera radar external reference calibration algorithm, or a point cloud image fusion algorithm, so as to obtain the preprocessed environmental monitoring data.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117129041A (en) * | 2023-10-25 | 2023-11-28 | 广东省农业科学院动物科学研究所 | Agricultural product processing environment anomaly monitoring system based on Internet of things |
| CN117129041B (en) * | 2023-10-25 | 2024-01-02 | 广东省农业科学院动物科学研究所 | Agricultural product processing environment anomaly monitoring system based on Internet of things |
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Inventor after: Fan Hang Inventor after: Yao Jinqiang Inventor after: Ye Jianlong Inventor after: Lin Sen Inventor before: Yao Jinqiang Inventor before: Lin Sen Inventor before: Fan Hang |