CN114971501A - Electric power material warehouse-in and warehouse-out monitoring, guiding and analyzing system based on characteristic analysis - Google Patents
Electric power material warehouse-in and warehouse-out monitoring, guiding and analyzing system based on characteristic analysis Download PDFInfo
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- G06V20/00—Scenes; Scene-specific elements
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Abstract
The invention discloses an electric power material warehousing-in and warehousing-out monitoring and guiding analysis system based on characteristic analysis, which is characterized in that a transfer robot carries out warehousing operation on each warehoused electric power material before the warehousing operation is carried out on the electric power material, the stacking height corresponding to each warehoused electric power material is identified, the warehousing distance corresponding to each warehoused electronic material is identified based on the appointed sub-warehousing region corresponding to each warehoused electric power material, so that the warehousing sequence is comprehensively planned according to the warehousing distance and the stacking height corresponding to each warehoused electric power material, the warehousing principle is considered, the damage before the use of the electric power material is avoided, the dual guarantee of warehousing efficiency and warehousing safety is realized, meanwhile, when the warehoused electric power material is transported by the transfer robot, the integrated operation of drop monitoring and early warning treatment in the warehousing transportation process of the electric power material is realized, and the reliable guarantee is provided for the warehousing precision, meanwhile, the loss rate of electric power materials is reduced to a certain degree.
Description
Technical Field
The invention relates to the technical field of electric power material warehouse entry and exit management, in particular to an electric power material warehouse entry and exit monitoring, guiding and analyzing system based on characteristic analysis.
Background
The storage management of the electric power materials is an important component of the management of electric power enterprises. The electric power material warehousing management relates to links such as warehousing planning, warehousing and ex-warehouse management, warehousing environment adjustment and the like, wherein the electric power material warehousing and ex-warehouse management is a necessary condition for ensuring normal operation of electric power production and electric power scheduling, and the operation efficiency and the profitability of an electric power production enterprise can be improved through optimized management.
The first operation of carrying out electric power material warehouse entry management at present is the warehouse entry management of electric power material, at present in order to improve warehouse entry efficiency, all adopt transfer robot to carry out the warehouse entry management of electric power material basically, and the warehouse entry in the warehouse entry management guides again to be the focus, and at the in-process of realizing this application, the inventor finds that there is at least following problem when adopting transfer robot to carry out electric power material warehouse entry to guide among the prior art:
in a first aspect: currently, in order to improve the transportation efficiency, the transportation robot usually needs to transport a plurality of warehousing electric materials at a time, the warehousing electric power materials are stacked on the transfer robot, the condition relates to the warehousing sequence planning of the warehousing electric power materials, in the prior art, the storage distance corresponding to the stored electric power materials is only used as a planning basis, a near storage principle is executed, the influence of the stacking height of the stored electric power materials on the storage sequence is ignored, and the lower the stacking height of the stored electric power materials is, when the electric power materials are actually put in storage, the higher the difficulty of extracting the electric power materials from the storage state is, the higher the probability of collapse is, once the electric power materials are collapsed, the storage time can be prolonged on one hand, and further, the warehousing efficiency is influenced, and on the other hand, most of the electric materials are precision equipment, so that the electric materials collapse, the appearance is easily damaged, and the subsequent use is influenced.
In a second aspect: when the current is transported by transfer robot to the electric power goods and materials of putting in storage, lack the monitoring early warning that the electric power goods and materials dropped, there is the electric power goods and materials problem that drops and can't in time discover easily, not only for follow-up putting in storage operation brings very big hidden danger, reduced the precision of putting in storage, still increased the loss rate and the spoilage of electric power goods and materials.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme: a power material warehouse-in and warehouse-out monitoring and guiding analysis system based on feature analysis comprises: the electric power material warehouse dividing module is used for dividing the storage area corresponding to the electric power material warehouse into a plurality of sub-storage areas according to the quantity of the electric power material types needing to be stored, and numbering the sub-storage areas, wherein the sub-storage areas correspond to the electric power material types needing to be stored one by one.
And the electric power material warehouse building module is used for building the electric power material warehouse, and further storing the electric power material types and the geographic positions which are correspondingly stored in the sub-warehousing areas and the appearance characteristics corresponding to the electric power materials into the electric power material warehouse.
And the carrying robot warehousing guide equipment setting module is used for executing electric power material warehousing guide operation by the carrying robot and setting warehousing guide equipment on the carrying robot.
And the target electric power material group storage parameter identification module is used for recording the electric power materials to be stored currently as a target electric power material group, stacking the target electric power material group on the transfer robot, and identifying the storage parameters of the target electric power material group by the transfer robot.
And the target electric power material group warehousing path planning module is used for intelligently planning the warehousing path corresponding to the target electric power material group based on the warehousing parameters corresponding to the identified target electric power material group.
And the drop monitoring module is used for monitoring the drop of the stacked target electric power material group when the target electric power material group is transported by the carrying robot according to the planned warehousing path, and carrying out early warning prompt according to the monitoring result.
And the automatic target electric power material group storage placing module is used for automatically placing the target electric power material group in the appointed sub-storage area when the target electric power material group is transported to the appointed sub-storage area by the carrying robot.
For an independently implementable technical scheme, the warehousing guidance equipment comprises a high-definition spherical camera, a GPS locator, a weight sensor and a voice prompt.
For an independently implementable technical scheme, the warehousing parameters include the number of warehousing electric power materials and the designated sub-warehousing areas corresponding to each warehousing electric power material.
For an independently implementable technical solution, the specific identification method corresponding to the warehousing parameter identification of the target electric power material group by the transfer robot is as follows: the high-definition spherical camera in the corresponding warehousing guide equipment of the carrying robot collects stacking state images of the target electric power material group, then obtains the warehousing electric power material quantity existing in the target electric power material group from the stacking state images, and sequentially numbers the warehousing electric power materials to be 1, 2, 1, i, n according to a preset sequence.
Focusing the collected target power material group stacking state image in each warehousing power material area, extracting an edge contour line corresponding to each warehousing power material, dividing the target power material group image into a plurality of area images according to the extracted edge contour line, wherein each area image corresponds to one warehousing power material.
Extracting the appearance characteristics of each warehousing electric power material from each regional image, matching the appearance characteristics with the appearance characteristics corresponding to various electric power materials in the electric power material warehouse, matching the electric power material types corresponding to each warehousing electric power material from the appearance characteristics, matching the electric power material types with the electric power material types correspondingly stored in each sub-warehousing area in the electric power material warehouse, and matching the appointed sub-warehousing area corresponding to each warehousing electric power material from the electric power material warehouse.
For an independently implementable technical solution, the intelligently planning the warehousing path corresponding to the target electric power material based on the warehousing parameters corresponding to the identified target electric power material group specifically performs the following steps: and acquiring the number of the designated sub-storage area corresponding to each warehousing electric power material, and screening the geographical position of each warehousing electric power material corresponding to the designated sub-storage area from the material warehouse.
And acquiring the geographical position of the transfer robot before warehousing.
And acquiring the route distance between the geographic position of the assigned sub-warehousing region corresponding to each warehousing electric power material and the geographic position of the transport robot before warehousing according to the geographic position of the assigned sub-warehousing region corresponding to each warehousing electric power material and the geographic position of the transport robot before warehousing, and recording the route distance as the warehousing distance corresponding to each warehousing electric power material.
And acquiring stacking heights corresponding to the warehousing electric power materials from the target electric power material group stacking state image.
Corresponding each warehousing electric power materialThe warehousing distance and the stacking height are calculated by a warehousing priority calculation formula
Obtaining the warehousing priority corresponding to each warehousing electric power material
，
、
The storage distance and the stacking height corresponding to the ith storage electric power material are respectively expressed, n is the number of the storage electric power materials, and e is a natural constant.
And sequencing the warehousing electric power materials according to the sequence of the warehousing priority from large to small, wherein the sequencing result is used as the warehousing sequence of the target electric power material group.
And planning the warehousing paths corresponding to the warehousing electric power materials by the carrying robot according to the warehousing sequence of the target electric power material group.
For an independently implementable technical solution, the specific planning process for planning the warehousing path corresponding to each warehousing electric power material by the transfer robot according to the warehousing sequence of the target electric power material group is as follows: the warehousing path corresponding to the first warehousing electric power material in each warehousing electric power material takes the geographical position before the transportation robot warehouses as the warehousing path planning starting point.
The warehousing path corresponding to the warehousing electric power material arranged behind in each warehousing electric power material takes the geographic position of the designated sub-warehousing area corresponding to the last warehousing electric power material as the warehousing path planning starting point.
For an independently implementable technical solution, the drop monitoring of the stacked target power material group when the transportation is performed by the transfer robot according to the planned warehousing route specifically refers to the following steps: when the target electric power material group is stacked on the carrying robot, the weight sensor in the warehouse-in guiding equipment detects the weight of the stacked target electric power material group to obtain the original weight corresponding to the target electric power material group.
When the carrying robot carries out transportation according to the planned warehousing path, the weight of the target electric power material group in the transportation process is monitored in real time through the weight sensor.
For an independently implementable technical solution, the specific implementation manner of performing the early warning prompt according to the monitoring result refers to the following: and comparing the weight of the target electric power material group monitored in the transportation process with the original weight corresponding to the target electric power material group, if the weight of the target electric power material group monitored at a certain moment is smaller than the original weight corresponding to the target electric power material group, judging that the target electric power material group falls at the moment, and starting a voice prompter in the warehousing guide equipment to perform falling voice prompt at the moment.
The current transportation position of the carrying robot is positioned through the GPS locator at the moment, and the area around the current transportation position of the carrying robot is scanned through the high-definition spherical camera, so that the falling position corresponding to the falling electric power material is identified, and meanwhile, the appearance image of the falling electric power material is collected.
And transmitting the current transportation position of the carrying robot, the falling position corresponding to the falling electric power material and the appearance image of the falling electric power material to a storage management display terminal, and carrying out manual processing by storage management personnel.
For an independently implementable technical solution, the automatically placing the target electric power material group in the designated sub-warehousing area specifically includes the following steps: when the transfer robot transports each warehousing electric power material to the corresponding appointed sub-warehousing area, the stacking state of the stored area electric power material in the appointed sub-warehousing area is subjected to image acquisition through the high-definition spherical camera.
And evaluating the stacking stability corresponding to the stored storage area according to the stacking state image of the stored electric power material in the corresponding designated sub-storage area of each warehousing electric power material, comparing the stacking stability with the preset standard stacking stability, if the stacking stability corresponding to the stored storage area in the corresponding designated sub-storage area of a certain warehousing electric power material is smaller than the preset standard stacking stability, warehousing the warehousing electric power material in an alternative area in the designated sub-storage area corresponding to the warehousing electric power material, simultaneously transmitting the number of the designated sub-storage area to a warehousing management display terminal, and otherwise, warehousing the warehousing electric power material in the stored storage area of the corresponding designated sub-storage area of the warehousing electric power material, regulating and controlling the carrying capacity and carrying height of the carrying robot.
For an independently implementable technical solution, the evaluating the stacking stability corresponding to the stored area according to the stacking state image of the stored electric material in the specific sub-storage area corresponding to each warehousing electric material specifically includes the following steps: and extracting the outline of the stacked body of the electric power material from the stacking state image of the electric power material in the storage area of the corresponding designated sub-storage area of each warehousing electric power material.
The center line of the electric power material stacking body is sketched from the extracted outline of the electric power material stacking body, so that the angle between the center line of the electric power material stacking body and the horizontal ground is obtained and recorded as the stacking inclination angle.
And acquiring the stacking height of the electric power material stacking body from the extracted outline of the electric power material stacking body.
Substituting the stacking inclination angle and stacking height of the power material stacking body in each warehousing power material corresponding to the designated sub-warehousing area into a formula
To obtain the stacking stability corresponding to the stored area in the assigned sub-storage area corresponding to each warehousing electric material
，
、
Respectively expressed as the ith warehousing powerThe material is correspondingly assigned with the stacking inclination angle and the stacking height of the electric power material stacking body in the sub-storage area,
、
respectively expressed as preset allowable stacking inclination angle and allowable stacking height, and A, B respectively expressed as weighting factors corresponding to the stacking inclination angle and the stacking height.
Compared with the prior art, the invention has the following advantages: 1. according to the invention, the stacked electric power materials are subjected to stacking state image acquisition before being subjected to warehousing operation by the carrying robot, so that the stacking height corresponding to each stacked electric power material is identified from the stacking state image, and meanwhile, the warehousing distance corresponding to each warehoused electric material is identified based on the designated sub-warehousing area corresponding to each warehoused electric power material, so that the warehousing sequence is comprehensively planned according to the warehousing distance corresponding to each warehoused electric power material and the stacking height, the nearby warehousing principle is considered, the collapse rate in the warehousing process of the electric power materials is reduced, the damage to the electric power materials before use is effectively avoided, the warehousing efficiency is favorably improved, the dual guarantee of the warehousing efficiency and the warehousing safety is realized, and the carrying robot has a strong practical value.
2. According to the invention, the GPS positioning instrument, the weight sensor and the voice prompter are arranged on the transfer robot, so that when the transfer robot transports warehousing electric power materials, the warehousing electric power materials can be monitored by the weight sensor in a falling way, and when the warehousing electric power materials are monitored to fall off, the materials falling voice prompter can be carried out on the warehousing electric power materials, and the appearance images and the corresponding falling positions of the falling electric power materials can be obtained, so that the integrated operation of falling monitoring, early warning and processing in the warehousing transportation process of the electric power materials is realized, on one hand, the timeliness of the falling discovery of the electric power materials is improved, on the other hand, the processing efficiency of the falling electric power materials is improved, further, the hidden danger brought to the subsequent warehousing operation due to the falling of the electric power materials is effectively avoided, the reliable guarantee is provided for the warehousing accuracy and the warehousing stability, and simultaneously, the loss rate and the damage rate of the electric power materials are reduced to a certain degree, avoid the economic loss that causes because of electric power material loses.
3. According to the invention, when the warehousing electric power materials are transported to the appointed sub-warehousing area by the carrying robot to perform warehousing operation, the warehousing electric power materials are not directly placed in the stored area, the stacking stability analysis of the stored area electric power materials is increased, the stacking stability of the stored area can be visually displayed through the analysis, whether the storage area needs to be placed in a replacement area is judged according to the analysis result, and compared with the situation that the warehousing electric power materials are directly placed in the stored area, the operation mode can timely find the stacking potential safety hazard of the stored area, so that the collapse accident caused when the warehousing electric power materials are placed in the stored area, the placing safety of the warehousing electric power materials is ensured to the maximum extent, and the safety guarantee level of the warehousing electric power materials is 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 connection of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the characteristic analysis-based electric power material warehouse-in and warehouse-out monitoring and guiding analysis system comprises an electric power material warehouse dividing module, an electric power material warehouse building module, a carrying robot warehouse-in guiding equipment setting module, a target electric power material group warehouse-in parameter identification module, a target electric power material group warehouse-in path planning module, a target electric power material group warehouse-in transportation process drop monitoring module and a target electric power material group warehouse-in automatic placing module.
The electric power material warehouse dividing module is connected with the electric power material warehouse building module, the carrying robot warehouse entering guiding equipment setting module and the electric power material warehouse building module are both connected with the target electric power material group warehouse entering parameter identification module, the target electric power material group warehouse entering parameter identification module and the electric power material warehouse building module are both connected with the target electric power material group warehouse entering path planning module, and the carrying robot warehouse entering guiding equipment setting module is respectively connected with the target electric power material group warehouse entering transportation process falling monitoring module and the target electric power material group warehouse entering automatic placing module.
The electric power material warehouse dividing module is used for dividing the storage areas corresponding to the electric power material warehouse into a plurality of sub-storage areas according to the quantity of the electric power material types required to be stored, and numbering the sub-storage areas, wherein the sub-storage areas correspond to the electric power material types required to be stored one by one.
The electric power material warehouse construction module is used for constructing an electric power material warehouse, and further storing the electric power material types and the geographic positions which are correspondingly stored in the sub-warehousing areas and the appearance characteristics which correspond to the electric power materials into the electric power material warehouse.
The carrying robot warehousing guide equipment setting module is used for carrying out electric power material warehousing guide operation by a carrying robot and setting warehousing guide equipment on the carrying robot, wherein the warehousing guide equipment comprises a high-definition spherical camera, a GPS (global positioning system) locator, a weight sensor and a voice prompt.
The target electric power material group warehousing parameter identification module is used for recording electric power materials to be warehoused currently as a target electric power material group, stacking the target electric power material group on a carrying robot, and then carrying out warehousing parameter identification on the target electric power material group by the carrying robot, wherein the warehousing parameters comprise the quantity of the warehoused electric power materials and the designated sub-warehousing areas corresponding to the warehoused electric power materials.
The specific identification method corresponding to the storage parameter identification of the target electric power material group by the carrying robot is as follows:
the high-definition spherical camera in the corresponding warehousing guide equipment of the carrying robot acquires the stacking state images of the target electric power material group, then acquires the warehousing electric power material quantity existing in the target electric power material group from the stacking state images, and sequentially numbers the warehousing electric power materials into 1, 2.
Focusing the collected target power material group stacking state image in each warehousing power material area, extracting an edge contour line corresponding to each warehousing power material, dividing the target power material group image into a plurality of area images according to the extracted edge contour line, wherein each area image corresponds to one warehousing power material.
Extracting the appearance characteristics of each warehousing electric power material from each region image, wherein the appearance characteristics comprise shapes, colors, structures and the like, matching the appearance characteristics with the appearance characteristics corresponding to various electric power materials in the electric power material warehouse, matching the electric power material types corresponding to each warehousing electric power material, matching the electric power material types with the electric power material types correspondingly stored in each sub-warehousing region in the electric power material warehouse, and matching the appointed sub-warehousing region corresponding to each warehousing electric power material.
The target power material group warehousing path planning module is used for intelligently planning the warehousing path corresponding to the target power material group based on the warehousing parameters corresponding to the identified target power material group, and specifically executes the following steps: and acquiring the number of the appointed sub-warehousing region corresponding to each warehousing electric power material, and screening the geographical position of each warehousing electric power material corresponding to the appointed sub-warehousing region from the material warehouse.
And acquiring the geographical position of the transfer robot before warehousing.
And acquiring the route distance between the geographic position of the specified sub-warehousing region corresponding to each warehousing electric material and the geographic position of the transfer robot before warehousing according to the geographic position of the specified sub-warehousing region corresponding to each warehousing electric material and the geographic position of the transfer robot before warehousing, and recording the route distance as the warehousing distance corresponding to each warehousing electric material.
And acquiring stacking heights corresponding to the warehousing electric power materials from the target electric power material group stacking state image.
The warehousing distance and the stacking height corresponding to each warehousing electric power material pass through a warehousing priority calculation formula
Obtaining the warehousing priority corresponding to each warehousing electric power material
，
、
The storage distance and the stacking height corresponding to the ith storage electric power material are respectively expressed, n is the number of the storage electric power materials, and e is a natural constant.
In a specific embodiment of the invention, the shorter the warehousing distance corresponding to a certain warehousing electric power material is, the higher the stacking height is, and the greater the warehousing priority corresponding to the warehousing electric power material is.
And sequencing the warehousing electric power materials according to the sequence of the warehousing priority from large to small, wherein the sequencing result is used as the warehousing sequence of the target electric power material group.
Planning the warehousing paths corresponding to the warehousing electric power materials by the carrying robot according to the warehousing sequence of the target electric power material group, wherein the specific planning process comprises the following steps: the warehousing path corresponding to the first warehousing electric power material in each warehousing electric power material takes the geographical position before the transportation robot warehouses as the warehousing path planning starting point.
The warehousing path corresponding to the warehousing electric power material arranged behind in each warehousing electric power material takes the geographic position of the designated sub-warehousing area corresponding to the last warehousing electric power material as the warehousing path planning starting point.
According to the embodiment of the invention, the stacked electric power materials are subjected to stacking state image acquisition before being subjected to warehousing operation by the carrying robot, so that the stacking height corresponding to each stacked electric power material is identified from the stacking state image, and meanwhile, the warehousing distance corresponding to each warehoused electric material is identified based on the designated sub-warehousing area corresponding to each warehoused electric power material, so that the warehousing sequence is comprehensively planned according to the warehousing distance corresponding to each warehoused electric power material and the stacking height, the near warehousing principle is considered, the collapse rate in the warehousing process of the electric power material is reduced, the damage to the electric power material before use is effectively avoided, the warehousing efficiency is favorably improved, the dual guarantee of the warehousing efficiency and the warehousing safety is realized, and the carrying robot has a strong practical value.
The drop monitoring module for the target electric power material group warehousing transportation process is used for monitoring the drop of the stacked target electric power material group when the carrying robot transports according to the planned warehousing route, and the specific monitoring steps are as follows: when the target electric power material group is stacked on the carrying robot, the weight sensor in the warehouse-in guiding equipment detects the weight of the stacked target electric power material group to obtain the original weight corresponding to the target electric power material group.
When the carrying robot carries out transportation according to the planned warehousing path, the weight of the target electric power material group in the transportation process is monitored in real time through the weight sensor.
The drop monitoring module in the target electric power material group warehousing and transportation process further comprises early warning prompting according to a monitoring result, and the specific implementation mode refers to the following steps: and comparing the weight of the target electric power material group monitored in the transportation process with the original weight corresponding to the target electric power material group, if the weight of the target electric power material group monitored at a certain moment is smaller than the original weight corresponding to the target electric power material group, judging that the target electric power material group falls at the moment, and starting a voice prompter in the warehousing guide equipment to perform falling voice prompt at the moment.
The current transportation position of the carrying robot is positioned through the GPS locator at the moment, and the area around the current transportation position of the carrying robot is scanned through the high-definition spherical camera, so that the falling position corresponding to the falling electric power material is identified, and meanwhile, the appearance image of the falling electric power material is collected.
And transmitting the current transportation position of the carrying robot, the falling position corresponding to the falling electric power material and the appearance image of the falling electric power material to a storage management display terminal, and carrying out manual processing by storage management personnel.
The embodiment of the invention has the advantages that the GPS positioning instrument, the weight sensor and the voice prompter are arranged on the transfer robot, so that when the transfer robot transports the warehousing electric power materials, the warehousing electric power materials can be monitored by the weight sensor, and when the warehousing electric power materials are monitored to fall, the materials fall voice prompter can be carried out, the appearance images and the corresponding falling positions of the falling electric power materials can be obtained, the falling monitoring and early warning integrated operation in the warehousing transportation process of the electric power materials is realized, on one hand, the timeliness of the falling detection of the electric power materials is improved, on the other hand, the processing efficiency of the falling electric power materials is improved, the hidden danger of the subsequent warehousing operation caused by the falling electric power materials is effectively avoided, the reliable guarantee is provided for the warehousing precision and the stability, and simultaneously, the loss rate and the damage rate of the electric power materials are reduced to a certain degree, avoid the economic loss that causes because of electric power material loses.
The automatic target electric power material group warehousing placement module is used for automatically placing the target electric power material group in an appointed sub-warehousing area when the target electric power material group is transported to the appointed sub-warehousing area by a carrying robot, and specifically comprises the following steps: when the transfer robot transports each warehousing electric power material to the corresponding appointed sub-warehousing area, the stacking state of the stored area electric power material in the appointed sub-warehousing area is subjected to image acquisition through the high-definition spherical camera.
The stacking stability corresponding to the stored area is evaluated according to the stacking state image of the stored electric material in the corresponding designated sub-storage area of each warehousing electric material, and the specific evaluation mode is as follows:
and extracting the outline of the electric power material stacking body from the stacking state image of the electric power material in the corresponding designated sub-storage area of each warehousing electric power material.
The center line of the electric power material stacking body is sketched from the extracted outline of the electric power material stacking body, so that the angle between the center line of the electric power material stacking body and the horizontal ground is obtained and recorded as the stacking inclination angle.
And acquiring the stacking height of the electric power material stacking body from the extracted outline of the electric power material stacking body.
Substituting the stacking inclination angle and stacking height of the power material stacking body in each warehousing power material corresponding to the designated sub-warehousing area into a formula
To obtain the stacking stability corresponding to the stored area in the assigned sub-storage area corresponding to each warehousing electric material
，
、
Respectively expressed as the stacking inclination angle and the stacking height of the power material stacking body in the i-th warehousing power material corresponding to the designated sub-warehousing area,
、
respectively expressed as preset allowable stacking inclination angle and allowable stacking height, and A, B respectively expressed as weighting factors corresponding to the stacking inclination angle and the stacking height, wherein the larger the stacking inclination angle is, the higher the stacking height is, and the smaller the stacking stability is.
The stacking stability corresponding to the stored storage area in the designated sub-storage area corresponding to each warehousing electric power material is compared with the preset standard stacking stability, if the stacking stability corresponding to the stored storage area in the designated sub-storage area corresponding to a certain warehousing electric power material is smaller than the preset standard stacking stability, the warehousing electric power material is warehoused and placed in the alternate area in the designated sub-storage area corresponding to the warehousing electric power material, meanwhile, the number of the designated sub-storage area is transmitted to the warehousing management display terminal, so that warehousing management personnel can know the designated sub-storage area with the unstability in time and provide a targeted warehousing target for subsequent processing, and otherwise, the warehousing electric power material is warehoused and placed in the warehousing electric power material by regulating and controlling the transport capacity and the transport height of the transport robot in the stored storage area corresponding to the designated sub-storage area.
In a specific embodiment of the present invention, the specific regulation and control basis corresponding to the transportation force of the transportation robot is to obtain the weight corresponding to the warehousing electric power material, match the weight with the preset required transportation force corresponding to various weights, and screen out the required transportation force corresponding to the warehousing electric power material, so as to regulate and control the transportation force of the transportation robot to meet the required transportation force corresponding to the warehousing electric power material.
In the embodiment of the present invention, the regulation and control basis corresponding to the transport height of the transport robot is to obtain the stacking height of the power material stacking body in the specified sub-storage area corresponding to the warehoused power material, and further regulate and control the transport height of the transport robot so as to meet the stacking height of the power material stacking body in the specified sub-storage area corresponding to the warehoused power material.
The purpose of regulating and controlling the carrying capacity and the carrying height of the carrying robot is to facilitate the warehousing electric power materials to be smoothly and safely placed in a stored area.
According to the embodiment of the invention, when the warehousing electric power materials are transported to the appointed sub-warehousing area by the carrying robot to perform warehousing operation, the warehousing electric power materials are not directly placed in the stored area, the stacking stability analysis of the stored area electric power materials is increased, the stacking stability of the stored area can be visually displayed through the analysis, whether the storage area needs to be placed in an alternative area is judged according to the analysis result, and compared with the situation that the warehousing electric power materials are directly placed in the stored area, the operation mode can timely find the stacking potential safety hazard of the stored area, so that the collapse accident caused when the warehousing electric power materials are placed in the stored area when the stacking potential safety hazard exists in the stored area is effectively avoided, the placing safety of the warehousing electric power materials is ensured to the maximum extent, and the safety guarantee level of the warehousing electric power materials 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. A power material warehouse-in and warehouse-out monitoring and guiding analysis system based on feature analysis is characterized by comprising:
the electric power material warehouse dividing module is used for dividing the storage area corresponding to the electric power material warehouse into a plurality of sub-storage areas according to the quantity of the electric power material types required to be stored, and numbering the sub-storage areas, wherein the sub-storage areas correspond to the electric power material types required to be stored one by one;
the electric power material warehouse building module is used for building an electric power material warehouse, and further storing the electric power material types and the geographic positions which are correspondingly stored in the sub-warehousing areas and the appearance characteristics which are corresponding to the electric power materials into the electric power material warehouse;
the device comprises a carrying robot warehousing guide equipment setting module, a storage guide equipment setting module and a storage guide equipment setting module, wherein the carrying robot is used for executing electric power material warehousing guide operation and setting warehousing guide equipment on the carrying robot;
the target electric power material group storage parameter identification module is used for marking the electric power materials to be stored currently as a target electric power material group, stacking the target electric power material group on the transfer robot, and then identifying the storage parameters of the target electric power material group by the transfer robot;
the target power material group warehousing path planning module is used for intelligently planning the warehousing path corresponding to the target power material group based on the warehousing parameters corresponding to the identified target power material group;
the target electric power material group storage and transportation process falling monitoring module is used for monitoring falling of the stacked target electric power material group when the carrying robot carries out transportation according to the planned storage route, and carrying out early warning prompt according to the monitoring result;
and the automatic target electric power material group storage placing module is used for automatically placing the target electric power material group in the appointed sub-storage area when the target electric power material group is transported to the appointed sub-storage area by the carrying robot.
2. The system of claim 1, wherein the system comprises: the warehousing guide equipment comprises a high-definition spherical camera, a GPS locator, a weight sensor and a voice prompt.
3. The system of claim 2, wherein the system comprises: the warehousing parameters comprise the number of warehousing electric power materials and the designated sub-warehousing areas corresponding to the warehousing electric power materials.
4. The system of claim 3, wherein the system comprises: the specific identification method corresponding to the storage parameter identification of the target electric power material group by the carrying robot is as follows:
carrying out stacking state image acquisition on a target electric power material group by a carrying robot corresponding to a high-definition spherical camera in the warehousing guide equipment, further acquiring the quantity of warehousing electric power materials existing in the target electric power material group from the stacking state images, and sequentially numbering each warehousing electric power material as 1, 2,.
Focusing the collected target electric power material group stacking state image in each warehousing electric power material area, extracting an edge contour line corresponding to each warehousing electric power material, dividing the target electric power material group image into a plurality of area images according to the extracted edge contour line, wherein each area image corresponds to one warehousing electric power material;
extracting the appearance characteristics of each warehousing electric power material from each regional image, matching the appearance characteristics with the appearance characteristics corresponding to various electric power materials in the electric power material warehouse, matching the electric power material types corresponding to each warehousing electric power material from the appearance characteristics, matching the electric power material types with the electric power material types correspondingly stored in each sub-warehousing area in the electric power material warehouse, and matching the appointed sub-warehousing area corresponding to each warehousing electric power material from the electric power material warehouse.
5. The system of claim 4, wherein the characteristic analysis-based electric material warehouse entry and exit monitoring and guidance analysis system comprises: the intelligent planning of the warehousing path corresponding to the target electric power material based on the warehousing parameters corresponding to the identified target electric power material group specifically executes the following steps:
acquiring the number of a designated sub-warehousing region corresponding to each warehousing electric power material, and screening the geographical position of each warehousing electric power material corresponding to the designated sub-warehousing region from a material warehouse;
acquiring the geographical position of the transfer robot before warehousing;
acquiring the route distance between the geographic position of the assigned sub-warehousing region corresponding to each warehousing electric power material and the geographic position of the transport robot before warehousing according to the geographic position of the assigned sub-warehousing region corresponding to each warehousing electric power material and the geographic position of the transport robot before warehousing, and recording the route distance as the warehousing distance corresponding to each warehousing electric power material;
acquiring stacking heights corresponding to the warehousing electric power materials from the target stacking state image of the electric power material group;
the warehousing distance and the stacking height corresponding to each warehousing electric power material pass through a warehousing priority calculation formula
Obtaining the warehousing priority corresponding to each warehousing electric power material
，
、
Respectively representing the warehousing distance and stacking height corresponding to the ith warehousing electric power material, wherein n represents the number of warehousing electric power materials, and e represents a natural constant;
sorting each warehousing electric power material according to the sequence of warehousing priorities from large to small, wherein the sorting result is used as the warehousing sequence of the target electric power material group;
and planning the warehousing paths corresponding to the warehousing electric power materials by the carrying robot according to the warehousing sequence of the target electric power material group.
6. The system of claim 5, wherein the system comprises: the specific planning process for planning the warehousing paths corresponding to the warehousing electric power materials by the carrying robot according to the warehousing sequence of the target electric power material group is as follows:
the warehousing path corresponding to the first warehousing electric power material in each warehousing electric power material takes the geographical position before warehousing of the carrying robot as a warehousing path planning starting point;
the warehousing path corresponding to the warehousing electric power material arranged behind in each warehousing electric power material takes the geographic position of the designated sub-warehousing area corresponding to the last warehousing electric power material as the warehousing path planning starting point.
7. The system of claim 2, wherein the system comprises: the method specifically comprises the following steps of carrying out drop monitoring on stacked target electric power material groups when the carrying robot carries out transportation according to a planned warehousing path:
when the target electric power material group is stacked on the carrying robot, a weight sensor in the warehousing guide equipment is used for carrying out weight detection on the stacked target electric power material group to obtain the original weight corresponding to the target electric power material group;
when the carrying robot carries out transportation according to the planned warehousing path, the weight of the target electric power material group in the transportation process is monitored in real time through the weight sensor.
8. The system of claim 7, wherein the system comprises: the specific implementation manner of performing early warning prompt according to the monitoring result refers to the following steps:
comparing the weight of a target electric power material group monitored in the transportation process with the original weight corresponding to the target electric power material group, if the weight of the target electric power material group monitored at a certain moment is smaller than the original weight corresponding to the target electric power material group, judging that the target electric power material group falls at the moment, and starting a voice prompter in the warehousing guidance equipment to perform falling voice prompt;
positioning the current transportation position of the transfer robot through a GPS (global positioning system) locator at the moment, scanning the area around the current transportation position of the transfer robot through a high-definition spherical camera, identifying the falling position corresponding to the falling electric power material, and collecting the appearance image of the falling electric power material;
and transmitting the current transportation position of the carrying robot, the falling position corresponding to the falling electric power material and the appearance image of the falling electric power material to a storage management display terminal, and carrying out manual processing by storage management personnel.
9. The system of claim 3, wherein the system comprises: the automatic placement of the target electric power material group in the designated sub-warehousing area specifically comprises the following steps:
when the transfer robot transports each warehousing electric power material to the corresponding appointed sub-warehousing area, the stacking state of the stored area electric power material in the appointed sub-warehousing area is subjected to image acquisition through the high-definition spherical camera;
and evaluating the stacking stability corresponding to the stored storage area according to the stacking state image of the stored electric power material in the corresponding designated sub-storage area of each warehousing electric power material, comparing the stacking stability with the preset standard stacking stability, if the stacking stability corresponding to the stored storage area in the corresponding designated sub-storage area of a certain warehousing electric power material is smaller than the preset standard stacking stability, warehousing the warehousing electric power material in an alternative area in the designated sub-storage area corresponding to the warehousing electric power material, simultaneously transmitting the number of the designated sub-storage area to a warehousing management display terminal, and otherwise, warehousing the warehousing electric power material in the stored storage area of the corresponding designated sub-storage area of the warehousing electric power material, regulating and controlling the carrying capacity and carrying height of the carrying robot.
10. The system of claim 9, wherein the system comprises: the step of evaluating the stacking stability corresponding to the stored area according to the stacking state image of the stored electric material in the corresponding designated sub-storage area of each warehousing electric material specifically comprises the following steps:
extracting the outline of the electric power material stacking body from the stacking state image of the electric power material in the corresponding designated sub-warehouse storage area of each warehousing electric power material;
drawing the center line of the electric power material stacking body from the extracted outline of the electric power material stacking body, further acquiring the angle between the center line of the electric power material stacking body and the horizontal ground, and recording the angle as a stacking inclination angle;
acquiring the stacking height of the electric power material stacking body from the extracted outline of the electric power material stacking body;
substituting the stacking inclination angle and stacking height of the power material stacking body in each warehousing power material corresponding to the designated sub-warehousing area into a formula
To obtain the stacking stability corresponding to the stored area in the assigned sub-storage area corresponding to each warehousing electric material
，
、
Respectively expressed as the stacking inclination angle and the stacking height of the power material stacking body in the i-th warehousing power material corresponding to the designated sub-warehousing area,
、
respectively expressed as preset allowable stacking inclination angle and allowable stacking height, and A, B respectively expressed as weighting factors corresponding to the stacking inclination angle and the stacking height.
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