CN114581000A - Tray detection and matching system and method for automatic stereoscopic warehouse - Google Patents
Tray detection and matching system and method for automatic stereoscopic warehouse Download PDFInfo
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- CN114581000A CN114581000A CN202210172746.5A CN202210172746A CN114581000A CN 114581000 A CN114581000 A CN 114581000A CN 202210172746 A CN202210172746 A CN 202210172746A CN 114581000 A CN114581000 A CN 114581000A
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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
- 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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a tray detection and matching system of an automatic stereoscopic warehouse, which is characterized by comprising a tray loading capacity detection terminal, a warehouse goods scanning terminal and a data processing module; the tray loading capacity detection terminal is used for detecting the loading condition of goods put in storage or on the trays in the storage; the warehousing goods scanning terminal is used for detecting the volume of warehousing goods; the data processing module is used for receiving and processing the data sent by the tray loading capacity detection terminal and the warehousing goods scanning terminal, and matching the trays meeting the loading of the warehousing goods.
Description
Technical Field
The invention relates to the field of automatic warehouse, in particular to a tray detection and matching system and method for an automatic stereoscopic warehouse.
Background
In the use process of the automatic stereoscopic warehouse, the management of the whole pallet goods and the scattered goods is necessarily involved, particularly, the management is effective to the fact that the scattered goods need to be frequently delivered to and delivered from the warehouse for spare part warehouses and the like, the actual goods carrying condition of the pallet on the goods position is effectively managed, and the management is an important condition for optimizing and improving the scheduling and using efficiency of the whole warehouse.
For goods with standard sizes, the system can better collect and store goods stacking conditions loaded on each tray through methods such as automatic stacking equipment, bar code reading and binding and the like, so that better tray cargo capacity management is realized. Under the conditions that goods have nonstandard sizes, goods of different specifications are mixed and loaded, tray goods are loaded and unloaded manually and the like, the dispatching system can record the number, the types and the like of the goods on each tray, but the specific loading and stacking conditions are difficult to manage well, and the length, the width, the height and the like of the goods are measured mainly by means of manual operation, warehousing external inspection or appearance detection equipment and the like, so that whether the tray is full or not, whether warehousing conditions are met or not is judged.
When new scattered goods need to be put in storage, the tray capable of adding the goods is difficult to be accurately given according to the goods to be put in storage and the actual storage condition in the warehouse, and the goods are put in storage by adopting a rough judgment or directly using a new tray, so that the use efficiency of each goods position is reduced, more redundant goods position designs are needed, and the like.
Disclosure of Invention
The invention aims to: aiming at the existing problems, the system and the method for detecting and matching the trays of the automatic stereoscopic warehouse are provided, the cargo loading capacity of the trays is detected when the cargo trays are put in storage, and the detection result is bound with the trays and stored; when new scattered goods need to be put in storage, according to the size of the new goods, a tray capable of adding the goods is searched and matched in the system, the tray is sent out, and the goods are accurately added, so that the use efficiency of a single goods position is improved, and the requirement of redundant goods positions is reduced.
The technical scheme of the invention is as follows:
the invention relates to a tray detection and matching system of an automatic stereoscopic warehouse, which comprises a tray loading capacity detection terminal, a warehouse goods scanning terminal and a data processing module; the tray loading capacity detection terminal is used for detecting the loading condition of goods in a warehouse or on a tray in the warehouse; the warehousing goods scanning terminal is used for detecting the volume of warehousing goods; and the data processing module is used for receiving and processing the data sent by the tray loading capacity detection terminal and the warehousing goods scanning terminal, and matching the trays meeting the requirement of loading the warehousing goods.
Preferably, the tray loading capacity detection terminal is installed in at least one of the tray warehousing station and the automatic three-dimensional warehouse; the warehousing goods scanning terminal is arranged on a to-be-warehoused goods scanning platform; the data processing module comprises a data management server or an external system; the external system is a management system in the automatic stereoscopic warehouse and comprises a scheduling system or an electric control system.
Preferably, the tray loading capacity detection terminal comprises a first 3D sensor, a tray ID module, a first control module and a first power supply; the first 3D sensor is used for acquiring depth or point cloud data of a tray detection area; the tray ID module is used for acquiring the identity information of the tray; the control module I is used for processing the depth or point cloud data, generating gridding tray loading capacity data and providing a data interface; the first power supply is used for power supply conversion and supply of the tray loading capacity detection terminal.
Preferably, the system also comprises an IO module I, an indicator lamp I and a photoelectric switch I; the IO module I is used for triggering signal input and is connected with input and output signals of external equipment; the first indicator light is used for indicating the working state of the terminal; the first photoelectric switch is used for synchronizing data acquisition of the 3D sensor, and when the tray passes through the detection area, the first photoelectric switch acts to trigger the first control module to acquire the data of the 3D sensor through the IO module.
Preferably, the first 3D sensor comprises a 3D camera or a laser profile scanner; the tray ID module reads through an ID reader or receives the identity ID of the tray from an external system or a data management server through a data interface; the ID reader includes a code reader and an RFID reader.
Preferably, the data processing module is installed in a central control room or a field, or is integrated in an external system; the data processing module is used for receiving the station number of the receiving warehouse and the tray identity ID and sending the station number and the tray identity ID to the corresponding tray loading capacity detection terminal; receiving the loading capacity data of the gridding tray and storing the data to a database; and receiving the gridded goods model data sent by the warehousing goods scanning terminal, searching and matching in the database, finding the tray number capable of adding the goods, and sending the tray number to an external system.
Preferably, the warehousing goods scanning terminal comprises a second 3D sensor, a goods ID reader and a second control module; the second 3D sensor is used for acquiring depth or point cloud data of a warehouse goods detection area; the goods ID reader is used for reading the identity ID of the goods; and the control module II is used for processing the depth or point cloud data, generating gridded goods model data and providing a data interface.
The invention relates to a tray detection and matching method for an automatic stereoscopic warehouse, which comprises the following steps:
the method comprises the following steps of firstly, enabling a tray to enter a tray detection area, and acquiring and binding a tray identity ID; detecting the loading condition of goods on the tray, generating and storing grid tray loading capacity data;
step two: judging whether the goods are ultra-wide or ultra-high in the generation of the loading capacity data of the gridding tray; if the distance is too wide or too high, an alarm is given;
step three: detecting the appearance of goods to be warehoused, generating gridding goods model data according to grid parameters, and binding the gridding goods model data with goods ID;
step four: the obtained gridding cargo model data and the stored gridding tray loading capacity data are overlapped in a sliding mode one by one; if the stacking is successful, further judging whether the goods on the tray after stacking are over wide or over high; if the matching search is not ultra-wide or ultra-high, the matching search is successful;
step five: if the matching retrieval is successful, controlling the corresponding tray to perform additional cargo warehousing; and if the matching retrieval fails, starting a new tray.
Preferably, the method of generating gridded pallet loading capacity data comprises: converting the collected depth or point cloud data of the tray detection area into a depth image of the detection area, and acquiring a depth area only containing the tray and goods through a depth image processing algorithm; dividing the intercepted area into m-n grid areas according to set grid parameters, calculating the maximum depth value of each grid area, and standardizing each grid depth value by the plane of the upper surface of the tray through calibration data during installation so as to obtain the loading capacity data of the gridding tray.
Preferably, the method of generating gridded cargo model data comprises: the method comprises the steps of converting collected depth or point cloud data of a cargo detection area into a depth image of the detection area, obtaining a depth area only containing a cargo part through a depth image processing algorithm, dividing the intercepted area into a plurality of areas according to set grid parameters, and calculating the maximum depth value of each area so as to obtain grid cargo model data.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention can finish the detection and storage of the cargo loading capacity of the pallet when the cargo pallet is put in storage, provides a selected database for the pallet loading space required by cargo matching, and is convenient for automatic matching.
2. The invention represents the loading condition of the pallet goods and the condition of the goods to be warehoused in a gridding way, so that an operator can visually check and evaluate the loading capacity of the pallet, and the system can quickly search and match the goods position addition when the new goods are warehoused.
3. When new goods need to be put in storage, the invention can obtain the tray capable of adding the goods through inquiry according to the goods condition, thereby realizing accurate delivery and goods addition, improving the use efficiency of goods positions and reducing the requirement of redundant goods positions.
4. The invention can be independent of the existing control and scheduling system, is connected with the external system through the data interface, is used for the external system to inquire and retrieve, gives the matching result, and is convenient for installation and deployment and the upgrade of the existing system.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a tray detecting and matching system of an automated stereoscopic warehouse according to the present invention.
Fig. 2 is a schematic structural diagram of a tray loading capability detection terminal in the embodiment.
Fig. 3 is a schematic diagram of gridded pallet loading capacity data in an embodiment.
Fig. 4 is a schematic structural diagram of a warehouse cargo scanning terminal in the embodiment.
FIG. 5 is a schematic diagram of gridded cargo model data in an embodiment.
Fig. 6 is a schematic structural diagram of the data management server in the embodiment.
Fig. 7 is a schematic diagram of the data management server performing retrieval matching in the embodiment.
Fig. 8 is a flow chart of tray warehousing in the embodiment.
Fig. 9 is a flow chart of cargo warehousing in the embodiment.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification (including any accompanying claims, abstract) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
The features and properties of the present invention are described in further detail below with reference to examples.
As shown in fig. 1, the present invention discloses a tray detecting and matching system for an automated stereoscopic warehouse, which includes one or more tray loading capability detecting terminals, a warehouse goods scanning terminal and a data management server. The tray loading capacity detection terminal and the warehousing goods scanning terminal are connected with the data management server; the tray loading capacity detection terminal sends the detection data to the data management server; the warehousing goods scanning terminal sends the detection data to an external data management server through a data interface; and the data management server performs retrieval matching.
In one embodiment, a 1200 x 1000 x 150mm standard tray is used, with a grid parameter of 200 x 200mm, i.e. the tray is divided into 6 x 5 grids.
As shown in fig. 2, the tray loading capability detection terminal is composed of a 3D sensor, an ID reader, a control module, a power supply, an IO module, an indicator lamp, and a photoelectric switch. The tray loading capacity detection terminal is installed at each warehousing station in the automatic stereoscopic warehouse and mainly completes the following functions: when the tray passes through the detection terminal, the cargo loading condition on the warehousing tray is detected, gridding detection data is generated, the detection data and the tray ID are bound, and the detection data and the tray ID are sent to the data management server. The tray ID can be read by a self-configured reader, such as an RFID reader, a barcode reader, etc., and can also receive the tray ID sent from an external system or a data management server through a data interface.
In the embodiment, when the tray loading capacity detection terminal is installed, the 3D sensor is calibrated and calibrated by taking the plane of the upper surface of the tray as a reference. A 3D sensor in the tray loading capacity detection terminal adopts a 3D camera based on a binocular stereoscopic vision principle and is connected with the control module by a USB3.0 interface; but not limited to, a 3D camera, a laser profile scanner, or other sensor capable of acquiring three-dimensional data may be used to acquire depth or point cloud data of the detection area. The control module is realized by adopting an embedded controller module based on ARM, the external data interface is realized by Ethernet, and the control module is used for processing depth or point cloud data and generating gridding tray loading capacity data and providing a data interface. The IO module in the tray loading capability detection terminal is provided with 4 paths of input and 4 paths of output and is connected with the control module through an RS485 interface. 2 pilot lamps are installed to tray loading capacity testing terminal, are used for power supply demonstration and status display respectively, show different operating condition according to the different flicker frequency of status display pilot lamp. And a photoelectric switch in the tray loading capacity detection terminal is arranged on the tray conveying equipment and is connected to the IO module through a cable. When the tray passes through the detection area, the photoelectric switch is shielded and acts, and the control module is triggered to collect the data of the 3D camera.
After receiving data collected by a 3D camera, a control module in the tray loading capacity detection terminal converts the data into a depth image of a detection area, and then obtains a depth area only containing a tray and a goods part through a depth image processing algorithm; judging whether the goods on the pallet are ultra-wide and ultra-high according to the intercepted area, if so, giving alarm information through a data interface or an IO module to prompt an external system to perform abnormal processing, and simultaneously prompting an operator through an indicator light; if the tray is not ultra-wide and ultra-high, the intercepted area is divided into 6-5 grid areas according to set parameters, the maximum depth value of each grid area is calculated, the depth value of each grid is standardized according to the plane of the upper surface of the tray through calibration data during installation, and therefore gridding detection data of the cargo loading capacity is obtained, and as shown in fig. 3, the detection data comprises tray ID, the number of grids in the length direction, the number of grids in the width direction and the maximum height of each grid. The depth image processing algorithm in the tray loading capability detection terminal comprises the following steps: filtering the image; hole filling based on linear interpolation; performing stereoscopic projection; intercepting a region of interest; and (4) carrying out depth threshold segmentation.
As shown in fig. 4, the warehouse cargo scanning terminal includes a 3D sensor, a control module, a power supply, an IO module, an indicator light, and a photoelectric switch. The warehousing goods scanning terminal is arranged at the position of the to-be-warehoused goods scanning platform and completes the following functions: when goods need to be put in storage, the appearance of the goods to be put in storage is detected, gridded goods model data is generated according to grid parameters, the model data and the goods ID are bound, and the data are sent to a data management server. The goods ID can be read by a self-configured reader, such as an RFID reader, a barcode reader, etc., and can also be received through a data interface.
In the embodiment, when the warehousing goods scanning terminal is installed, the 3D camera is calibrated and calibrated by taking the plane of the upper surface of the tray as a reference. The 3D sensor in the warehousing cargo scanning terminal adopts a 3D camera based on a binocular stereoscopic vision principle and is connected with the control module by a USB3.0 interface; but are not limited to, a 3D camera, a laser profile scanner, etc. that can acquire three-dimensional data for acquiring depth or point cloud data of a detection area. The ID reader in the warehousing goods scanning terminal may be, but is not limited to, a code reader, an RFID reader, or other sensors capable of reading identity information, and is configured to read the identity ID of the goods.
A control module in the warehouse cargo scanning terminal is realized by adopting an ARM-based embedded controller module, an external data interface is realized by Ethernet and is used for processing depth or point cloud data and generating gridding cargo model data, and a data interface is provided at the same time. The IO module in the warehouse cargo scanning terminal is provided with 4 paths of input and 4 paths of output and is connected with the control module through an RS485 interface. The warehouse entry goods scanning terminal is installed 2 pilot lamps, is used for power supply display and status display respectively, shows different operating condition according to the different scintillation frequency of status display pilot lamp. Photoelectric switches in the warehousing cargo scanning terminal are installed on the tray conveying equipment and connected to the IO module through cables. When the tray passes through the detection area, the photoelectric switch is shielded and acts, and the control module is triggered to collect the data of the 3D camera.
After receiving data acquired by the 3D sensor, a control module in the warehousing cargo scanning terminal converts the data into a depth image of a detection area, then obtains a depth area only containing a cargo part through a depth image processing algorithm, divides the intercepted area into a plurality of areas according to set grid parameters, and calculates the maximum depth value of each area, so that gridding cargo model data is obtained, wherein the gridding cargo model data comprises a cargo ID and the maximum height of each grid as shown in FIG. 5. And sending the detection data to a data management server through a data interface. The depth image processing algorithm in the warehousing goods scanning terminal comprises the following steps: filtering the image; hole filling based on linear interpolation; performing stereoscopic projection; intercepting a region of interest; and (4) carrying out depth threshold segmentation.
The data management server can be installed in a central control room or on site as required, and can also be integrated in an external system in the form of a software module and connected with the tray loading capacity detection terminal, the warehouse goods scanning terminal and the external system. The following functions are mainly completed: before the tray is put in storage, the tray can receive the station number and the tray identity ID of the storage station and send the tray number and the tray identity ID to a corresponding tray loading capacity detection terminal; after the tray passes through the tray loading capacity detection terminal, receiving detection data and storing the data in a database; when goods need to be put in storage, receiving gridded goods model data sent by a goods-in-storage scanning terminal, searching and matching in a database, finding a tray number capable of adding the goods, and sending the tray number to an external system.
As shown in fig. 6, in one embodiment, the data management server is a computer, installed in the central control room, and includes a management module, a search matching module, a storage module, a human-computer interface, and a data interface, where the management module is connected to the search matching module, the storage module, the human-computer interface, and the data interface, respectively. The data management server is connected with an external system, namely a stereoscopic warehouse scheduling system through the Ethernet.
In another embodiment, the tray ID is directly transmitted to the tray loading capability detection terminal of the corresponding station through an external system, i.e., a stereoscopic warehouse scheduling system, so that the data management server is not required to perform the transfer.
As shown in fig. 7, when the data management server performs retrieval matching, the obtained gridded goods model data and the used goods location tray loading capacity detection data stored in the database are overlapped in a sliding manner one by one, if the gridded goods model data can be successfully overlapped and the goods on the overlapped trays do not have ultra-wide and ultra-high factors, the matching retrieval is considered to be successful, the goods location tray can add the goods, and output a corresponding tray number to an external system, namely a stereoscopic warehouse scheduling system.
The invention also discloses tray detection and matching of the automatic stereoscopic warehouse, which comprises the following working steps:
s1 calibration and parameter setting:
s1.1, after the system is installed, calibrating a tray loading capacity detection terminal and a warehouse goods scanning terminal by taking the upper surface of a tray as a reference;
s1.2, setting ultrahigh and ultra-wide parameters;
s1.3 sets the grid parameters 200 x 200 mm.
And S2, warehousing the tray, as shown in FIG. 8:
s2.1 before the tray enters a detection area of the tray loading capacity detection terminal, an external system, namely a stereoscopic warehouse scheduling system sends the identity ID of the tray to be warehoused to the tray loading capacity detection terminal of the corresponding platform;
s2.2, the tray enters a detection area of a tray loading capacity detection terminal, a photoelectric switch is triggered, a control module collects data of a 3D sensor, the data are converted into a depth image of the detection area, and then a depth area which only comprises the tray and goods in the depth image is obtained through a depth image processing algorithm; judging whether the goods on the pallet are ultra-wide and ultra-high according to the intercepted area, if so, giving alarm information through a data interface or an IO module to prompt an external system to perform abnormal processing, and simultaneously prompting an operator through an indicator light;
s2.3, if the cargo loading capacity is not over-wide and over-high, dividing the intercepted area into 6-5 grid areas according to set parameters, calculating the maximum depth value of each grid area, standardizing the depth value of each grid area by the plane of the upper surface of the tray through calibration data during installation so as to obtain cargo loading capacity gridding detection data, and sending the detection data to a data management server through a data interface;
and S2.4, after receiving the detection data, the data management server stores the data to the storage module.
And S3, warehousing goods, as shown in FIG. 9:
s3.1, when new goods are needed to be put in storage, the goods are placed on a tray and pass through a goods scanning platform to be put in storage, the goods enter a detection area of a goods scanning terminal to be put in storage, a photoelectric switch is triggered, 3D sensor data are collected through a control module, goods identity IDs are read, the data are converted into depth images of the detection area, then a depth area only containing goods is obtained through a depth image processing algorithm, the intercepted area is divided into a plurality of areas according to grid parameters, the maximum depth value of each area is calculated, grid goods model data are obtained, and the detection data are sent to an external data management server through a data interface;
s3.2, after receiving the gridded goods model data, the data management server carries out sliding superposition on the obtained gridded goods model data and the used goods position tray loading capacity detection data stored in the database one by one, if the gridded goods model data can be successfully superposed and the goods on the superposed trays do not have ultra-wide and ultra-high factors, the matching retrieval is considered to be successful, and the goods position tray can be added with the goods;
s3.3, if the matching retrieval is successful, sending the corresponding pallet number to a stereoscopic warehouse dispatching system, and controlling the corresponding pallet to be delivered out of the warehouse by the stereoscopic warehouse dispatching system to perform goods additional warehousing; if the tray fails, failure information is sent, and the stereoscopic warehouse scheduling system controls to start a new tray.
The above-mentioned embodiments only express the specific embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which are all within the protection scope of the present application.
Claims (10)
1. A tray detection and matching system of an automatic stereoscopic warehouse is characterized by comprising a tray loading capacity detection terminal, a warehouse goods scanning terminal and a data processing module; the tray loading capacity detection terminal is used for detecting the loading condition of goods put in storage or on the trays in the storage; the warehousing goods scanning terminal is used for detecting the volume of warehousing goods; and the data processing module is used for receiving and processing the data sent by the tray loading capacity detection terminal and the warehousing goods scanning terminal, and matching the trays meeting the requirement of loading the warehousing goods.
2. The tray detecting and matching system of the automated stereoscopic warehouse of claim 1, wherein the tray loading capability detecting terminal is installed at least one of a tray warehousing station and an automated stereoscopic warehouse; the warehousing goods scanning terminal is arranged on a to-be-warehoused goods scanning platform; the data processing module comprises a data management server or an external system; the external system is a management system in the automatic stereoscopic warehouse and comprises a scheduling system or an electric control system.
3. The tray detecting and matching system of the automated stereoscopic warehouse of claim 1, wherein the tray loading capability detecting terminal includes a first 3D sensor, a first tray ID module, a first control module, and a first power supply; the first 3D sensor is used for acquiring depth or point cloud data of a tray detection area; the tray ID module is used for acquiring the identity information of the tray; the control module I is used for processing the depth or point cloud data, generating gridding tray loading capacity data and providing a data interface; the first power supply is used for power conversion and supply of the tray loading capacity detection terminal.
4. The tray detecting and matching system of the automated stereoscopic warehouse of claim 3, further comprising a first IO module, a first indicator light, and a first photoelectric switch; the IO module I is used for triggering signal input and is connected with input and output signals of external equipment; the first indicator light is used for indicating the working state of the terminal; the first photoelectric switch is used for synchronizing data acquisition of the 3D sensor, and when the tray passes through the detection area, the first photoelectric switch acts to trigger the first control module to acquire the data of the 3D sensor through the IO module.
5. The system for tray detection and matching of an automated stereoscopic warehouse of claim 3, wherein the first 3D sensor comprises a 3D camera or a laser profile scanner; the tray ID module reads through an ID reader or receives the identity ID of the tray from an external system or a data management server through a data interface; the ID reader includes a code reader and an RFID reader.
6. The tray detecting and matching system of the automated stereoscopic warehouse of claim 1, wherein the data processing module is installed in a central control room or a field, or is integrated in an external system; the data processing module is used for receiving the station number of the receiving warehouse and the tray identity ID and sending the station number and the tray identity ID to the corresponding tray loading capacity detection terminal; receiving the loading capacity data of the gridding tray and storing the data to a database; and receiving the gridded goods model data sent by the warehousing goods scanning terminal, searching and matching in the database, finding the tray number capable of adding the goods, and sending the tray number to an external system.
7. The tray detecting and matching system of the automated stereoscopic warehouse of claim 1, wherein the warehoused cargo scanning terminal includes a second 3D sensor, a second cargo ID reader, a second control module; the second 3D sensor is used for acquiring depth or point cloud data of a warehouse goods detection area; the goods ID reader is used for reading the ID of goods; and the control module II is used for processing the depth or point cloud data, generating gridded goods model data and providing a data interface.
8. A tray detection and matching method for an automatic stereoscopic warehouse is characterized by comprising the following steps:
the method comprises the following steps of firstly, enabling a tray to enter a tray detection area, and acquiring and binding a tray identity ID; detecting the loading condition of goods on the tray, generating and storing grid tray loading capacity data;
step two: judging whether the goods are ultra-wide or ultra-high in the generation of the loading capacity data of the gridding tray; if the distance is too wide or too high, an alarm is given;
step three: detecting the appearance of goods to be warehoused, generating gridding goods model data according to grid parameters, and binding the gridding goods model data with goods ID;
step four: the obtained gridding cargo model data and the stored gridding tray loading capacity data are overlapped in a sliding mode one by one; if the stacking is successful, further judging whether the goods on the tray after stacking are over wide or over high; if the matching search is not ultra-wide or ultra-high, the matching search is successful;
step five: if the matching retrieval is successful, controlling the corresponding tray to perform additional cargo warehousing; and if the matching retrieval fails, starting a new tray.
9. The tray detection and matching method of an automated stereoscopic warehouse of claim 8, wherein the method of generating gridded tray loading capacity data: converting the collected depth or point cloud data of the tray detection area into a depth image of the detection area, and acquiring a depth area only containing the tray and goods through a depth image processing algorithm; dividing the intercepted area into m-n grid areas according to set grid parameters, calculating the maximum depth value of each grid area, and standardizing each grid depth value by the plane of the upper surface of the tray through calibration data during installation so as to obtain the loading capacity data of the gridding tray.
10. The method for tray detection and matching of an automated stereoscopic warehouse of claim 8, wherein the method for generating gridded cargo model data: the method comprises the steps of converting collected depth or point cloud data of a cargo detection area into a depth image of the detection area, obtaining a depth area only containing a cargo part through a depth image processing algorithm, dividing the intercepted area into a plurality of areas according to set grid parameters, and calculating the maximum depth value of each area so as to obtain grid cargo model data.
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| CN116776908A (en) * | 2023-08-17 | 2023-09-19 | 深圳市驿格科技有限公司 | Large-scene multi-code recognition method, terminal and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116776908A (en) * | 2023-08-17 | 2023-09-19 | 深圳市驿格科技有限公司 | Large-scene multi-code recognition method, terminal and system |
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