CN115511427B - Warehouse management system based on two-dimensional code - Google Patents
Warehouse management system based on two-dimensional code Download PDFInfo
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Abstract
The invention relates to the technical field of warehousing management, and particularly discloses a warehousing management system based on two-dimensional codes, wherein a first statistical module is used for counting the real-time quantity of goods according to the acquired warehousing and ex-warehouse information; the inspection robot is used for performing inspection in the warehouse according to an inspection strategy, and the inspection content comprises the following steps: after the number of the goods is changed, counting the residual number of the goods type, and sending a counting result to a second counting module; the second statistical module is independent from the first statistical module and used for updating in real time according to data counted by the inspection robot; the two-dimension code label is arranged at the corresponding position of each kind of goods on the goods shelf and used for displaying the real-time data counted by the second counting module; and the processing module is used for acquiring and analyzing the data of the first statistical module and the second statistical module in real time and warning the storage state according to the analysis result.
Description
Technical Field
The invention relates to the technical field of warehousing management, in particular to a warehousing management system based on two-dimensional codes.
Background
Warehouse management manages and controls the activities of receiving and sending, settlement and the like of the warehoused goods, guarantees the integrity and the harmlessness of the warehoused goods, ensures the normal operation of production and management activities, carries out classification and recording on the activity conditions of various goods on the basis, carries out real-time statistics on the quantity and the conditions of the warehoused goods, and further is convenient for meeting the requirements of the upstream and the downstream of a supply chain.
The existing warehouse management system mainly carries out real-time statistics on the delivery and storage of goods through an ERP system, ensures the accuracy of the stock condition, and simultaneously realizes the verification of the quantity of the goods in the warehouse through the checking comparison of the quantity of various goods in the warehouse and the quantity of the system in a certain period.
However, the problem of wrong quantity still easily occurs in the process of warehousing and delivering goods, and large deviation between the quantity of real objects and the quantity of systems easily occurs in a state of not being discovered in time; if the period for checking the stock quantity is increased, a large burden is imposed on the manpower.
Disclosure of Invention
The invention aims to provide a warehouse management system based on two-dimensional codes, which solves the following technical problems:
how to ensure the quantity accuracy in the process of warehousing goods.
The purpose of the invention can be realized by the following technical scheme:
a two-dimensional code based warehouse management system, the system comprising:
the first counting module is used for counting the real-time quantity of the goods according to the acquired warehousing and ex-warehousing information;
the inspection robot is used for inspecting in the warehouse according to an inspection strategy, and the inspection contents comprise:
after the goods quantity is changed, counting the residual quantity of the goods type, and sending a counting result to a second counting module;
the second statistical module is independent from the first statistical module and used for updating in real time according to data counted by the inspection robot;
the two-dimensional code label is arranged at a position corresponding to each kind of goods on the goods shelf and used for displaying real-time data counted by the second counting module;
and the processing module is used for acquiring and analyzing the data of the first statistical module and the second statistical module in real time and warning the storage state according to the analysis result.
In one embodiment, the inspection robot comprises a collecting head, wherein the collecting head is used for acquiring image information of goods and performing distance measurement;
the process that inspection robot statistics is carried out the remaining quantity of goods kind does:
scanning the two-dimensional code label, and enabling the collecting head to reach a preset position to collect an image;
processing the image acquired by the acquisition head to acquire edge contour information, and performing coincidence comparison on the edge contour information and contour information of a last statistical process of the goods to acquire a non-coincidence area;
dividing the corresponding position of the non-overlapped area into areas according to the size of the front view area of the goods, and measuring the distance from each area plane to the collecting head;
establishing a matrix of distances measured by row and column pairs for goods involved in non-coincident regions
；
By the formula
=/>
Capturing a currently captured decrement->
；
By passing
=/>
-/>
Obtaining the current remaining amount of the goods;
wherein the content of the first and second substances,
is in the middle of the last statistical process>
A corresponding distance matrix; x is the row number of the matrix, and Y is the column number of the matrix; />
Is a preset length value; []To evaluate the whole symbol; />
Is the statistic of the last statistical process.
In one embodiment, the preset position reached by the pick head is updated once each time a statistical process is completed, and an image of the preset position of the next statistical process is collected after the current statistics is completed.
In one embodiment, the inspection robot is further used for inspecting the storage environment;
the process of polling the warehousing environment is as follows:
the real-time environment parameters of the position of the inspection robot are collected, and whether the real-time environment parameters meet the corresponding requirements or not is judged:
if not, early warning is carried out;
if yes, calling the historical environmental parameter data of the position, performing predictive analysis, and judging whether to perform early warning according to the predictive analysis result.
In one embodiment, the process of the prediction analysis is as follows:
obtaining historical n-time detection parameters of the region corresponding to the position point, and fitting a parameter time change curve F (t) according to the historical detection parameters;
by the formula
=/>
Get the fifth->
Prediction early warning value of seed detection parameter>
；
Will predict the early warning value
A standard interval corresponding to this type of detection parameter>
And (3) carrying out comparison:
if it is
∈/>
If so, judging that the detection parameter is normal;
otherwise, carrying out early warning;
wherein the content of the first and second substances,
is the current point in time, is selected>
A starting time point in the historical detection data; />
Is a first->
A reference value corresponding to the seed detection parameter; k is epsilon [1, n +1]，/>
Is a detection value for the kth time>
Is the mean value of n +1 detection values; />
And & ->
Is the first->
And detecting the weight coefficient corresponding to the parameter.
In one embodiment, the patrol policy is:
generating a planning path according to a map of the warehouse;
and adjusting the patrol duration of each region in the planned path according to the data of the goods in and out of the warehouse.
In an embodiment, the step of planning the path includes:
acquiring a two-dimensional grid map of a warehouse through a patrol robot;
dividing a two-dimensional grid map into a limited number of sub-regions;
acquiring an optimal solution of paths among all the subregions based on a genetic algorithm;
and obtaining a planned path according to the optimal solution of the paths among the regions.
In an embodiment, the process of adjusting the patrol duration of each area is as follows:
by the formula
=/>
+/>
A status value is taken of the lth region>
；/>
Wherein the content of the first and second substances,
the number of warehousing times of the L-th area is; />
The number of ex-warehouse times of the L-th area is; />
The number of the L-th area is put in storage; />
The number of ex-warehouse of the L-th area; />
、/>
、/>
And & ->
Is a preset threshold value;
according to
Sequencing each region from big to small;
and improving the patrol duration of the patrol robot in each area according to the sequence of the sequencing of each area.
The invention has the beneficial effects that:
(1) According to the invention, through the cooperation of the first statistical module and the second statistical module, the quantity of the goods is checked in time when the quantity of the warehouse changes, and further through the analysis and judgment of the processing module, the problems of wrong leading and wrong leading are avoided.
(2) When the quantity of the goods changes, the method performs reverse thrust through the position of the changed outline range so as to obtain the position of the goods with the changed position, and then performs quantity judgment by combining a distance measurement mode so as to accurately count the quantity of the goods.
(3) According to the invention, the currently detected real-time parameter data and the historical relative data are subjected to predictive analysis, so that potential problems existing in an environment control system of the warehouse can be timely discovered according to the change trend and the rule of the environmental parameters, and further timely treatment is carried out, and potential risks are reduced.
(4) The invention adjusts according to the conditions of goods in and out of the warehouse in different areas, thereby being capable of adaptively meeting the timely inspection process of the goods and improving the inspection efficiency of the inspection robot.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of a warehouse management system 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.
Referring to fig. 1, in an embodiment, a two-dimensional code based warehouse management system is provided, the system includes:
the first statistical module is used for counting the real-time quantity of the goods according to the obtained warehousing and ex-warehouse information;
the inspection robot is used for performing inspection in the warehouse according to an inspection strategy, and the inspection content comprises the following steps:
after the number of the goods is changed, counting the residual number of the goods type, and sending a counting result to a second counting module;
the second statistical module is independent from the first statistical module and used for updating in real time according to data counted by the inspection robot;
the two-dimension code label is arranged at the corresponding position of each kind of goods on the goods shelf and used for displaying the real-time data counted by the second counting module;
and the processing module is used for acquiring and analyzing the data of the first statistical module and the second statistical module in real time and warning the storage state according to the analysis result.
According to the technical scheme, two groups of modules for counting the quantity of the goods are arranged, and the quantity of the goods is independently checked through a first counting module and a second counting module, wherein the first counting module is in butt joint with an ERP system and is used for counting the real-time quantity of the goods according to the obtained warehousing and ex-warehouse information, the second counting module is used for counting the actual quantity of the goods based on the inspection robot, meanwhile, the inspection robot can count the residual quantity of the goods after the quantity of the goods is changed and send the counting result to the second counting module, and then the quantity of the goods is checked in time when the quantity of the warehouse is changed through the matching effect of the first counting module and the second counting module, so that the problems of wrong leading and wrong leading are avoided through analysis and judgment of the processing module; in addition, this embodiment sets up the two-dimensional code label through the goods shelves position that corresponds at every kind of goods kind, can carry out the record to the real-time data of goods automatically, and then realizes the effect of automatic recording.
As an embodiment of the invention, the inspection robot comprises a collecting head, wherein the collecting head is used for acquiring image information of goods and performing distance measurement;
the process that inspection robot statistics is carried out the remaining quantity of goods kind does:
scanning the two-dimensional code label, and enabling the collecting head to reach a preset position to collect an image;
processing the image acquired by the acquisition head to acquire edge contour information, and performing coincidence comparison on the edge contour information and contour information of a last statistical process of the goods to acquire a non-coincidence area;
dividing the corresponding position of the non-overlapped area into areas according to the size of the front view area of the goods, and measuring the distance from each area plane to the collecting head;
establishing a matrix of distances measured by row and column pairs for goods involved in non-coincident regions
；
By the formula
=/>
Capturing a currently captured decrement->
；
By passing
=/>
-/>
Obtaining the current remaining amount of the goods;
wherein, the first and the second end of the pipe are connected with each other,
is in the middle of the last statistical process>
A corresponding distance matrix; x is the row number of the matrix, and Y is the column number of the matrix; />
Is a preset length value; []To evaluate the whole symbol; />
Is the statistic of the last statistical process.
According to the technical scheme, the scheme for checking the quantity of the goods by utilizing the image acquisition and distance measurement functions of the inspection robot is provided, specifically, the two-dimensional code label is scanned based on the image acquisition function of the inspection robot, then the checking statistical process of the goods type is carried out, meanwhile, the acquisition head reaches the preset position and acquires the image based on the positioning function of the inspection robot, the edge profile information in the image can be acquired by processing the image, the coincidence comparison is carried out on the edge profile information and the profile information of the last statistical process of the goods, then the non-coincidence area can be acquired, the position corresponding to the non-coincidence area is subjected to area division according to the size of the front view area of the goods, and the plane distance measurement function of each area is measuredThe distance to the collecting head, and the collected distance data is established into a matrix
By means of the formula>
=/>
Capturing a currently captured decrement->
Wherein is present>
Is a matrix->
And matrix->
Sum of element differences, and>
for a preset length value, is determined according to a volume parameter corresponding to the type of cargo, and is therefore determined by a reduction->
The formula can judge the decrement of the cargo relative to the last statistical process and then pass through the judgment>
=/>
-/>
The current residual quantity of the goods is obtained, and the quantity of the goods is realizedThe statistical process of (1).
In the technical scheme, the inspection robot realizes the image acquisition process through the equipped camera device, and the distance between the acquisition head and the goods is detected through the distance sensor; the acquisition head of the inspection robot is matched with the robot body to move through a telescopic assembly in the prior art, so that the adjustment of the spatial position is realized, and the specific realization structure is not described in detail herein; the image processing process comprises the steps of firstly carrying out contrast adjustment and gray processing, then obtaining edge contour information in a cargo image by using a common edge detection algorithm, obviously, when the quantity of cargos changes, the edge contour of the corresponding position of each cargo changes, carrying out reverse propulsion through the changed positions to further obtain the positions of the cargos with changed positions, and then carrying out quantity judgment by combining a distance measurement mode, so that the quantity of the cargos can be accurately counted.
As an embodiment of the invention, the preset position reached by the collecting head is updated once each time the counting process is completed, and an image of the preset position of the next counting process is collected after the current counting is completed.
Because the quantity of goods can change in the statistical process at every turn, therefore the preset position point at every turn also can change, in order to guarantee that the process of image comparison can obtain accurate reference, therefore this embodiment is when accomplishing a statistical process at every turn, the preset position that arrives to the pick head is updated once, and gather the image of next statistical process preset position after current statistics is accomplished, through this process, can guarantee that the statistical process at every turn all can have and consult for the comparison image, guaranteed the accuracy rapidity of judgement.
It should be noted that a plurality of preset position points can be set according to the number of the goods, a sequence is set according to the placement mode of the goods, and the preset position points are compared and analyzed in sequence according to the sequence until the image profile of the goods at the preset position points is unchanged from the image profile of the last statistical process.
As an embodiment of the present invention, the inspection robot is further configured to inspect a storage environment;
the process of polling the warehousing environment is as follows:
collecting real-time environment parameters of the position of the inspection robot, and judging whether the real-time environment parameters meet corresponding requirements:
if not, early warning is carried out;
if yes, calling the historical environmental parameter data of the position, performing predictive analysis, and judging whether to perform early warning according to the predictive analysis result.
According to the technical scheme, the corresponding sensor assembly is integrated on the inspection robot, so that the warehouse environment can be timely judged and analyzed in the inspection process, specifically, standard judgment is firstly carried out according to real-time environment parameters, and timely adjustment is carried out through early warning when the requirements are not met; secondly, by carrying out predictive analysis on the currently detected real-time parameter data and historical relative data, potential problems existing in an environment control system of the warehouse can be timely discovered according to the change trend and the rule of the environmental parameters, and then timely treatment is carried out, so that potential risks are reduced.
It should be noted that, the historical environmental parameters in the above scheme include, but are not limited to, temperature, humidity, dust, oxygen content in air, and the like.
As an embodiment of the present invention, the process of the prediction analysis is:
obtaining historical n-time detection parameters of the region corresponding to the position point, and fitting a parameter time change curve F (t) according to the historical detection parameters;
by the formula
=/>
Get the fifth->
Prediction early warning value of seed detection parameter>
；
Will predict the early warning value
A standard interval corresponding to this type of detection parameter>
And (3) carrying out comparison:
if it is
∈/>
If so, judging that the detection parameter is normal;
otherwise, carrying out early warning;
wherein the content of the first and second substances,
is the current point in time, is selected>
A starting time point in the historical detection data; />
Is the first->
A reference value corresponding to the seed detection parameter; k belongs to [1, n +1 ]]，/>
Is the k-th detection value>
Is the mean value of n +1 detection values; />
And &>
Is the first->
And detecting the weight coefficient corresponding to the parameter.
Through the technical scheme, the embodiment provides a predictive analysis method, specifically, historical detection parameters of an area are obtained according to area division of a warehouse, and then a parameter time change curve F (t) is fitted according to the historical detection parameters; then according to the formula
=/>
Get the fifth->
Prediction early warning value of seed detection parameter>
Wherein is present>
Is the current point in time, is selected>
A starting time point in the historical detection data; />
Is the first->
A reference value corresponding to the seed detection parameter; k is epsilon [1, n +1]，/>
Is the k-th detection value>
Is the mean value of n +1 detection values; />
And & ->
Is the first->
The seed detection parameter corresponds to a weighting factor and, accordingly, is based on the weight of the seed detection parameter>
Can reflect the situation in which the parameter deviates from the reference value and->
Then the fluctuation status of the historical data is reflected, and then according to the corresponding characteristic of the environmental parameter, the corresponding weighting coefficient is used for->
And &>
A weighted calculation is carried out, so that the environmental condition of the warehouse can be evaluated and then be/is>
E is the standard interval corresponding to the detection parameter->
And if not, the current environmental parameter control condition is indicated to have risks, so that early warning analysis can be continuously carried out on the environmental condition of the warehouse in each inspection process, and the risks of the warehouse can be reduced.
To say thatObviously, in the above technical solution, the reference value corresponding to each detection parameter
Based on the standard interval>
And a weighting factor->
And &>
Are selectively set according to the characteristics of the detection parameters and the requirements of the warehouse on the environmental parameters, which are not described herein again.
As an embodiment of the present invention, the patrol policy is:
generating a planning path according to a map of the warehouse;
and adjusting the patrol duration of each region in the planned path according to the data of the goods in and out of the warehouse.
Through the technical scheme, the patrol strategy in the embodiment firstly automatically plans the patrol route according to the specific result of the warehouse, the process can be realized through a common route planning algorithm in the prior art, and then the adjustment is carried out according to the warehouse entering and exiting frequencies of goods in different areas, so that the timely patrol process of the goods can be adaptively met, and the patrol efficiency of the patrol robot is improved.
As an embodiment of the present invention, the step of planning the path includes:
acquiring a two-dimensional grid map of a warehouse through a patrol robot;
dividing a two-dimensional grid map into a limited number of sub-regions;
acquiring an optimal solution of paths among all the sub-regions based on a genetic algorithm;
and obtaining a planned path according to the optimal solution of the paths among the areas.
According to the technical scheme, the embodiment provides a route specification scheme, and a two-dimensional grid map of a warehouse is acquired through a patrol robot; dividing a two-dimensional grid map into limited sub-regions; acquiring an optimal solution of paths among all the sub-regions based on a genetic algorithm; according to the scheme, the inspection path of the inspection robot can be optimized, and the inspection efficiency is further improved.
As an embodiment of the present invention, the process of adjusting the patrol duration of each area is as follows:
by the formula
=/>
+/>
A status value is taken of the lth region>
；
Wherein, the first and the second end of the pipe are connected with each other,
the number of warehousing times of the L-th area is; />
The number of ex-warehouse times of the L-th area is; />
The number of the L-th area is put in storage; />
The number of ex-warehouse of the L-th area; />
、/>
、/>
And & ->
Is a preset threshold value; />
According to
Sequencing each region from big to small;
and improving the patrol duration of the patrol robot in each area according to the sequence of the sequencing of each area.
Through the technical scheme, the embodiment provides a scheme for adjusting the patrol duration of each area, and the patrol duration is adjusted through a formula
=/>
+/>
A status value is taken of the lth region>
Wherein is present>
The number of warehousing times of the L-th area is set; />
The number of ex-warehouse times of the L-th area is set; />
The number of the L-th area is put in storage; />
The number of ex-warehouse of the L-th area; />
、/>
、/>
And & ->
Is a preset threshold value; thus when>
The greater the cargo flow in the area, and therefore based on->
Sequencing all the areas from large to small, and improving the patrol duration of the patrol robot in each area according to the sequencing sequence of all the areas, so that the statistics and patrol requirements of all the areas of the warehouse can be met adaptively, and the overall efficiency is improved dynamically.
It should be noted that, the preset threshold in the above technical solution
、/>
、/>
And & ->
The setting is selectively performed according to the warehouse-in/out efficiency of the warehouse, which is not described herein.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (7)
1. The warehousing management system based on the two-dimensional code is characterized by comprising:
the first counting module is used for counting the real-time quantity of the goods according to the acquired warehousing and ex-warehousing information;
the inspection robot is used for performing inspection in the warehouse according to an inspection strategy, and the inspection content comprises the following steps:
after the number of the goods is changed, counting the residual number of the goods types with the changed number, and sending a counting result to a second counting module;
the second statistical module is independent from the first statistical module and used for updating in real time according to data counted by the inspection robot;
the two-dimension code label is arranged at the corresponding position of each kind of goods on the goods shelf and used for displaying the real-time data counted by the second counting module;
the processing module is used for acquiring and analyzing the data of the first statistical module and the second statistical module in real time and warning the storage state according to the analysis result;
the inspection robot comprises a collecting head, wherein the collecting head is used for acquiring image information of cargos and measuring distance;
the process that the inspection robot carries out statistics to the remaining quantity of goods kind does:
scanning the two-dimensional code label, and enabling the collecting head to reach a preset position to collect an image;
processing the image acquired by the acquisition head to acquire edge contour information, and performing coincidence comparison on the edge contour information and contour information of a last statistical process of the goods to acquire a non-coincidence area;
dividing the corresponding position of the non-overlapped area into areas according to the size of the front view area of the goods, and measuring the distance from each area plane to the collecting head;
establishing a matrix B for the distances measured by row and column pairs of goods involved in the non-coincident region ij ；
By the formula
Obtaining the currently obtained reduction amount N r ；
By N z ＝N 0 -N r Obtaining the current remaining amount of the goods;
wherein, A ij For B in the last statistical process ij A corresponding distance matrix; x is the row number of the matrix, and Y is the column number of the matrix; l is 0 Is a preset length value; []To evaluate the whole symbol; n is a radical of 0 Is the statistic of the last statistical process.
2. The warehouse management system based on two-dimensional codes as claimed in claim 1, wherein the preset position reached by the collecting head is updated once every time a statistical process is completed, and an image of the preset position of the next statistical process is collected after the current statistical process is completed.
3. The warehouse management system based on two-dimensional codes as claimed in claim 1, wherein the inspection robot is further used for inspecting the warehouse environment;
the process of polling the warehousing environment is as follows:
collecting real-time environment parameters of the position of the inspection robot, and judging whether the real-time environment parameters meet corresponding requirements:
if not, early warning is carried out;
if yes, calling the historical environmental parameter data of the position, performing predictive analysis, and judging whether to perform early warning according to the predictive analysis result.
4. The warehouse management system based on two-dimensional codes according to claim 3, wherein the process of the predictive analysis is as follows:
obtaining historical n-time detection parameters of the region corresponding to the position point, and fitting a parameter time change curve F (t) according to the historical detection parameters;
by the formula
Obtaining the prediction early warning value W of the delta detection parameter δ ；
Will predict the early warning value W δ A standard interval R corresponding to the detection parameters δ And (3) carrying out comparison:
if W δ ∈R δ If so, judging that the detection parameters are normal;
otherwise, carrying out early warning;
wherein t is the current time point, t 0 Detecting a starting time point in the data for the history; f δ A reference value corresponding to the delta detection parameter; k is epsilon [1, n +1]，f k Is the value detected at the k-th time,
is the mean value of n +1 detection values; theta δ And mu δ And the detection parameters are the weight coefficients corresponding to the delta detection parameters.
5. The warehouse management system based on two-dimensional codes of claim 1, wherein the patrol strategy is as follows:
generating a planning path according to a map of the warehouse;
and adjusting the patrol duration of each region in the planned path according to the data of the goods in and out of the warehouse.
6. The warehouse management system based on two-dimensional codes as claimed in claim 5, wherein the step of planning the path is:
acquiring a two-dimensional grid map of a warehouse through a patrol robot;
dividing a two-dimensional grid map into a limited number of sub-regions;
acquiring an optimal solution of paths among all the sub-regions based on a genetic algorithm;
and obtaining a planned path according to the optimal solution of the paths among the areas.
7. The warehouse management system based on the two-dimensional code as claimed in claim 5, wherein the process of adjusting the patrol duration of each area is as follows:
by the formula V L ＝α 1 *O Lin +α 2 *O Lout +β 1 *Q Lin +β 2 *Q Lout Obtaining the state value V of the L-th area L ；
Wherein, O Lin The number of warehousing times of the L-th area is; o is Lout The number of ex-warehouse times of the L-th area is set; q Lin The number of the L-th area is put in storage; q Lout The number of ex-warehouse of the L-th area; alpha is alpha 1 、α 2 、β 1 And beta 2 Is a preset threshold;
according to V L Sequencing each region from big to small;
and improving the patrol duration of the patrol robot in each area according to the sequence of the sequencing of each area.
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