CN114881467A - Machine vision-based intelligent loading and unloading control management system for stored goods - Google Patents

Machine vision-based intelligent loading and unloading control management system for stored goods Download PDF

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CN114881467A
CN114881467A CN202210492455.4A CN202210492455A CN114881467A CN 114881467 A CN114881467 A CN 114881467A CN 202210492455 A CN202210492455 A CN 202210492455A CN 114881467 A CN114881467 A CN 114881467A
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黄威
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Wuhan Jingyida Waicang International Logistics Co ltd
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Abstract

The invention discloses a machine vision-based intelligent goods loading and unloading control management system for stored goods, which can reduce the carrying time and improve the carrying efficiency and avoid the occurrence of physical damage of a carrying person to effectively ensure the carrying safety of the carrying person by replacing manual goods loading, unloading and stacking operations by a goods unloading robot in the process of goods loading and unloading management of stored goods, meanwhile, a warehouse stacking area is classified and planned in advance based on the goods names to be stacked and the quantity of the goods corresponding to each goods name to form each stacking sub-area, and simultaneously, the one-to-one corresponding relation between each stacking sub-area and the goods name is set, so that the goods to be stacked are transported to the corresponding stacking sub-area from the goods unloading geographical position by the goods unloading robot to perform stacking operation on the corresponding stacking sub-area, greatly reducing the searching time and the invalid searching rate, thereby being beneficial to improving the storage efficiency of the goods delivered.

Description

Machine vision-based intelligent loading and unloading control management system for stored goods
Technical Field
The invention relates to the technical field of commodity loading and unloading control management, in particular to a machine vision-based intelligent loading and unloading control management system for warehoused commodity goods.
Background
Under the rapid development of science and technology and economy, the production efficiency of enterprises is continuously improved, the scale is continuously enlarged, and the quantity of required production materials is also increasingly large. Many enterprises purchase a large amount of production materials at one time in actual production, but the production system cannot digest all the materials at once, so that the materials need to be stored properly and then distributed as required. Under the condition, the development capability and the promotion of the enterprise are greatly influenced by the level of the warehouse material management level.
The existing warehouse material management project mainly comprises material inventory management, material storage quality management, material loading and unloading management and the like, and in numerous management projects, the material loading and unloading management relates to a plurality of operation steps of loading, unloading, stacking and the like, belongs to a management project with large operation amount, and becomes an important management project in warehouse material management.
However, the management of the goods and materials in the traditional warehouse has the defects of low management efficiency and poor management effect, and is embodied in the following two aspects:
(1) the loading, unloading and stacking operations corresponding to the traditional storage material loading and unloading management all adopt manual carrying, so that on one hand, more labor is used, and the carrying efficiency is low; on the other hand, when large commodities are conveyed, the body damage caused by the over-body conveying load is easy to occur, and the conveying safety of conveying personnel is influenced;
(2) the goods management about traditional storage goods material is owing to do not plan in advance the pile up neatly region at the pile up neatly in-process, leads to the goods of getting off the goods and stacks at the pile up neatly region at will, and is not categorised, leads to storage management personnel when the goods of getting off the goods are stored to corresponding storage position, need find the goods of getting off the goods that need the storage in the goods of getting off the goods of stacking at will, and this can increase to a certain extent and look for long, improves invalid look over the rate, influences the storage efficiency of goods of getting off the goods.
Disclosure of Invention
In order to overcome the defects, the invention builds the intelligent goods loading and unloading control management system for the stored goods based on machine vision, and fully solves the technical problems mentioned in the background technology.
The purpose of the invention can be realized by the following technical scheme:
a machine vision-based intelligent loading and unloading control management system for warehoused goods comprises:
the commodity loading module is used for correspondingly placing commodities to be loaded in a carriage of a transport truck according to a preset placing position, acquiring images of the commodities after the commodities are placed, obtaining the names of the commodities and basic information in a loading state, and storing the names and the basic information in a commodity information database;
the goods information database is used for storing the names of goods loaded in the carriage of the transport truck and the basic information in the loading state;
the goods-delivery information determining module is used for determining the number of the goods to be delivered and the name of each goods to be delivered, so as to determine the basic information of each goods to be delivered in the goods-delivery state;
the sensing equipment setting module is used for setting sensing equipment on the delivery robot;
the intelligent commodity unloading module is used for extracting placement positions from basic information corresponding to each unloaded commodity, transmitting the placement positions to the unloading robot, identifying each unloaded commodity from a carriage of a transport truck through sensing equipment, simultaneously confirming the commodity, and further carrying out taking operation on the successfully confirmed unloaded commodity, wherein the intelligent commodity unloading module comprises a commodity unloading sequence analysis unit, a commodity unloading confirmation unit and a commodity unloading taking unit;
the goods-placing operation database is used for storing suitable grabbing terminals corresponding to various appearance shapes and storing grabbing forces of the grabbing terminals corresponding to the grabbed objects in unit specific gravity;
the goods delivery stacking path planning module is used for respectively positioning the goods delivery geographical position of the transport truck and the geographical position of the warehouse stacking area, and further planning a stacking path corresponding to the goods delivery;
the goods delivery stacking management terminal is used for dividing stacking sub-regions of a warehouse stacking region, numbering the stacking sub-regions, determining the stacking sub-region numbers corresponding to goods which are successfully delivered according to confirmation, transmitting a goods delivery stacking path and the stacking sub-region numbers corresponding to the goods which are successfully delivered according to confirmation to a goods delivery robot, and transporting the goods which are successfully delivered according to confirmation from the goods delivery geographical position to the corresponding stacking sub-regions according to the goods delivery stacking path, so that the stacking operation is executed on the corresponding stacking sub-regions.
In one possible implementation, the basic information includes a placement position and an appearance image.
In a possible implementation manner, the specific implementation manner of determining the basic information of each shipment item in the loading state is to match the name of each shipment item with the name of each loaded item in the transportation truck compartment stored in the item information database and the basic information in the loading state, and further to screen out the basic information of each shipment item in the loading state.
In one possible implementation, the perception device includes a smart camera and a scanner.
In a possible implementation manner, the commodity order analysis unit is configured to analyze an order of each of the commodities to be shipped based on a placement position of each of the commodities to be shipped, and the specific analysis method includes the following steps:
a1: counting the number of the discharging ports in the carriage of the transport truck, and numbering the discharging ports;
a2, establishing a three-dimensional rectangular coordinate system in the transport wagon compartment according to a preset three-dimensional rectangular coordinate system establishing mode, and further acquiring the placing position coordinates of each goods-discharging commodity and the position coordinates of each goods-discharging opening based on the established three-dimensional rectangular coordinate system;
a3, calculating the goods-discharging distance between each goods-discharging port and each goods-discharging port according to the placing position coordinates of each goods-discharging port and the position coordinates of each goods-discharging port, and screening out the shortest goods-discharging distance corresponding to each goods-discharging port;
and A4, sequencing the goods to be delivered according to the shortest delivery distance from near to far to obtain a sequencing result corresponding to each goods to be delivered, and taking the sequencing result as the delivery sequence of each goods to be delivered.
In a possible implementation manner, the goods delivery confirmation unit is configured to find each delivered goods in a compartment of a transport truck according to a placement position of each delivered goods by a delivery robot, and further perform appearance confirmation on each delivered goods, and specifically includes:
b1, when the goods delivery robot finds the goods delivered in the carriage of the transport wagon, the intelligent camera in the sensing equipment acquires the images of the goods delivered to obtain the actual appearance images corresponding to the goods delivered to the delivery robot;
and B2, comparing the actual appearance image corresponding to each goods delivered with the appearance image in the goods delivery state, wherein if the comparison is consistent, the appearance confirmation is successful, otherwise, the appearance confirmation is failed.
In a possible implementation manner, the shipment article taking unit is used for carrying out taking operation on the shipment article with successful appearance confirmation by the shipment robot, and the specific operation steps are as follows:
c1: recording the goods placed successfully after the appearance confirmation as goods placed successfully after the confirmation, and extracting the appearance shape from the actual appearance image corresponding to each goods placed successfully after the confirmation;
c2, matching the appearance shape of each goods which are confirmed to be successfully delivered with the proper grabbing terminal corresponding to each appearance shape set in the delivery operation database to obtain the proper grabbing terminal corresponding to each goods which are confirmed to be successfully delivered, and marking the proper grabbing terminal as a target grabbing terminal;
c3, scanning the order bar codes corresponding to the goods which are successfully placed through a code scanner arranged on the goods placing robot, so as to obtain the volume and the weight corresponding to the goods which are successfully placed, and calculating the specific gravity value corresponding to the goods which are successfully placed according to the volume and the weight, wherein the calculation formula is as follows
Figure BDA0003617959570000051
C4, matching the target grabbing terminal corresponding to each goods successfully placed with the grabbing force of the grabbed object unit specific gravity corresponding to each grabbing terminal in the goods placing operation database, and screening the grabbing force of the grabbed object unit specific gravity corresponding to each goods successfully placed;
c5, counting the grabbing force corresponding to each successfully-placed commodity according to the specific gravity value corresponding to each successfully-placed commodity and the grabbing force of the grabbed object in unit specific gravity, and recording the grabbing force as standard grabbing force;
and C6, transmitting the target grabbing terminals and the standard grabbing force corresponding to the commodities which are determined to be successfully delivered to the delivery robot, screening the target grabbing terminals from the plurality of grabbing terminals by the delivery robot, adjusting the grabbing force to enable the target grabbing terminals to meet the standard grabbing force, and executing grabbing operation.
In a possible implementation manner, the unit for picking up the orders of goods further includes a step of identifying the designated opening of each successfully determined order of goods in the transportation truck bed, and further transmitting the identified items to the robot for picking up the successfully determined orders of goods, and then leaving the robot from the designated opening, wherein the specific identification method for identifying the designated opening of each successfully determined order of goods in the transportation truck bed corresponds to the following steps:
d1, positioning the current position coordinates of the delivery robot after each determined successfully delivered commodity is taken according to the established three-dimensional rectangular coordinate system;
d2, calculating the distance between the current position of the goods-placing robot and each goods-placing opening after each determined goods-placing is taken by the goods-placing robot according to the current position coordinates of the goods-placing robot after each determined goods-placing is taken and the position coordinates of each goods-placing opening, and further screening out the goods-placing opening with the shortest distance from the distance to be used as the designated goods-placing opening corresponding to each determined goods-placing.
In a possible implementation manner, the dividing method, corresponding to the sub-palletizing area division of the warehouse palletizing area in the lower goods palletizing management terminal, is as follows:
e1, comparing the commodity names corresponding to the commodities which are determined to be successfully delivered, classifying the delivered commodities with the same commodity name, counting the quantity of the commodity names existing in all the commodities which are determined to be successfully delivered, taking the quantity as the quantity of the stacking subareas which need to be divided in the stacking area of the warehouse, and setting the one-to-one corresponding relation between each stacking subarea and the commodity name;
e2, counting the number of the goods which are successfully placed and are determined corresponding to each goods name based on the goods placement classification result of the same goods name, and taking the number as the number of the goods which are placed and need to be stacked in each stacking subarea;
e3, carrying out proportional operation on the quantity of the goods to be stacked in each stacking subarea to obtain a proportional value of the quantity of the goods to be stacked in each stacking subarea;
e4, acquiring the total area of the warehouse stacking area, and calculating the division area corresponding to each stacking sub-area based on the proportional value of the quantity of the goods to be stacked corresponding to each stacking sub-area and the total area of the warehouse stacking area;
e5, dividing the warehouse stacking area into sub-stacking areas based on the number of the sub-stacking areas to be divided in the warehouse stacking area and the dividing area corresponding to each sub-stacking area.
In a possible implementation manner, the specific manner of determining the stacking sub-region number corresponding to each successfully confirmed discharged commodity in the discharged commodity stacking management terminal is to substitute a commodity name corresponding to each successfully confirmed discharged commodity into a one-to-one correspondence relationship between each stacking sub-region and the commodity name, and determine the stacking sub-region number corresponding to each successfully confirmed discharged commodity.
Compared with the prior art, the invention has the following advantages:
1. in the process of managing the loading and unloading of the warehouse materials, the unloading robot replaces manual loading, unloading and stacking, so that the carrying time can be shortened, the carrying efficiency is improved, the body damage of a carrying person can be avoided, the carrying safety of the carrying person is effectively guaranteed, the manual carrying cost is greatly reduced, and the warehousing management cost is reduced to a certain extent.
2. When the goods discharging operation is carried out by the goods discharging robot, the sensing equipment is arranged on the goods discharging robot, so that the goods discharging robot can accurately identify the goods to be discharged in time and confirm the goods to be discharged based on the machine vision technology, the goods to be discharged are accurately taken, the efficiency of taking the goods to be discharged is improved, and the error rate of taking the goods to be discharged is reduced.
3. The delivery robot selected by the invention is a delivery robot with various grabbing terminals, can switch the appropriate grabbing terminals according to the appearance shape of the delivered goods, has the characteristic of strong grabbing flexibility, and can effectively improve the grabbing effect of the delivered goods.
4. According to the invention, the commodity names to be stacked and the commodity quantity corresponding to each commodity name are counted, so that the warehouse stacking area is classified and planned in advance to form each stacking sub-area, meanwhile, the one-to-one corresponding relation between each stacking sub-area and the commodity name is set, then each commodity to be stacked is transported to the corresponding stacking sub-area from the discharging geographical position by the discharging robot, and then stacking operation is carried out on the corresponding stacking sub-area, so that a storage manager can quickly find the commodity to be stored in the warehouse stacking area, the searching time and the invalid turning rate are greatly reduced, and the storage efficiency of the discharged commodity is favorably improved.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic diagram of the system module connection of the present invention;
fig. 2 is a schematic diagram of the connection of the intelligent commodity discharging module according to 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.
Fig. 1 shows a schematic diagram of module connection corresponding to a machine vision-based intelligent loading and unloading control management system for warehoused commodity goods, and according to the diagram, the system comprises a commodity loading module, a commodity information database, a unloading commodity information determining module, a sensing equipment setting module, a commodity intelligent unloading module, an unloading operation database, an unloading commodity stacking path planning module and an unloading commodity stacking management terminal.
In the modules, a commodity loading module is connected with a commodity information database, a goods unloading information determining module is connected with the commodity information database, a goods unloading information determining module and a sensing equipment setting module are both connected with a commodity intelligent goods unloading module, the commodity intelligent goods unloading module is connected with a goods unloading stacking path planning module, and the goods unloading stacking path planning module is connected with a goods unloading stacking management terminal.
The commodity loading acquisition module is used for correspondingly placing commodities to be loaded in a carriage of a transport truck according to a preset placing position, carrying out image acquisition on the commodities after the commodities are placed, obtaining names of the commodities and basic information under a loading state, wherein the basic information comprises the placing position and an appearance image, and storing the basic information in a commodity information database.
The commodity information database is used for storing the names of commodities loaded in the transport boxcar and basic information in the loading state.
The goods information determining module is used for determining the number of the goods to be delivered and the name of each goods to be delivered, so as to determine the basic information of each goods to be delivered in the goods loading state.
The sensing equipment setting module is used for setting sensing equipment on the goods delivery robot, wherein the sensing equipment comprises an intelligent camera and a code scanner, the intelligent camera is used for collecting actual appearance images of goods delivered, and the code scanner is used for scanning order bar codes of the goods delivered.
The intelligent commodity unloading module is used for extracting placement positions from basic information corresponding to each unloaded commodity and transmitting the placement positions to the unloading robot, the intelligent commodity unloading module identifies each unloaded commodity from a carriage of a transport truck through the sensing equipment and confirms the commodity at the same time, and then the operation of taking the successfully confirmed unloaded commodity is executed, and as shown in figure 2, the intelligent commodity unloading module comprises a commodity unloading sequence analysis unit, a commodity unloading confirmation unit and a commodity unloading taking unit.
In the embodiment of the invention, in the process of managing the loading and unloading of the warehouse materials, the unloading robot replaces manual loading, unloading and stacking, so that the carrying time can be reduced, the carrying efficiency is improved, the occurrence of physical damage of the carrying personnel can be avoided, the carrying safety of the carrying personnel is effectively ensured, the manual carrying cost is greatly reduced, and the warehousing management cost is further reduced to a certain extent.
The medium commodity unloading sequence analysis unit is used for analyzing the unloading sequence of each unloading commodity based on the placement position of each unloading commodity, and the specific analysis method comprises the following steps:
a1: counting the number of the discharging ports in the carriage of the transport truck, and numbering the discharging ports;
a2, establishing a three-dimensional rectangular coordinate system in the transport wagon compartment according to a preset three-dimensional rectangular coordinate system establishing mode, and further acquiring the placing position coordinates of each goods-discharging commodity and the position coordinates of each goods-discharging opening based on the established three-dimensional rectangular coordinate system;
a3, calculating the goods-discharging distance between each goods-discharging port and each goods-discharging port according to the placing position coordinates of each goods-discharging port and the position coordinates of each goods-discharging port, and screening out the shortest goods-discharging distance corresponding to each goods-discharging port;
and A4, sequencing the goods to be delivered according to the shortest delivery distance from near to far to obtain a sequencing result corresponding to each goods to be delivered, and taking the sequencing result as the delivery sequence of each goods to be delivered.
In one embodiment, the order of the goods to be delivered can be effectively reflected by analyzing the order of the goods to be delivered of each goods to be delivered, and the delivery efficiency of the goods delivery robot is improved.
The commodity shipment confirmation unit is used for finding each shipment commodity in the carriage of transport van according to the placement position of each shipment commodity by the shipment robot, and then carries out outward appearance confirmation to each shipment commodity, specifically includes:
b1, when the goods-delivery robot finds the goods-delivery goods in the carriage of the transport wagon, the intelligent camera in the sensing equipment acquires images of the goods-delivery goods to obtain actual appearance images corresponding to the goods-delivery goods;
and B2, comparing the actual appearance image corresponding to each goods delivered with the appearance image in the goods delivery state, wherein if the comparison is consistent, the appearance confirmation is successful, otherwise, the appearance confirmation is failed.
According to the embodiment of the invention, when the goods discharging operation is carried out by the goods discharging robot, the sensing equipment is arranged on the goods discharging robot, so that the goods discharging robot can timely and accurately identify the goods to be discharged and confirm the goods to be discharged based on the machine vision technology, the goods to be discharged are accurately taken, the efficiency of taking the goods to be discharged is improved, and the error rate of taking the goods to be discharged is reduced.
The goods taking unit is used for carrying out taking operation on the goods which are successfully placed and confirmed in the appearance by the goods placing robot, and the specific operation steps refer to the following steps:
c1: recording the goods placed successfully after the appearance confirmation as goods placed successfully after the confirmation, and extracting the appearance shape from the actual appearance image corresponding to each goods placed successfully after the confirmation;
c2, matching the appearance shape of each goods which are confirmed to be successfully delivered with the proper grabbing terminal corresponding to each appearance shape set in the delivery operation database to obtain the proper grabbing terminal corresponding to each goods which are confirmed to be successfully delivered, and marking the proper grabbing terminal as a target grabbing terminal;
it should be noted that the above-mentioned grabbing terminals include a clamping type, a holding type, and the like, and exemplarily, a suitable grabbing terminal corresponding to a regular appearance shape is a clamping type, such as a square or circular lamp, and a suitable grabbing terminal corresponding to an irregular appearance shape is a holding type.
The delivery robot selected by the embodiment of the invention is a delivery robot with various grabbing terminals, can switch the appropriate grabbing terminals according to the appearance shape of the delivered goods, has the characteristic of strong grabbing flexibility, and can effectively improve the grabbing effect of the delivered goods.
C3, scanning the order bar code corresponding to each goods successfully placed through the bar code scanner arranged on the goods placing robot to obtain the volume and weight corresponding to each goods successfully placed, and calculating the specific gravity value corresponding to each goods successfully placed according to the volume and weight, wherein the calculation formula is that
Figure BDA0003617959570000121
C4, matching the target grabbing terminal corresponding to each goods successfully placed with the grabbing force of the grabbed object unit specific gravity corresponding to each grabbing terminal in the goods placing operation database, and screening the grabbing force of the grabbed object unit specific gravity corresponding to each goods successfully placed;
c5, multiplying the specific gravity value corresponding to each goods successfully placed by the grabbing force of the grabbed object in unit specific gravity to obtain the grabbing force corresponding to each goods successfully placed, and marking the grabbing force as the standard grabbing force;
and C6, transmitting the target grabbing terminals and the standard grabbing force corresponding to the commodities which are determined to be successfully delivered to the delivery robot, screening the target grabbing terminals from the plurality of grabbing terminals by the delivery robot, adjusting the grabbing force to enable the target grabbing terminals to meet the standard grabbing force, and executing grabbing operation.
According to the embodiment of the invention, the standard grabbing force of the grabbed object is analyzed based on the specific gravity value of the grabbed object, so that when the goods delivery robot grabs the grabbed object, the grabbing operation is executed by the standard grabbing force, the grabbing firmness of the grabbed object can be effectively improved, the appearance damage of the grabbed object in the grabbing process is avoided to a certain extent, the safety of the grabbed object is favorably ensured, and the grabbing effect of the grabbed object is further enhanced.
The unit for taking the goods to be delivered also comprises a specific delivery port for identifying each determined goods to be delivered successfully in the transport boxcar, and further conveying the goods to the delivery robot, wherein the specific identification method for identifying the specific delivery port of each determined goods to be delivered successfully in the transport boxcar is as follows:
d1, positioning the current position coordinates of the delivery robot after each determined successfully delivered commodity is taken according to the established three-dimensional rectangular coordinate system;
d2, calculating the distance between the current position of the goods-placing robot and each goods-placing opening after each determined goods-placing is taken by the goods-placing robot according to the current position coordinates of the goods-placing robot after each determined goods-placing is taken and the position coordinates of each goods-placing opening, and further screening out the goods-placing opening with the shortest distance from the distance to be used as the designated goods-placing opening corresponding to each determined goods-placing.
The goods-taking operation database is used for storing suitable grabbing terminals corresponding to various appearance shapes and storing grabbing forces of the grabbing terminals corresponding to the unit specific gravity of the grabbed objects.
The goods delivery stacking path planning module is used for respectively positioning the goods delivery geographical position of the transport truck and the geographical position of the warehouse stacking area, and further planning a stacking path corresponding to the goods delivery.
The goods delivery stacking management terminal is used for dividing stacking sub-regions of a warehouse stacking region, numbering the stacking sub-regions, determining the numbers of the stacking sub-regions corresponding to goods which are successfully delivered and confirmed, transmitting a goods delivery stacking path and the numbers of the stacking sub-regions corresponding to the goods which are successfully delivered and confirmed to a goods delivery robot, and transporting the goods which are successfully delivered and confirmed to the corresponding stacking sub-regions from a goods delivery geographical position according to the goods delivery stacking path, so that the stacking operation is executed on the corresponding stacking sub-regions.
The specific division method of the middle stacking subarea comprises the following steps:
e1, comparing the commodity names corresponding to the commodities which are determined to be successfully delivered, classifying the delivered commodities with the same commodity name, counting the quantity of the commodity names existing in all the commodities which are determined to be successfully delivered, taking the quantity as the quantity of the stacking subareas which need to be divided in the stacking area of the warehouse, and setting the one-to-one corresponding relation between each stacking subarea and the commodity name;
e2, counting the number of the goods which are successfully placed and are determined corresponding to each goods name based on the goods placement classification result of the same goods name, and taking the number as the number of the goods which are placed and need to be stacked in each stacking subarea;
e3, carrying out proportional operation on the quantity of the goods to be stacked in each stacking subarea to obtain a proportional value of the quantity of the goods to be stacked in each stacking subarea;
e4, acquiring the total area of the warehouse stacking area, and calculating the division area corresponding to each stacking sub-area based on the proportional value of the quantity of the goods to be stacked corresponding to each stacking sub-area and the total area of the warehouse stacking area;
in an example operation, the stacking sub-areas of the warehouse stacking area are sequentially numbered as 1,2, a
Figure BDA0003617959570000141
s i The divided area corresponding to the ith stacking sub-region is represented, and ki is represented as the proportional value of the quantity of the goods to be stacked corresponding to the ith stacking sub-region.
E5, carrying out stacking subregion division on the warehouse stacking region based on the number of the stacking subregions to be divided in the warehouse stacking region and the division area corresponding to each stacking subregion, numbering each stacking subregion, simultaneously determining the stacking subregion number corresponding to each goods which are confirmed to be successfully discharged, further transmitting the goods discharging stacking path and the stacking subregion number corresponding to each goods which are confirmed to be successfully discharged to a discharging robot, and transporting each goods which are confirmed to be successfully discharged to the corresponding stacking subregion from the goods discharging geographical position according to the goods discharging stacking path, thereby carrying out stacking operation on the corresponding stacking subregion.
The specific way of determining the numbers of the sub-palletizing areas corresponding to the commodities which are successfully confirmed to be discharged is to substitute the commodity names corresponding to the commodities which are successfully confirmed to be discharged into the one-to-one corresponding relation between the sub-palletizing areas and the commodity names, and determine the numbers of the sub-palletizing areas corresponding to the commodities which are successfully confirmed to be discharged.
According to the embodiment of the invention, the commodity names to be stacked and the commodity quantity corresponding to each commodity name are counted, so that the warehouse stacking area is classified and planned in advance to form each stacking sub-area, meanwhile, the one-to-one corresponding relation between each stacking sub-area and the commodity name is set, then, each commodity to be stacked is transported to the corresponding stacking sub-area from the discharging geographic position by the discharging robot, and then, stacking operation is executed in the corresponding stacking sub-area, so that a storage manager can quickly find the commodity to be stored in the warehouse stacking area, the searching time and the invalid searching rate are greatly reduced, and the storage efficiency of the discharged commodity is favorably improved.
It should be noted that the specific area division of each stacking sub-region is not to uniformly divide the warehouse stacking region according to the number of divided stacking sub-regions, but to use the number of goods to be stacked corresponding to each stacking sub-region as a division basis, so that the division result is more reliable, the situation that goods to be stacked are not placed in the corresponding division area of a certain stacking sub-region is avoided, and the accuracy of area division of the stacking sub-regions is improved.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.

Claims (10)

1. The utility model provides a control management system is got in stocks commodity goods intelligence based on machine vision which characterized in that includes:
the commodity loading module is used for correspondingly placing commodities to be loaded in a carriage of a transport truck according to a preset placing position, acquiring images of the commodities after the commodities are placed, obtaining the names of the commodities and basic information in a loading state, and storing the names and the basic information in a commodity information database;
the goods information database is used for storing the names of goods loaded in the carriage of the transport truck and the basic information in the loading state;
the goods-delivery information determining module is used for determining the number of the goods to be delivered and the name of each goods to be delivered, so as to determine the basic information of each goods to be delivered in the goods-delivery state;
the sensing equipment setting module is used for setting sensing equipment on the delivery robot;
the intelligent commodity unloading module is used for extracting placement positions from basic information corresponding to each unloaded commodity, transmitting the placement positions to the unloading robot, identifying each unloaded commodity from a carriage of a transport truck through sensing equipment, simultaneously confirming the commodity, and further carrying out taking operation on the successfully confirmed unloaded commodity, wherein the intelligent commodity unloading module comprises a commodity unloading sequence analysis unit, a commodity unloading confirmation unit and a commodity unloading taking unit;
the goods-taking operation database is used for storing suitable grabbing terminals corresponding to various appearance shapes and storing the grabbing force of each grabbing terminal corresponding to the unit specific gravity of the object to be grabbed;
the goods delivery stacking path planning module is used for respectively positioning the goods delivery geographical position of the transport truck and the geographical position of the warehouse stacking area, and further planning a stacking path corresponding to the goods delivery;
the goods delivery stacking management terminal is used for dividing stacking sub-regions of a warehouse stacking region, numbering the stacking sub-regions, determining the stacking sub-region numbers corresponding to goods which are successfully delivered according to confirmation, transmitting a goods delivery stacking path and the stacking sub-region numbers corresponding to the goods which are successfully delivered according to confirmation to a goods delivery robot, and transporting the goods which are successfully delivered according to confirmation from the goods delivery geographical position to the corresponding stacking sub-regions according to the goods delivery stacking path, so that the stacking operation is executed on the corresponding stacking sub-regions.
2. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the basic information includes a placement position and an appearance image.
3. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the specific execution mode for determining the basic information of each unloading commodity in the loading state is to match the name of each unloading commodity with the name of each loaded commodity in a transport van compartment stored in a commodity information database and the basic information in the loading state, and further screen out the basic information of each unloading commodity in the loading state.
4. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the perception device comprises an intelligent camera and a code scanner.
5. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the commodity unloading sequence analysis unit is used for analyzing the unloading sequence of each unloading commodity based on the placement position of each unloading commodity, and the specific analysis method comprises the following steps:
a1: counting the number of the discharging ports in the carriage of the transport truck, and numbering the discharging ports;
a2, establishing a three-dimensional rectangular coordinate system in the transport wagon compartment according to a preset three-dimensional rectangular coordinate system establishing mode, and further acquiring the placing position coordinates of each goods-discharging commodity and the position coordinates of each goods-discharging opening based on the established three-dimensional rectangular coordinate system;
a3, calculating the goods-discharging distance between each goods-discharging port and each goods-discharging port according to the placing position coordinates of each goods-discharging port and the position coordinates of each goods-discharging port, and screening out the shortest goods-discharging distance corresponding to each goods-discharging port;
and A4, sequencing the goods to be delivered according to the shortest delivery distance from near to far to obtain a sequencing result corresponding to each goods to be delivered, and taking the sequencing result as the delivery sequence of each goods to be delivered.
6. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the commodity shipment confirmation unit is used for finding each shipment commodity in the carriage of transport van according to the placement position of each shipment commodity by the shipment robot, and then carries out outward appearance confirmation to each shipment commodity, specifically includes:
b1, when the goods delivery robot finds the goods delivered in the carriage of the transport wagon, the intelligent camera in the sensing equipment acquires the images of the goods delivered to obtain the actual appearance images corresponding to the goods delivered to the delivery robot;
and B2, comparing the actual appearance image corresponding to each goods delivered with the appearance image in the goods delivery state, wherein if the comparison is consistent, the appearance confirmation is successful, otherwise, the appearance confirmation is failed.
7. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the goods delivery taking unit is used for carrying out taking operation on goods delivery successfully confirmed by the appearance by the goods delivery robot, and the specific operation steps refer to the following steps:
c1: recording the goods placed successfully after the appearance confirmation as goods placed successfully after the confirmation, and extracting the appearance shape from the actual appearance image corresponding to each goods placed successfully after the confirmation;
c2, matching the appearance shape of each goods which are confirmed to be successfully delivered with the proper grabbing terminal corresponding to each appearance shape set in the delivery operation database to obtain the proper grabbing terminal corresponding to each goods which are confirmed to be successfully delivered, and marking the proper grabbing terminal as a target grabbing terminal;
c3, scanning the order bar code corresponding to each goods successfully placed through the bar code scanner arranged on the goods placing robot to obtain the volume and weight corresponding to each goods successfully placed, and calculating the specific gravity value corresponding to each goods successfully placed according to the volume and weight, wherein the calculation formula is that
Figure FDA0003617959560000041
C4, matching the target grabbing terminal corresponding to each goods successfully placed with the grabbing force of the grabbed object unit specific gravity corresponding to each grabbing terminal in the goods placing operation database, and screening the grabbing force of the grabbed object unit specific gravity corresponding to each goods successfully placed;
c5, counting the grabbing force corresponding to each successfully-placed commodity according to the specific gravity value corresponding to each successfully-placed commodity and the grabbing force of the grabbed object in unit specific gravity, and recording the grabbing force as standard grabbing force;
and C6, transmitting the target grabbing terminals and the standard grabbing force corresponding to the goods which are successfully placed to the goods placing robot, screening the target grabbing terminals from the grabbing terminals by the target grabbing robot, adjusting the grabbing force to enable the target grabbing terminals to meet the standard grabbing force, and executing grabbing operation.
8. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 7, characterized in that: the unit for taking the goods to be delivered also comprises a specific method for identifying the specified delivery port of each determined goods to be delivered successfully in the transport wagon carriage, further conveying the goods to the delivery robot, and leaving the goods from the specified delivery port after taking each determined goods to be delivered successfully, wherein the specific method for identifying the specified delivery port of each determined goods to be delivered successfully in the transport wagon carriage is as follows:
d1, positioning the current position coordinates of the delivery robot after each determined successfully delivered commodity is taken according to the established three-dimensional rectangular coordinate system;
d2, calculating the distance between the current position of the goods-placing robot and each goods-placing opening after each determined goods-placing is taken by the goods-placing robot according to the current position coordinates of the goods-placing robot after each determined goods-placing is taken and the position coordinates of each goods-placing opening, and further screening out the goods-placing opening with the shortest distance from the distance to be used as the designated goods-placing opening corresponding to each determined goods-placing.
9. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the dividing method corresponding to the warehouse stacking area sub-area division in the goods delivery stacking management terminal is as follows:
e1, comparing the commodity names corresponding to the commodities which are determined to be successfully delivered, classifying the delivered commodities with the same commodity name, counting the quantity of the commodity names existing in all the commodities which are determined to be successfully delivered, taking the quantity as the quantity of the stacking subareas which need to be divided in the stacking area of the warehouse, and setting the one-to-one corresponding relation between each stacking subarea and the commodity name;
e2, counting the number of the goods which are successfully placed and are determined corresponding to each goods name based on the goods placement classification result of the same goods name, and taking the number as the number of the goods which are placed and need to be stacked in each stacking subarea;
e3, carrying out proportional operation on the quantity of the goods to be stacked in each stacking subarea to obtain a proportional value of the quantity of the goods to be stacked in each stacking subarea;
e4, acquiring the total area of the warehouse stacking area, and calculating the division area corresponding to each stacking sub-area based on the proportional value of the quantity of the goods to be stacked corresponding to each stacking sub-area and the total area of the warehouse stacking area;
e5, dividing the stacking subareas of the warehouse stacking area based on the number of the stacking subareas required to be divided in the warehouse stacking area and the dividing area corresponding to each stacking subarea.
10. The machine vision-based intelligent loading and unloading control and management system for the warehoused commodity goods according to claim 1, characterized in that: the specific mode of determining the stacking subregion number corresponding to each successfully confirmed discharged commodity in the discharged commodity stacking management terminal is to substitute the commodity name corresponding to each successfully confirmed discharged commodity into the one-to-one correspondence relationship between each stacking subregion and the commodity name, and determine the stacking subregion number corresponding to each successfully confirmed discharged commodity.
CN202210492455.4A 2022-04-24 2022-04-24 Machine vision-based intelligent loading and unloading control management system for stored goods Withdrawn CN114881467A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117361168A (en) * 2023-11-14 2024-01-09 中交机电工程局有限公司 Path planning auxiliary system and method for unmanned shipping system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117361168A (en) * 2023-11-14 2024-01-09 中交机电工程局有限公司 Path planning auxiliary system and method for unmanned shipping system
CN117361168B (en) * 2023-11-14 2024-06-04 中交机电工程局有限公司 Path planning auxiliary system and method for unmanned shipping system

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