TW201923669A - Method and system for logistics management - Google Patents

Abstract

A system for logistics management is disclosed. The system includes: a shelf, storing a plurality of objects; a moving device, including an image capturing device, capturing bar code information on the shelf; and a first sensor, obtaining a first depth image of the object; a second sensor, configured to be situated inside a top portion of the shelf, obtaining a second depth image of the object; and a microprocessor device, connected to the moving device and the second sensor, receiving the first depth image of the object and the second depth image of the object, obtaining object information corresponding to the bar code information according to the barcode information; obtaining a volume of the objects according to the first depth image of the object and the second depth image of the object; and obtaining a total number of the objects according to the volume and the object information.

Description

Logistics management method and system

The invention relates to a logistics management method and system.

As the amount of information in each area increases, how to collect information or how to manage and use it becomes very important. In inventory management, information is usually processed as follows. The barcode is attached to the product so that the barcode reader can read the item information from the barcode, which is one of the methods for managing the information. Alternatively, a Radio Frequency Identification (RFID) tag is attached to the item so that the item information can be read wirelessly from the RFID tag.

However, through these methods, a large amount of manpower is still required for inventory. Therefore, there is a need for a logistics management method and system to effectively simplify the cumbersome operations and time, improve processing efficiency and reduce inventory management costs.

The object of the present invention is to provide a logistics management method and system, which can effectively reduce the complicated operation and time of inventory inventory and improve processing efficiency by using an image processing mechanism and using a mobile vehicle and a photographing device.

The present invention provides a logistics management system, comprising: an inventory rack for placing a plurality of items; a mobile device comprising: an image capture device for capturing barcode information on the inventory rack; and a first sensor For the above Obtaining a first item depth image; a second sensor disposed above the inventory frame to obtain a second item depth image for the item; and a micro processing device connecting the mobile device and the second sense The detector receives the first object depth image and the second object depth image, and obtains one item information corresponding to the barcode information according to the barcode information; and obtains the item according to the first item depth image and the second item depth image One volume; and obtaining a total number of the items according to the volume and the item information.

In some embodiments, the second sensor is an infrared sensor, and the second object depth image includes one of the Y-axis depth information and an X-Z axis area of the article.

In some embodiments, the first sensor is a depth camera, an infrared CMOS camera, or a binocular camera, and the first object depth image includes one of the Z-axis depth information and an XY-axis area of the article. .

In some embodiments, the item information includes at least: an item name, a length, a width, a height of each item, and an initial quantity of the item stored in the inventory rack.

In some embodiments, the obtaining, by the micro processing device, the volume of the item according to the first item depth image and the second item depth image comprises: obtaining the item according to the first item depth image and the second item depth image a Y-axis depth information, an XZ-axis area, a Z-axis depth information, and an XY-axis area; calculating a boundary of the first object depth image and the second object depth image by using a Sobel operator; and according to the boundary Corresponding boundary position, the above Y-axis depth information of the above item, the above XZ The axial volume, the Z-axis depth information, and the X-Y axis area are used to obtain the volume of the article.

In some embodiments, the micro processing device further determines whether the placement position of the item conforms to a rule according to the second item depth image; and transmits a warning signal when the placement position of the item does not meet the rule. Notify that the above items are placed in the correct position.

In some embodiments, the rule is that the height of the item placed in front is higher than the height of the item placed behind.

In some embodiments, the mobile device further includes: a lifting mechanism for vertically lifting the first sensor and the image capturing device.

In some embodiments, the mobile device is configured to move on a track.

In some embodiments, the bar code information is a linear or two-dimensional bar code.

The invention provides a logistics management method, comprising: capturing, by an image capturing device of a mobile device, a barcode information on an inventory rack, wherein a plurality of articles are placed on the inventory rack; and the first sensing by the mobile device Obtaining a first object depth image on the item; obtaining a second item depth image on the item by a second sensor disposed above the inventory frame; receiving the first item depth image by a micro processing device And the second object depth image, obtaining the item information corresponding to the bar code information according to the bar code information; obtaining a volume of the item according to the first item depth image and the second item depth image, and according to the volume and the item Information to obtain the total number of one of the above items.

100‧‧‧Logistics Management System

110‧‧‧Stock rack

110A, 110B‧‧‧ accommodating space

112A, 112B‧‧‧ Barcode Information

120‧‧‧Mobile devices

122‧‧‧Image capture device

124‧‧‧First sensor

130, 130A, 130B‧‧‧ second sensor

140‧‧‧Microprocessor

142‧‧‧Microprocessor

144‧‧‧ memory

1442‧‧‧Program

150A, 150B‧‧‧ items

210‧‧‧ Lifting mechanism

220‧‧‧Roller

310‧‧‧ Track

320‧‧‧Fixed distance

H‧‧‧Preset distance

400‧‧‧ method

S405, S410, S415, S420‧‧ steps

500, 502‧‧ items

D1‧‧‧Z-axis depth information

510‧‧‧first sensor

520‧‧‧Z-axis depth information

H1‧‧‧Y-axis depth information

530‧‧‧Second sensor

540‧‧‧X-Z axis area

700‧‧‧Microprocessor

710‧‧ ‧ busbar

712‧‧‧ memory

714‧‧‧Microprocessor

716‧‧‧ display components

718‧‧‧I/O mouth

720‧‧‧I/O components

722‧‧‧Power supply

The figures are included to provide a further understanding of the invention and are incorporated in and constitute a part of the invention. The drawings illustrate embodiments of the invention and, together with the description It is understood that the drawings are not necessarily to scale,

Figure 1 is a diagram showing an exemplary schematic of a logistics management system in accordance with an embodiment of the present invention.

2A-2B are schematic views of a mobile device in accordance with an embodiment of the present invention.

3A-3B are schematic views of a mobile device according to another embodiment of the present invention.

Figure 4 is a flow chart of a logistics management method in accordance with an embodiment of the present invention.

FIG. 5A is a schematic diagram showing the first sensor obtaining a first object depth image for an article according to an embodiment of the invention.

FIG. 5B is a schematic diagram showing the second sensor depth image obtained by the second sensor for the article according to an embodiment of the invention.

Figure 6 is a diagram showing the micro-processing apparatus determining whether the placement position of an article conforms to a rule according to an embodiment of the present invention.

Figure 7 shows an exemplary operating environment for implementing embodiments of the present invention.

In order to make the objects, features, and advantages of the present invention more comprehensible, the preferred embodiments will be described in detail below with reference to Figures 1 through 7 of the accompanying drawings. This specification provides different embodiments to illustrate different embodiments. Technical characteristics. The configuration of each component in the embodiments is for illustrative purposes and is not intended to limit the present invention. The overlapping portions of the drawings in the embodiments are for the purpose of simplifying the description and are not intended to be related to the different embodiments.

The term "exemplary" means that the disclosed elements or embodiments are only one example and do not indicate any preference of the user. In addition, the same numerals indicate the same elements in all the figures, and the articles "a" and "an"

1 is a schematic diagram showing an example of a logistics management system 100 in accordance with an embodiment of the present invention. As shown in FIG. 1, the logistics management system 100 includes at least an inventory rack 110, a mobile device 120, a second sensor 130, and a microprocessor device 140.

The inventory rack 110 can include a plurality of accommodating spaces 110A, 110B for placing a plurality of different types of articles 150A and 150B, respectively. Although the number of accommodating spaces 110A and 110B is exemplified by two accommodating spaces in FIG. 1, the present invention should not be limited thereto.

The mobile device 120 includes at least one image capturing device 122 and a first sensor 124. The image capturing device 122 can capture the bar code information 112A and 112B attached to the inventory rack 110. The first sensor 124 can obtain a first item depth image of the item 150A or 150B, wherein the first item depth image includes one of the Z-axis depth information and an X-Y axis area of the item 150A or 150B. In one embodiment, the first sensor 124 can be any commercially available device or device that can capture depth images, such as a depth camera, an infrared CMOS camera, or a binocular camera with two lenses. Therefore, information such as the length, width, and depth of the article 150A or 150B can be obtained. An item is defined as a stack of multiple items stacked on a pallet.

The second sensors 130A, 130B are disposed one-to-one above the interior of each of the accommodating spaces 110A, 110B and are separated from the article 150A or 150B by a predetermined distance H. More than one second sensor may be installed above the interior of each housing space. Each second sensor 130A or 130B is configured to capture a second item depth image of the item 150A or 150B, wherein the second item depth image includes one of the Y-axis depth information and an X-Z axis area of the item 150A or 150B. In an embodiment, the second sensor 130A or 130B is an infrared sensor. Therefore, information such as the length, width, and depth of the other side of the article 150A or 150B can be obtained.

Microprocessing device 140 can be wirelessly coupled to mobile device 120, second sensors 130A and 130B, and configured to receive input data from a variety of sources. For example, the micro processing device 140 can receive the barcode information attached to the inventory rack by the image capturing device 122 through the wireless network, and receive the first item transmitted by the first sensor and the second sensor. Depth image and second object depth image. In an embodiment, the bar code information can be a linear or two-dimensional bar code.

The microprocessor device 140 also includes a microprocessor 142 and a memory 144 that can store the program 1442. In addition, information such as the item depth image, the item information corresponding to the barcode information, and the like may be stored in the memory 144 in advance. In an embodiment, the item information may include at least: an item name, a length, a width, a height information of each item, and information such as an initial quantity of the item initially stored in the inventory rack. In another embodiment, the microprocessing device 140 can be used with other components, systems, subsystems, and/or devices than those described herein. The types of microprocessors 110 range from small handheld devices (eg, mobile phones/portable computers) to mainframe systems (eg, large computers). Examples of portable computers include personal digital assistants (PDAs), notebook computers, and the like.

In an embodiment, the micro processing device may also be disposed on the mobile device 120 and connected to a personal computer or a mobile device or a tablet computer or the like.

2A-2B are schematic views of a mobile device 120 in accordance with an embodiment of the present invention. The mobile device 120 can be a mobile self-propelled vehicle or a trolley. The image capturing device 122 and the first sensor 124 can be disposed on a lifting mechanism 210 to vertically raise and lower the image capturing device 122 and the first sensor 124. A plurality of rollers 220 may be disposed at the bottom of the mobile device 120 to facilitate movement.

In another embodiment, the mobile device 120 can be disposed to move over a track 310 at a fixed distance from the inventory rack 110, wherein the track 310 can be disposed on the ceiling 340, as shown in FIG. 3A. In addition, the track 310 can also be disposed on a track support extending outwardly from the inventory rack by a fixed distance 320, as shown in FIG. 3B.

4 is a flow diagram of a logistics management method 400 in accordance with an embodiment of the present invention, the method 400 of which may be used in the logistics management system 100 of FIG.

In step S405, an image capturing device of a mobile device captures a piece of bar code information on an inventory rack, wherein the plurality of items are placed on the inventory rack. In step S410, the first sensor of the mobile device acquires a first item depth image for the item, wherein the first item depth image includes one of the item Z-axis depth information and an X-Y axis area.

Then, in step S415, the second sensor disposed above the inventory rack obtains a second object depth image for the item, wherein the second item depth image includes one of the item Y-axis depth information and an X-Z axis area.

In step S420, a micro processing device receives the first item The depth image and the second object depth image are obtained according to the bar code information, and the item information may include at least: an item name, a length, a width, a height information of each item, and an initial storage of the item. Information such as the initial number of shelves. The micro-processing device calculates a volume of the item according to the first item depth image and the second item depth image, and calculates a total quantity of the items according to the volume and item information.

In the following, a more detailed embodiment will be described to illustrate how the microprocessing device calculates the volume of the item from the first item depth image and the second item depth image. It should be noted that, in Figures 5A-5B, the volume of the article 500 is the total volume of each article 502 stacked.

FIG. 5A is a schematic diagram showing the first sensor obtaining a first object depth image for the article 500 according to an embodiment of the invention. As shown in FIG. 5A, the first sensor 510 is movable in an X-axis direction and stopped in front of the article 500. A first item depth image is obtained for item 500. The first item depth image includes one of the item 500 Z-axis depth information D1 and an X-Y axis area 520.

FIG. 5B is a schematic diagram showing the second sensor acquiring a second object depth image for the article 500 according to an embodiment of the invention. As shown in FIG. 5B, the second sensor 530 disposed above the inventory rack acquires the second item depth image for the item 500. The second item depth image includes one of the Y-axis depth information H1 and the X-Z axis area 540 of the item 500.

After the micro-processing device obtains the Y-axis depth information H1 and the Z-axis depth information D1 of the article 500 according to the first object depth image and the second object depth image, the first object depth image and the second object depth are calculated by using a Sobel operator. All boundaries of the image, corresponding to the complex boundary of the acquired article 500 Boundary position.

The following will further explain how the micro-processing device uses a Sobel operator to calculate all boundaries of the first object depth image and the second object depth image. The Sobel operator consists of two sets of 3×3 matrices, which are horizontal and vertical, respectively, and are planarly convolved with the image to obtain the horizontal and vertical luminance difference approximations. If A represents the original image, G _x and G _y represent the images detected by the horizontal and vertical boundaries, respectively, and the formula is as follows: The lateral and longitudinal gradient approximations for each pixel of the image can be combined using the following formula to calculate the magnitude of the gradient G.

Next, the gradient direction θ can be calculated by the following formula.

In the above formula, if the gradient direction θ is equal to zero, it means that the image has a vertical boundary, and the right side is brighter than the left.

In this embodiment, if the first sensor 510 is a depth camera composed of an infrared camera and a color camera, the infrared camera and the color camera respectively obtain the depth information map and the color information map. Infrared camera and color camera will repeat the depth information map and color information map and repeat Range, mutual mapping to obtain a color image with depth information. The micro-processing device can use a Sobel operator to calculate all the boundaries of the color image.

The microprocessor processes the volume of the article 500 based on the boundary position corresponding to the complex boundary of the article 500, the Y-axis depth information of the article, the X-Z axis area, the Z-axis depth information, and the X-Y axis area. Then, the micro-processing device obtains the item information (length, width and height information of each item 502) corresponding to the bar code information according to the bar code information of the item 500 transmitted by the image capturing device. The microprocessor uses the above item information (length, width, and height information for each item 502) to calculate the volume of each item 502. The microprocessing device calculates a total number of items 502 that make up the item 500 based on the volume of the item 502 and the volume of the item 500.

After the micro-processing device calculates the boundary position corresponding to the complex boundary of the article 500, the boundary position is stored in the horizontal and vertical arrays. The microprocessor then compares the horizontal and vertical arrays and item information to obtain the height and width of the item 502. The microprocessing device can obtain the total area of each item 502 placed according to the height and width of the item 502. The microprocessor further calculates the volume of the object 500 based on the total area and the depth of the item 500 to obtain a total quantity of items 502 that make up the item 500.

In addition, the micro-processing device can further determine whether the placement position of the item conforms to a rule according to the second object depth image transmitted by the second sensor, wherein the rule is that the height of the item placed in the front is higher than the rear position. The height of the item. When the placement position of the item does not meet the rules, a warning signal is transmitted to a management personnel or a warning signal is displayed on the micro processing device to notify the manager that the placement of the item is not correct. Managers can re-arrange according to warning signals Put the above items. Figure 6 is a diagram showing the micro-processing apparatus determining whether the placement position of an article conforms to a rule according to an embodiment of the present invention. As shown in the figure, when the height of the item placed in the front is higher than the height of the item placed at the rear, the micro-processing device determines that the position of the item does not conform to the rule, and transmits a warning signal to notify the manager of the pendulum of the item. The placement is not correct.

The exemplary operating environment in which embodiments of the present invention may be implemented is described below to provide a general context of aspects of the present invention. With specific reference to FIG. 7, FIG. 7 shows an exemplary operating environment for implementing embodiments of the present invention, and is generally considered to be a microprocessing device 700. Microprocessing device 700 is an example of a suitable computing environment and is not intended to suggest any limitation as to the scope of use or functionality of the invention. Microprocessing device 700 should also not be construed as having any dependency or requirement relating to any or combination of the elements shown.

The present invention can be described in the general context of computer code or machine usable instructions, including computer executable instructions such as a program module, the program module being computer or other machine such as a personal digital assistant or other portable device. carried out. Generally, a program module includes routines, programs, objects, components, data structures, etc., and refers to code that performs a specific task or implements a particular abstract data type. The invention can be implemented in a variety of system configurations, including portable devices, consumer electronics, general purpose computers, more specialized microprocessors, and the like. The invention can also be implemented in a distributed computing environment to process devices coupled by a communication network.

Refer to Figure 7. Microprocessing device 700 includes bus 710, memory 712, one or more microprocessors 714, one or more display elements 716, input/output (I/O) ports 718, inputs, directly or indirectly connected to An output (I/O) component 720 and an illustrative power supply 722. Bus 710 indicates that it can be one or Components of multiple busses (such as address bus, data bus, or a combination thereof). Although the various blocks of Fig. 7 are shown in line for the sake of brevity, in fact, the various elements are not so clear. For example, the lines will be more accurately gray and fuzzy. For example, a presentation element such as a display device can be considered an I/O component. In addition, the microprocessor has a memory. The inventors are aware that this is the essence of the art, and reiterate that Figure 7 can be an illustration of an exemplary microprocessing device for use in connection with one or more embodiments of the present invention. There is no distinction between categories such as "servers", "notebooks", "handheld devices", etc., because all of these devices are conceived within the scope of Figure 7 and refer to "computers." Or "microprocessing device."

Microprocessor 700 generally includes a variety of computer readable media. The computer readable medium can be any available media that can be accessed by the microprocessor device 700, including both volatile and non-volatile media, removable and non-removable media. By way of example and not limitation, computer readable media may include computer storage media and communication media. Computer readable media also includes volatile and non-volatile media implemented in any method or technique for storing information such as computer readable instructions, data structures, programming modules or other data. Removable and non-removable media. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage device, magnetic disk, disk, disk storage A device or other magnetic storage device, or any other medium that can be used to store the required information and that can be accessed by the microprocessing device 700. The computer storage media itself does not include signals.

Communication media generally includes computer readable instructions, data structures, program modules or other modularizations such as carrier waves or other transmission mechanisms. Data in the form of data signals and includes any information delivery media. The term "modular data signal" refers to a signal that has one or more feature sets or is modified in such a way as to encode information in the signal. By way of example and not limitation, communication media includes both wired and direct-wired wired and wireless media, such as audio, radio, infrared, and other wireless media. The combination of the above media is included in the scope of computer readable media.

Memory 712 includes computer storage media in the form of volatile and non-volatile memory. The memory can be removable, non-moving or can be a combination of the two. Exemplary hardware devices include solid state memory, hard disk drives, optical disk drives, and the like. Microprocessing device 700 includes one or more microprocessors 714 that read data from entities such as memory 712 or I/O component 720. Display component 716 displays a data indication to a user or other device. Exemplary display elements include display devices, speakers, printing elements, vibrating elements, and the like.

I/O port 718 allows microprocessor device 700 to be logically coupled to other devices including I/O component 720, some of which are built-in devices. Exemplary components include microphones, joysticks, gaming stations, satellite signal receivers, scanners, printers, wireless devices, and the like. I/O component 720 can provide a Natural User Interface (NUI) that handles user-generated gestures, sounds, or other physiological inputs.

In addition, the microprocessor 714 in the microprocessor device 700 can also execute the programs and instructions in the memory 712 to present the actions and steps described in the above embodiments, or other descriptions in the description.

Therefore, through the logistics management method and system of the present invention, it is possible to accurately calculate the item inventory information and improve the processing efficiency by using the image processing mechanism. And reduce management costs.

Any specific sequence or layering of the procedures disclosed herein is by way of example only. Based on design preferences, it must be understood that any specific order or hierarchy of steps in the program may be rearranged within the scope of the disclosure. The accompanying claims are intended to be illustrative of the various embodiments and the Further, in the above exemplary apparatus, although the above method has been described on the basis of a series of steps or a flowchart of a block, the present invention is not limited to the order of the steps, and some steps may be different from the order of the remaining steps. Execution or the remaining steps can be performed simultaneously. For example, steps S405, S410, and S415 of FIG. 4 can be performed simultaneously.

The use of ordinal numbers such as "first" or "second" in the context of the application of the invention does not imply any priority, prioritization, prioritization between the elements, or the order in which the method is performed. It is only used as an identifier to distinguish between different components with the same name (with different ordinal numbers).

Although the present invention has been disclosed above by way of example, it is not intended to limit the scope of the present invention, and the scope of protection of the present invention can be made without departing from the spirit and scope of the invention. This is subject to the definition of the scope of the patent application.

Claims (17)

A logistics management system comprising: an inventory rack for placing a plurality of items; a mobile device comprising: an image capture device for capturing barcode information on the inventory rack; and a first sensor for the Obtaining a first item depth image; a second sensor disposed above the inventory frame to obtain a second item depth image for the item; and a micro processing device connecting the mobile device and the second sense The detector receives the first object depth image and the second object depth image, and obtains one item information corresponding to the barcode information according to the barcode information; and obtains the item according to the first item depth image and the second item depth image One volume; and obtaining a total number of the items according to the volume and the item information. The logistics management system of claim 1, wherein the second sensor is an infrared sensor, and the second object depth image comprises one of the Y-axis depth information and an XZ-axis area of the article. . The logistics management system of claim 1, wherein the first sensor is a depth camera, an infrared CMOS camera or a binocular camera, and the first object depth image system comprises one of the items. Z-axis depth information and an XY axis area. Such as the logistics management system described in claim 1, wherein the above The item information includes at least: an item name, a length, a width, a height of each item, and an initial quantity of the items stored in the inventory rack. The logistics management system of claim 1, wherein the calculating, by the microprocessing device, the volume of the article according to the first object depth image and the second object depth image comprises: according to the first object depth image and The second object depth image obtains one of the Y-axis depth information, an XZ-axis area, a Z-axis depth information, and an XY-axis area of the item; and calculates the first item depth image and the second item by using a Sobel operator a boundary of the depth image; and obtaining the volume of the article based on a boundary position corresponding to the boundary, the Y-axis depth information of the article, the XZ-axis area, the Z-axis depth information, and the XY-axis area. The logistics management system of claim 1, wherein the microprocessing device further determines whether the placement position of the article conforms to a rule according to the second object depth image; and when the placement position of the article does not meet the above In the case of a rule, a warning signal is transmitted to inform that the placement of the above items is not correct. For example, in the logistics management system described in claim 6, wherein the rule is that the height of the item placed in front is higher than the height of the item placed behind. The logistics management system of claim 1, wherein the mobile device further comprises: a lifting mechanism, wherein the first sensor and the image capturing device are vertical Lifting. The logistics management system of claim 1, wherein the mobile device is disposed on a track. The logistics management system of claim 1, wherein the bar code information is a linear or two-dimensional bar code. A logistics management method includes: capturing, by an image capturing device of a mobile device, a bar code information on an inventory rack, wherein a plurality of articles are placed on the inventory rack; and the first sensor of the mobile device pairs Obtaining a first item depth image from the item; obtaining a second item depth image on the item by a second sensor disposed above the inventory frame; receiving, by the micro processing device, the first item depth image and the foregoing Obtaining the item information corresponding to the bar code information according to the bar code information; obtaining a volume of the item according to the first item depth image and the second item depth image, and obtaining the above according to the volume and the item information The total number of items. The logistics management method according to claim 11, wherein the second sensor is an infrared sensor, and the second object depth image includes one of the Y-axis depth information and an XZ-axis area of the article. . The logistics management method according to claim 11, wherein the first sensor is a depth camera, an infrared CMOS camera or a binocular camera, and the first object depth image system comprises one of the items. Z-axis depth information and an XY axis area. The logistics management method according to claim 11, wherein the item information includes at least: an item name, a length, a width, a height of each item, and an initial quantity of the item stored in the inventory rack. The method of claim 11, wherein the step of calculating the volume of the item according to the first item depth image and the second item depth image further comprises: according to the first item depth image and the foregoing The second object depth image obtains one of the Y-axis depth information, an XZ-axis area, a Z-axis depth information, and an XY-axis area of the item; and calculates the first item depth image and the second object depth image by using a Sobel operator And obtaining the volume of the article based on a boundary position corresponding to the boundary, the Y-axis depth information of the article, the XZ-axis area, the Z-axis depth information, and the XY-axis area. The method of claim 11, wherein the method further comprises: determining, according to the second object depth image, whether the placement position of the item conforms to a rule; and when the placement position of the item does not meet the above In the case of a rule, a warning signal is transmitted to inform that the placement of the above items is not correct. For example, in the logistics management method described in claim 16, wherein the rule is that the height of the item placed in front is higher than the height of the item placed in the rear.