CN116513830A - Intelligent warehouse loading and unloading system and control method thereof - Google Patents
Intelligent warehouse loading and unloading system and control method thereof Download PDFInfo
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- CN116513830A CN116513830A CN202211562933.0A CN202211562933A CN116513830A CN 116513830 A CN116513830 A CN 116513830A CN 202211562933 A CN202211562933 A CN 202211562933A CN 116513830 A CN116513830 A CN 116513830A
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- 238000000034 method Methods 0.000 title claims description 20
- 238000012937 correction Methods 0.000 claims description 16
- 238000010586 diagram Methods 0.000 claims description 11
- 230000001788 irregular Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/006—Centring or aligning a vehicle at a loading station using means not being part of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0241—Quantity of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
The invention provides an intelligent warehouse loading and unloading system, which comprises an intelligent loading and unloading truck crane system for loading and unloading cargos, a parking waiting area arranged outside a warehouse and used for queuing the cargos before the cargos enter the warehouse, a warehouse loading and unloading area arranged between the parking waiting area and the warehouse loading and unloading area and used for identifying the cargos information on a truck by a large scene scanning device, a warehouse waiting area arranged in the warehouse loading and unloading area and used for correcting the parking position of the truck body by a driver, and intelligent loading and unloading equipment used for loading and unloading the cargos on the truck by self-starting the intelligent loading and unloading truck crane system after combining the parking position of the truck according to the cargos information.
Description
Technical Field
The invention belongs to the technical field of intelligent storage, and particularly relates to an intelligent storage loading and unloading system and a control method thereof
And a control method thereof.
Background
At present, 5G and a data center become hot spots for pursuing industry, and become important pushing factors for development of the photoelectric cargo industry, and both 5G construction and data center construction are pushing the improvement of the demand of products such as related photoelectric cables, transformers and the like. Along with the increasing demand of electric power companies for the delivery of heavy goods such as cables, transformers and the like, the importance of improving the loading and unloading efficiency is more and more remarkable, and the loading and unloading operation plays an important role in improving the transportation efficiency of the goods as an important link in the storage and delivery. Light automatic loading and unloading equipment is used in the market at present, and the existing loading and unloading equipment is difficult to be applied to loading and unloading of cable heavy equipment. Therefore, the cable intelligent loading and unloading truck crane system is put into operation, the system is a whole set of loading and unloading conveying system developed according to the characteristics of cable cargo storage requirements, full-automatic unmanned operation from a cable cargo truck plate to a cargo handling area can be realized, the in-and-out operation efficiency and the safety are improved, the labor cost is saved, the storage digitization and the intellectualization are promoted, but the intelligent loading and unloading truck crane system needs to carry out image recognition before loading and unloading each time, the vehicle information, the truck plate position, the cargo position and the number thereof are judged, and repeated scanning influences the operation efficiency; in the whole operation process, on one hand, personnel are required to command the driver to stop, communication is not easy and is not safe; on the other hand, after the vehicle is parked in place, the intelligent loading and unloading truck crane system needs to scan the positions of the large scenes of the vehicle and the cargoes before the operation, and a large amount of invalid time is accumulated along with the increase of the cargo delivery quantity, so that the efficiency of the loading and unloading operation is greatly reduced.
Disclosure of Invention
In order to solve the problems, the invention provides the intelligent warehouse loading and unloading system and the control method thereof, which not only improve the operation efficiency before the intelligent loading and unloading truck crane, but also enable the whole warehouse process to be more intelligent and safer.
The intelligent warehouse loading and unloading system is characterized by further comprising a warehouse loading and unloading area which is arranged between the parking waiting area and the warehouse loading and unloading area and is used for identifying cargo information on a truck by a large scene scanning device, a truck parking position correction area which is arranged in the warehouse loading and unloading area and is used for correcting the position of a truck body by a driver, and intelligent loading and unloading equipment which is used for automatically starting the intelligent loading and unloading vehicle crane system to load and unload the cargo on the truck after combining the truck parking position according to the cargo information.
According to the intelligent warehouse loading and unloading system provided by the invention, before a vehicle enters a warehouse loading and unloading area, the warehouse loading and unloading area is increased, the identification work of cargo information on a truck is accurately finished through the large-scene scanning device and is transmitted to the intelligent loading and unloading equipment, the intelligent loading and unloading equipment automatically starts the corresponding loading and unloading system to load and unload the cargo after receiving the cargo information, and in the whole operation process, a driver is not required to be ordered by special personnel, the safety is improved, and because the identification work of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is finished in the loading and unloading area, the operation of the existing intelligent loading and unloading crane system for carrying out large-scene position scanning on the vehicle and the cargo is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, and the operation efficiency is greatly improved.
Preferably, the large-scene scanning device of the warehouse-in to-be-detected area comprises a machine vision recognition device, the machine vision recognition device performs positioning vision scanning on cargoes and vehicle information within a range of 20m to 3m, a complete gray level diagram with scanning pixels of 0.73mm to 2mm per pixel is stored in an industrial personal computer, the generated complete gray level diagram is recognized and compared based on a fast-rcnn intelligent vision recognition self-learning algorithm, the profile of the cargoes is extracted, information such as the number of the cargoes, the placing angle of the cargoes and the cargoes, the cargo loading and unloading position coordinates and the like is recognized, the information is stored in the industrial personal computer again, and the intelligent loading and unloading equipment calculates the accurate positions of the cargoes and the cargoes according to the relative position information of the cargoes and the cargoes in the industrial personal computer by combining with the parking position coordinates, and then the intelligent loading and unloading crane system is started. The machine vision recognition device is utilized to complete image recognition in the warehouse-in to-be-detected area, and the recognition operation of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is omitted, so that the operation of scanning the vehicle and the cargo in a large scene position by the existing intelligent loading and unloading vehicle crane system is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, and the operation efficiency is greatly improved.
Preferably, the machine vision recognition device converts the information of the shot vehicle and goods into image signals through a machine vision product, transmits the image signals to a special image processing system, obtains the form information of the shot vehicle and goods, converts the form information into digital signals according to the information of pixel distribution, brightness, color and the like, and the image system performs various operations on the signals to extract the characteristics of the vehicle and the goods.
Preferably, the machine vision product is one of a CMOS linear camera and a CCD linear camera of an image pickup device. By using the linear array camera for scanning, 1 can shoot high-resolution images, a large-size light source is not required to be installed, scanning can be completed only by using a strip-shaped light source, and the system and installation cost are greatly reduced.
Preferably, the parking position correction area of the truck is provided with an infrared sensing device, and when the parking position of the truck is sensed to be irregular, the alarm controller is started to remind a driver to correct the position of the truck until the position of the truck is regular. After the vehicles are at regular positions, the intelligent loading and unloading equipment is convenient to automatically calculate the accurate positions of the vehicles and the cargoes according to the vehicle and the cargoes provided by the industrial personal computer and the parking position coordinates, and an automatic loading and unloading process is started, so that the intelligent loading and unloading vehicle crane system scans the vehicles and the cargoes, and the loading and unloading operation efficiency is greatly submitted.
Preferably, the infrared sensing device is composed of a transmitter and a receiver, wherein the transmitter transmits infrared rays, the receiver receives the infrared rays transmitted by the transmitter, converts optical signals into electric signals through a photoelectric sensor, and transmits the electric signals to the alarm controller through analysis and processing of a signal processor. The infrared sensing device is adopted to monitor irregular reversing of the truck, the alarm controller is used for continuously reminding the truck of correcting the position of the truck body, personnel for commanding a driver to park in the prior art are omitted, unmanned operation is realized, and safety is improved.
Preferably, the transmitter is an infrared light emitting diode, and the alarm controller is a broadcast in a warehouse. The device is easy to install and purchase.
The invention also provides a control method based on the intelligent warehouse loading and unloading system, which comprises the following operation steps:
1. dividing a fixed area outside the warehouse, wherein the fixed area comprises the parking waiting area and the warehouse-in waiting area, and queuing the loading and unloading truck in the parking waiting area before entering the warehouse;
2. the trucks sequentially enter the warehouse-in to-be-detected area, a machine vision identification device of the large scene scanning device performs positioning vision scanning on the trucks within the range of 20m x 3m, a complete gray level diagram with scanning pixels of 0.73mm-2 mm/pixel is stored in an industrial personal computer, the generated complete gray level diagram is identified and compared with the pictures in the industrial personal computer through a master-rcnn intelligent vision identification self-learning algorithm, the outline of the goods is extracted, and information such as the number of the identified goods, the goods placement angle, the goods loading and unloading position coordinates and the like is stored in the industrial personal computer again;
3. the method comprises the steps that after detection of a warehouse-in to-be-detected area is completed, a truck parking position correction area enters a warehouse loading and unloading area, an infrared sensing device is arranged in the truck parking position correction area, the parking position of the truck is sensed, and when the parking position is irregular, an alarm controller is started to remind a driver to correct the position of a truck body until the position is regular;
4. after the truck is parked in the truck parking position correction area and is stable, the intelligent loading and unloading equipment starts the intelligent loading and unloading equipment to carry out automatic loading and unloading flow after the accurate positions of the vehicle and the goods are automatically calculated according to the associated information of the vehicle and the goods in the industrial personal computer and the parking position coordinates.
The beneficial effects of the invention are as follows: before a vehicle enters a warehouse loading and unloading area, a warehouse to-be-detected area is increased, the identification work of cargo information on a truck is accurately completed through a large-scene scanning device, a truck parking position correction area is increased in the warehouse loading and unloading area, a driver is instructed to park and put in warehouse through an infrared sensing device, the information is transmitted to intelligent loading and unloading equipment, the intelligent loading and unloading equipment automatically starts a corresponding loading and unloading system to load and unload the cargo after receiving the information of the cargo, in the whole operation process, no special personnel are required to instruct the driver to park, the safety is improved, and because the identification work of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is completed in the to-be-detected area, the operation of the existing intelligent loading and unloading crane system for carrying out large-scene position scanning on the vehicle and the cargo is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, the operation efficiency of the system is greatly improved, and the intelligent, unmanned and efficient operation of the warehouse is realized.
Drawings
FIG. 1 is a schematic view of the regional division of the intelligent warehouse handling system of the present invention;
fig. 2 is a schematic diagram of a control method of the intelligent warehouse loading and unloading system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the invention provides an intelligent warehouse loading and unloading system, which comprises an intelligent loading and unloading truck crane system for loading and unloading cargos, a parking waiting area arranged outside a warehouse and used for queuing the cargos before the cargos enter the warehouse, a warehouse loading and unloading area arranged in the warehouse and used for parking the cargos, a warehouse waiting area arranged between the parking waiting area and the warehouse loading and unloading area and used for identifying the cargos information on a truck by a large scene scanning device, a truck parking position correction area arranged in the warehouse loading and unloading area and used for finishing the position of a truck body by a driver, and intelligent loading and unloading equipment used for loading and unloading the cargos on the truck by combining the intelligent loading and unloading truck crane system after combining the truck parking position according to the cargos information.
According to the intelligent warehouse loading and unloading system provided by the invention, before a vehicle enters a warehouse loading and unloading area, the warehouse loading and unloading area is increased, the identification work of cargo information on a truck is accurately finished through the large-scene scanning device and is transmitted to the intelligent loading and unloading equipment, the intelligent loading and unloading equipment automatically starts the corresponding loading and unloading system to load and unload the cargo after receiving the cargo information, and in the whole operation process, a driver is not required to be ordered by special personnel, the safety is improved, and because the identification work of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is finished in the loading and unloading area, the operation of the existing intelligent loading and unloading crane system for carrying out large-scene position scanning on the vehicle and the cargo is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, and the operation efficiency is greatly improved.
Preferably, the large-scene scanning device of the warehouse-in to-be-detected area comprises a machine vision recognition device, the machine vision recognition device performs positioning vision scanning on cargoes and vehicle information within a range of 20m to 3m, a complete gray level diagram with scanning pixels of 0.73mm to 2mm per pixel is stored in an industrial personal computer, the generated complete gray level diagram is recognized and compared based on a fast-rcnn intelligent vision recognition self-learning algorithm, the profile of the cargoes is extracted, information such as the number of the cargoes, the placing angle of the cargoes and the cargoes, the cargo loading and unloading position coordinates and the like is recognized, the information is stored in the industrial personal computer again, and the intelligent loading and unloading equipment calculates the accurate positions of the cargoes and the cargoes according to the relative position information of the cargoes and the cargoes in the industrial personal computer by combining with the parking position coordinates, and then the intelligent loading and unloading crane system is started. The machine vision recognition device is utilized to complete image recognition in the warehouse-in to-be-detected area, and the recognition operation of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is omitted, so that the operation of scanning the vehicle and the cargo in a large scene position by the existing intelligent loading and unloading vehicle crane system is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, and the operation efficiency is greatly improved.
Preferably, the machine vision recognition device converts the information of the shot vehicle and goods into image signals through a machine vision product, transmits the image signals to a special image processing system, obtains the form information of the shot vehicle and goods, converts the form information into digital signals according to the information of pixel distribution, brightness, color and the like, and the image system performs various operations on the signals to extract the characteristics of the vehicle and the goods.
Preferably, the machine vision product is one of a CMOS linear camera and a CCD linear camera of an image pickup device. By using the linear array camera for scanning, 1 can shoot high-resolution images, a large-size light source is not required to be installed, scanning can be completed only by using a strip-shaped light source, and the system and installation cost are greatly reduced.
Preferably, the parking position correction area of the truck is provided with an infrared sensing device, and when the parking position of the truck is sensed to be irregular, the alarm controller is started to remind a driver to correct the position of the truck until the position of the truck is regular. After the vehicles are at regular positions, the intelligent loading and unloading equipment is convenient to automatically calculate the accurate positions of the vehicles and the cargoes according to the vehicle and the cargoes provided by the industrial personal computer and the parking position coordinates, and an automatic loading and unloading process is started, so that the intelligent loading and unloading vehicle crane system scans the vehicles and the cargoes, and the loading and unloading operation efficiency is greatly submitted.
Preferably, the infrared sensing device is composed of a transmitter and a receiver, wherein the transmitter transmits infrared rays, the receiver receives the infrared rays transmitted by the transmitter, converts optical signals into electric signals through a photoelectric sensor, and transmits the electric signals to the alarm controller through analysis and processing of a signal processor. The infrared sensing device is adopted to monitor irregular reversing of the truck, the alarm controller is used for continuously reminding the truck of correcting the position of the truck body, personnel for commanding a driver to park in the prior art are omitted, unmanned operation is realized, and safety is improved.
Preferably, the transmitter is an infrared light emitting diode, and the alarm controller is a broadcast in a warehouse. The device is easy to install and purchase.
The invention also provides a control method based on the intelligent warehouse loading and unloading system, which comprises the following operation steps:
1. dividing a fixed area outside the warehouse, wherein the fixed area comprises the parking waiting area and the warehouse-in waiting area, and queuing the loading and unloading truck in the parking waiting area before entering the warehouse;
2. the trucks sequentially enter the warehouse-in to-be-detected area, a machine vision identification device of the large scene scanning device performs positioning vision scanning on the trucks within the range of 20m x 3m, a complete gray level diagram with scanning pixels of 0.73mm-2 mm/pixel is stored in an industrial personal computer, the generated complete gray level diagram is identified and compared with the pictures in the industrial personal computer through a master-rcnn intelligent vision identification self-learning algorithm, the outline of the goods is extracted, and information such as the number of the identified goods, the goods placement angle, the goods loading and unloading position coordinates and the like is stored in the industrial personal computer again;
3. the method comprises the steps that after detection of a warehouse-in to-be-detected area is completed, a truck parking position correction area enters a warehouse loading and unloading area, an infrared sensing device is arranged in the truck parking position correction area, the parking position of the truck is sensed, and when the parking position is irregular, an alarm controller is started to remind a driver to correct the position of a truck body until the position is regular;
4. after the truck is parked in the truck parking position correction area and is stable, the intelligent loading and unloading equipment starts the intelligent loading and unloading equipment to carry out automatic loading and unloading flow after the accurate positions of the vehicle and the goods are automatically calculated according to the associated information of the vehicle and the goods in the industrial personal computer and the parking position coordinates.
The beneficial effects of the invention are as follows: before a vehicle enters a warehouse loading and unloading area, a warehouse to-be-detected area is increased, the identification work of cargo information on a truck is accurately completed through a large-scene scanning device, a truck parking position correction area is increased in the warehouse loading and unloading area, a driver is instructed to park and put in warehouse through an infrared sensing device, the information is transmitted to intelligent loading and unloading equipment, the intelligent loading and unloading equipment automatically starts a corresponding loading and unloading system to load and unload the cargo after receiving the information of the cargo, in the whole operation process, no special personnel are required to instruct the driver to park, the safety is improved, and because the identification work of judging the vehicle information, the vehicle plate position, the cargo position and the number thereof is completed in the to-be-detected area, the operation of the existing intelligent loading and unloading crane system for carrying out large-scene position scanning on the vehicle and the cargo is omitted, the invalid time accumulation caused by repeated scanning due to the increase of the cargo amount is saved, the operation efficiency of the system is greatly improved, and the intelligent, unmanned and efficient operation of the warehouse is realized.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but is intended to cover any modifications or equivalent variations according to the technical spirit of the present invention, which fall within the scope of the present invention as defined by the appended claims.
Claims (8)
1. The intelligent warehouse loading and unloading system comprises an intelligent loading and unloading truck crane system for loading and unloading cargos, a parking waiting area arranged outside a warehouse and used for queuing before the cargos to enter the warehouse, and a warehouse loading and unloading area arranged in the warehouse and used for parking the cargos to be unloaded.
2. The intelligent warehouse handling system as set forth in claim 1, wherein the large scene scanning device of the warehouse waiting area comprises a machine vision recognition device, the machine vision recognition device performs positioning vision scanning on goods and vehicle information within a range of 20m by 3m, a complete gray scale image with scanning pixels of 0.73mm-2 mm/pixel is stored in an industrial personal computer, the generated complete gray scale image is recognized and compared based on a fast-rcnn intelligent vision recognition self-learning algorithm, a goods contour is extracted, the quantity of goods, the placing angle of the vehicles and the goods, the goods handling position coordinate information are recognized, and the goods handling position coordinate information is stored in the industrial personal computer again, and the intelligent handling device starts the intelligent handling vehicle crane system after calculating the accurate positions of the vehicles and the goods according to the relative position information of the vehicles and the goods in the industrial personal computer and combining the position coordinates.
3. The intelligent warehouse loading and unloading system as set forth in claim 1, wherein the machine vision recognition device converts the information of the shot vehicles and cargoes into image signals through the machine vision device, and transmits the image signals to a special image processing system to obtain the form information of the shot vehicles and cargoes, and the image processing system converts the form information into digital signals according to pixel distribution, brightness and color information, and performs various operations on the signals to extract the characteristics of the vehicles and the cargoes.
4. The intelligent warehouse handling system as claimed in claim 1, wherein the machine vision device is one of a CMOS line camera and a CCD line camera of the image capture device.
5. An intelligent warehouse handling system as claimed in claim 1, wherein the truck parking position correction area is provided with an infrared sensing device, and when the truck parking position is sensed to be irregular, the alarm controller is activated to remind the driver to correct the vehicle body position until the vehicle body position is regular.
6. The intelligent warehouse handling system as claimed in claim 1, wherein the infrared sensing device comprises a transmitter and a receiver, wherein the transmitter transmits infrared light, and the receiver receives the infrared light transmitted by the transmitter, converts the optical signal into an electrical signal via the photoelectric sensor, and transmits the electrical signal to the alarm controller via the signal processor.
7. The intelligent warehouse handling system as claimed in claim 1, wherein the transmitter is an infrared light emitting diode and the alarm controller is a broadcast within the warehouse.
8. The control method of the intelligent warehouse loading and unloading system based on the above claim 1, characterized by comprising the following operation steps:
step one: dividing a fixed area outside the warehouse, wherein the fixed area comprises the parking waiting area and the warehouse-in waiting area, and queuing the loading and unloading truck in the parking waiting area before entering the warehouse;
step two: the trucks sequentially enter the warehouse-in to-be-detected area, a machine vision identification device of the large scene scanning device performs positioning vision scanning on the trucks within the range of 20m x 3m, a complete gray level diagram with scanning pixels of 0.73mm-2 mm/pixel is stored in an industrial personal computer, the generated complete gray level diagram is identified and compared with the pictures in the industrial personal computer through a master-rcnn intelligent vision identification self-learning algorithm, the outline of the goods is extracted, and information such as the number of the identified goods, the goods placement angle, the goods loading and unloading position coordinates and the like is stored in the industrial personal computer again;
step three: the method comprises the steps that after detection of a warehouse-in to-be-detected area is completed, a truck parking position correction area enters a warehouse loading and unloading area, an infrared sensing device is arranged in the truck parking position correction area, the parking position of the truck is sensed, and when the parking position is irregular, an alarm controller is started to remind a driver to correct the position of a truck body until the position is regular;
step four: after the truck is parked in the truck parking position correction area and is stable, the intelligent loading and unloading equipment starts the intelligent loading and unloading equipment to carry out automatic loading and unloading flow after the accurate positions of the vehicle and the goods are automatically calculated according to the associated information of the vehicle and the goods in the industrial personal computer and the parking position coordinates.
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| CN202211562933.0A CN116513830B (en) | 2022-12-07 | 2022-12-07 | Intelligent warehouse loading and unloading system and control method thereof |
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| CN202211562933.0A CN116513830B (en) | 2022-12-07 | 2022-12-07 | Intelligent warehouse loading and unloading system and control method thereof |
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| CN116513830B CN116513830B (en) | 2024-03-15 |
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