TWI813526B - Intelligent warehousing and picking system - Google Patents

Abstract

An intelligent warehousing and picking system includes a plurality of visual fiducial system tags (AprilTag), a map database, a transport device, an image capture module, a processing platform, and a navigation device. The visual fiducial system tags are placed on a plurality of warehousing shelves and record a plurality of shelf location coordinates. The map database stores a map data that corresponds to the shelf location coordinates and is marked with a plurality of shelf locations and shelf codes. The transport device is used to transport items. The image capture module captures a plurality of images of the visual fiducial system tags, a plurality of images of the items, and an order picking image. The processing platform generates commodity location information based on the images of the visual fiducial system tags and the packaging images, which is stored in the map database, and compares the order picking image to determine a coordinates of a shelf location of item to be transport, thereby enabling the navigation device to plan a picking path.

Description

Intelligent warehousing and picking system

The invention relates to a warehousing and picking system, in particular to an intelligent warehousing and picking system.

In recent years, due to the rapid development of e-commerce and the impact of the epidemic around the world, the stay-at-home economy of online shopping has become popular. Therefore, logistics centers need to handle a large number of orders every day. At this time, warehousing management is very important.

Generally speaking, most warehouse management allocates the storage location of goods based on factors such as the brand, type, model, and shipping time of the goods. Even goods of the same brand are divided into multiple types or models. Therefore, when warehousing space is limited, it is very likely that goods of the same brand will be stacked together regardless of type.

In practice, when the number of goods increases sharply along with orders, the originally planned storage space will be unable to load and needs to be placed in a temporary storage area or other idle area. At this time, the operator can only rely on the operator to record it in the management system. It is even possible that the detailed location cannot be recorded because it is temporarily stored in the temporary storage area. The detailed location can only be remembered by the processing staff. Therefore, when the product needs to be shipped, the staff is likely to forget and spend a lot of money. It is very inconvenient to take time to find the product; in addition, when the workers who store the goods are on vacation, other workers responsible for shipping may not be able to know where the goods are stored because they cannot find anyone, and it also takes a lot of time to find the goods. Find this product.

In view of the fact that in the previous technology, most warehousing management is prone to limited storage space, resulting in goods being unable to be stacked and placed according to the original plan, and then it is not easy to find the goods when they need to be shipped, which affects the shipment progress; for this reason, The main purpose of the present invention is to provide an intelligent warehousing and picking system that can effectively record the storage location of goods, thereby improving picking efficiency.

In order to solve the problems of the prior art, the necessary technical means adopted by the present invention are to provide an intelligent warehousing and picking system, which is applied to a storage space with a plurality of storage racks and includes a plurality of visual fiducial system labels (Visual Fiducial system). System Tag; AprilTag), a map database, an object handling device, an image capture module, a processing platform and a navigation device.

A plurality of visual reference system tags are set on the storage racks used to store a plurality of storage items, and the plurality of rack position coordinates of the storage racks are encoded and recorded.

The map database stores a map data, and the map data is marked with a plurality of rack positions and a plurality of rack codes corresponding to the rack position coordinates.

The object handling device is used to transport the storage items to the storage racks.

The image capture module is used to capture a plurality of visual reference system label images of the visual reference system labels when the object handling device transports the storage items to the storage racks, and captures images corresponding to the visual reference system labels respectively. There are a plurality of outer packaging images of the warehoused items, and the image capture module is further used to capture a pick-up work order image.

The processing platform is communicated with the image capture module and includes a visual reference system tag recognition module, a character recognition module and a processing unit.

The visual reference system tag recognition module decodes the visual reference system tag images to resolve the position coordinates of the racks.

The character recognition module is used to identify at least one product information character in the outer packaging images to parse out a plurality of product information corresponding to the warehouse items, and to identify at least one waiting item in the pick-up work order image. The product information characters are retrieved and at least one piece of product information to be retrieved is parsed.

The processing unit is electrically connected to the visual reference system label recognition module, the character recognition module and the map database, and is used to recognize the shelf position coordinates and the product information when receiving the shelf position coordinates. The location coordinates and the product information are integrated into a product location information and stored in the map database, and used to compare the product location information corresponding to the at least one product to be picked up when receiving the at least one product information to be picked up. The product information includes at least one shelf position coordinate of the product to be picked up.

The navigation device is provided on the object transport device and includes a positioning unit and a path planning unit. The positioning unit is used to locate the coordinates of one of the object handling devices. The path planning unit is electrically connected to the positioning unit, and is communicatively connected to the processing unit and the map database, for planning the path based on the coordinates of the transport device, the position coordinates of the at least one commodity shelf to be picked up, and the map data. The coordinates of the conveying device extend to at least one picking path of the position coordinates of the at least one commodity shelf to be picked up.

Among the subsidiary technical means derived from the above necessary technical means, the character recognition module is an optical character recognition (Optical Character Recognition, OCR) module.

In one of the subsidiary technical means derived from the above necessary technical means, the article transport device is a stack of high-speed machines.

In an ancillary technical means derived from the above necessary technical means, the navigation device further includes an operation interface that is electrically connected to the path planning unit and used to display the at least one object fetching path.

As mentioned above, the intelligent warehousing and picking system of the present invention can effectively use the image capture module to capture images of warehouse items and visual reference system tag capture images to store product location information, and then when the user needs to ship the goods At this time, the image capture module can also be used to capture the image of the goods order to know the location of the shipped goods, effectively improving the efficiency of goods warehousing and shipping.

Specific embodiments used in the present invention will be further described through the following examples and drawings.

Please refer to Figures 1 to 3. Figure 1 is a schematic diagram of a system that uses an image capture module to capture images of warehouse items and visual reference system labels in a smart warehousing and picking system according to a preferred embodiment of the present invention; The second figure is a three-dimensional schematic diagram showing the visual reference system labels used in the intelligent warehousing and picking system of the preferred embodiment of the present invention installed on the storage shelves; the third figure is a schematic diagram showing the intelligent warehousing of the preferred embodiment of the present invention. Schematic diagram of the map data stored in the map database of the picking system.

As shown in the first to third figures, an intelligent warehousing and picking system 100 includes a plurality of visual fiducial system tags (Visual Fiducial System Tag; AprilTag) 1, 1a, 1b and 1c (only four are marked in the figure) , a map database 2, an object handling device 3, an image capture module 4, a processing platform 5 and a navigation device 6. Among them, the intelligent warehousing and picking system 100 of this embodiment is applied to a storage space (not shown in the figure) with a plurality of storage racks 200 (only one is marked in the figure).

A plurality of visual reference system tags 1, 1a, 1b and 1c are attached and fixed on the storage rack 200, and encode and record a plurality of rack position coordinates of the storage rack 200; wherein the rack position coordinates are, for example, represented by It consists of two plane coordinates and one three-dimensional coordinate.

Based on the above, in this embodiment, the storage rack 200 is preset with two floors, and each floor has two storage spaces (not shown in the figure), and the visual reference system labels 1, 1a, 1b and 1c are respectively Corresponds to a holding space.

The map database 2 stores a map data 21, and the map data 21 is marked with a plurality of rack positions C200 (only one is marked in the figure) and a plurality of rack codes C1 (only one is marked in the figure) corresponding to the rack position coordinates. ); among them, the map data 21 defines a plane coordinate system based on the plane area of the storage space, so that the rack position coordinates can correspond to two plane coordinates to one point in the plane coordinate system, and each rack position coordinate is Represented by a rack code C1.

Please continue to refer to Figures 4 to 6. Figure 4 is a schematic three-dimensional view showing the image capture module and navigation device used in the intelligent warehousing and picking system of the preferred embodiment of the present invention installed on the object handling device; The fifth figure shows a three-dimensional schematic diagram of the intelligent warehousing and picking system using an image capture module to capture outer packaging images of stored items according to the preferred embodiment of the present invention; the sixth figure shows the wisdom of the preferred embodiment of the present invention. After the warehousing and picking system uses the object handling device to place the storage items on the storage racks, the visual reference system labels set on the storage racks correspond to the three-dimensional schematic diagram of the storage items.

As shown in the first to sixth figures, the object handling device 3 is used to transport a plurality of storage items 300, 300a, 300b and 300c (only four are shown in the figure) to a storage device for storing the storage items 300, 300a, 300b and 300c. The storage rack 200 of 300c; taking the storage item 300 as an example, the outer packaging of the storage item 300 records a product information character 301, and the product information character 301 in this embodiment is, for example, "RL3517W", which refers to the storage item 300 The corresponding product model.

In addition, the storage items 300, 300a, 300b and 300c are actually placed on a plurality of pallets 400 (only one is shown in the figure), and the item transport device 3 drives the storage items 300 to move by moving the pallets 400. In this embodiment, the article handling device 3 is a stack of forklifts, but it is not limited thereto. In other embodiments, the article handling device 3 can also be a trailer truck.

In this embodiment, the image capture module 4 is disposed in front of the object transport device 3. When the user drives the object transport device 3 close to the storage item 300, the image capture module 4 will follow the object transport device 3 as it approaches the storage. The object 300 is captured to capture an image of the storage object 300 to generate an outer packaging image S2, and when the user uses the object handling device 3 to transport the storage object 300 to the storage shelf 200, the image capture module 4 will The visual reference system tag 1 of the storage rack 200 captures an image to generate a visual reference system tag image S1; wherein the image capture module 4 can capture the image simultaneously when the object handling device 3 places the storage item 300 on the storage rack 200. Obtain the visual reference system label image S1 and outer packaging image S2. In addition, the image capture module 4 is, for example, a charge-coupled device (CCD).

The processing platform 5 is communicatively connected to the image capture module 4 and includes a visual reference system tag recognition module 51 , a character recognition module 52 and a processing unit 53 . The visual reference system tag recognition module 51 is used to receive the visual reference system tag image S1 generated by the image capture module 4, and decode the visual reference system tag image S1 to parse out the rack position coordinates, and parse out the The rack position coordinates are sent out as a coordinate signal S3.

The character recognition module 52 is used to receive the outer packaging image S2 generated by the image capture module 4, thereby recognizing the product information characters 301 to parse the product information corresponding to the warehouse item 300, and use the parsed product information A product information signal S4 is sent. In this embodiment, the character recognition module 52 is an optical character recognition (Optical Character Recognition, OCR) module.

The processing unit 53 is electrically connected to the visual reference system label recognition module 51, the character recognition module 52 and the map database 2, and is used to receive the coordinate signal S3 carrying the rack position coordinates and the product carrying product information. In the information signal S4, the shelf position coordinates and product information are integrated into one product position information 22 and stored in the map database 2.

In this way, after the user uses the item handling device 3 to store the storage items 300 in the storage rack 200, and uses the image capture module 4 and the processing platform 5 to generate the product location information 22 and store it in the map database 2, the process is completed. Warehousing operation of 300 warehousing items.

In addition, in this embodiment, the processing platform 5 and the map database 2 may be part of the server.

Please continue to refer to the seventh figure. The seventh figure shows the intelligent warehousing and picking system according to the preferred embodiment of the present invention, in which the image capture module provided in the object handling device affects the storage racks and the storage placed in the storage racks. After the object captures the image, it is a schematic plan view displayed through the operating interface of the navigation device.

As shown in the first to seventh figures, when the storage item 300 is placed on the storage rack 200, the image capture module 4 will simultaneously capture the packaging image S2 outside the storage item 300 and the packaging image S2 installed on the storage rack 200. The visual reference system label image S1, then the processing unit 53 will not only transmit the coordinate signal S3 recognized by the visual reference system label recognition module 51 and the product information signal S4 recognized by the character recognition module 52 to the map database 2 for storage, in practice It is also possible to use the plurality of warehouse item images 300I (only one is marked in the figure) captured by the image capture module 4 and the plurality of visual reference system label images 1I (only one is marked in the figure) through the operation interface of the navigation device 6 64 is displayed, and a plurality of item identification areas R1 (only one is marked in the figure) corresponding to the warehouse item image 300I and a plurality of corresponding product identification prompts R2 (only one is marked in the figure) are displayed on the operation interface 64, For user confirmation. Among them, the technology of displaying the warehouse item image 300I, the visual reference system label image 1I, the item identification area R1 and the product identification prompt R2 through the operation interface 64 is an unnecessary additional function. Even if it is not displayed through the operation interface 64, the processing unit 53 The shelf position coordinates and product information will still be integrated into product location information 22 based on the coordinate signal S3 and the product information signal S4 and stored in the map database 2 .

Please continue to refer to Figures 8 and 9. Figure 8 is a system schematic diagram showing the smart warehousing and picking system using the image capture module of the navigation device to capture the image of the picking work order according to the preferred embodiment of the present invention. ; The ninth figure is a schematic plan view showing the smart warehousing and picking system using the image capture module of the navigation device to capture the image of the retrieval work order according to the preferred embodiment of the present invention.

As shown in the first to ninth figures, the navigation device 6 is provided on the object transport device 3 and includes an image capture module 61, a positioning unit 62, a path planning unit 63 and an operation interface 64.

The image capture module 61 is electrically connected to the character recognition module 52, and is used to capture a pick-up work order image S5 for a pick-up work order 500, and transmit the pick-up work order image S5 to the character recognition module. 52, causing the character recognition module 52 to recognize one of the product information characters to be picked up in the pick-up work order image S5 and parsing out a piece of product information to be picked up, and the processing unit 53 automatically receives the product information to be picked up. The product position information 22 compares the position coordinates of the shelf location of the product to be picked up corresponding to the product information to be picked up.

The positioning unit 62 is used to locate the transport device coordinate PP of one of the article transport devices 3 . The path planning unit 63 is electrically connected to the positioning unit 62, and is communicatively connected to the processing unit 53 and the map database 2, and is used to plan the transportation device based on the coordinates PP of the handling device, the position coordinates of the product shelf to be picked up, and the map data 21. The coordinate PP extends to the picking path GP, one of the coordinates of the shelf position of the item to be picked up.

The operation interface 64 is electrically connected to the path planning unit 63 and is used to display the object picking path GP. The operation interface 64 is, for example, a touch screen, which allows the user to capture images or display the rack position C200 and rack code C1 in the map data 21 , and can even display the handling device coordinates PP and the loading and unloading area LA. Wait for information.

As mentioned above, the navigation device 6 can actually be a smart electronic device such as a smart phone or a tablet computer, whereby the user can place the navigation device 6 on the object handling device 3 and use the image capture of the navigation device 6 to The acquisition module 61 (the main lens or front lens of the smart electronic device) captures the object pickup work order image S5 of the object pickup work order 500, and then transmits it to the processing platform 5 through wireless transmission, thereby using the character recognition module 52 identifies the product information to be picked up in the pick-up work order image S5, and then sends it back to the path planning unit 63 through the processing unit 53, so as to plan the pick-up in conjunction with the map data 21, product location information 22 and positioning unit 62 Path GP.

In this embodiment, although the image capture module 4 is directly installed on the object handling device 3, in other embodiments, the image capture module 4 can also be used as the main lens of the navigation device 6 facing outward toward the warehouse. The object 300 and the visual reference system label 1, and the image capture module 61 is the front lens of the navigation device 6, so that the user can move the object retrieval work order 500 to the image capture module 61 to capture the object retrieval work. Single image S5. In addition, in other embodiments, the navigation device 6 may even have only one image capture module 4 as the main lens, and the user can capture the object as long as he moves the object retrieval work order 500 in front of the image capture module 4 Work order image S5.

To sum up, the present invention mainly uses the image capture module to capture the images of warehouse items and the visual reference system tags to capture the images, so as to store the product location information. Then when the user needs to ship, the image capture can be used The retrieval module captures the image of the work order, and then by comparing the location information of the goods previously stored during the warehousing operation, the location of the goods to be picked up can be obtained, and then the coordinates of the handling device and the map data are located through the positioning unit. , the retrieval path can be planned to allow the object handling device to move to the location of the goods to be retrieved; thereby, the present invention can use the image capture module to capture the image and visual reference of the warehoused items when the user performs the warehousing operation. The system tag captures images and then stores product location information. Therefore, users do not need to spend additional energy or time to remember the product storage location, which effectively improves warehousing efficiency. Then when users need to pick goods, they can also use image capture to The retrieval module retrieves the goods work order to obtain the information of the goods to be picked up, and automatically plans the picking path, effectively increasing the efficiency of picking.

Through the above detailed description of the preferred embodiments, it is hoped that the characteristics and spirit of the present invention can be more clearly described, but the scope of the present invention is not limited by the above disclosed preferred embodiments. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the patent for which the present invention is intended.

100: Intelligent warehousing and picking system

1,1a,1b,1c: Vision reference system tags

2: Map database

21:Map information

22: Product location information

3: Object handling device

4:Image capture module

5: Processing platform

51:Visual reference system label recognition module

52:Character recognition module

53: Processing unit

6:Navigation device

61:Image capture module

62: Positioning unit

63: Path planning unit

64: Operation interface

200: Storage rack

300,300a,300b,300c: Warehousing items

301: Product information characters

400:pallet

500: Pickup work order

S1: Vision reference system label image

S2: Outer packaging image

S3: coordinate signal

S4: Product information signal

S5: Pick up work order image

PP: Coordinates of handling device

GP: Fetching path

C1: Shelf code

C200: rack position

LA: loading and unloading area

300I: Warehouse item images

1I: Vision reference system label image

R1: Item identification area

R2: Product identification tips

The first figure shows a schematic diagram of a system in which the intelligent warehousing and picking system uses an image capture module to capture images of warehouse items and visual reference system labels according to a preferred embodiment of the present invention; The second figure is a three-dimensional schematic diagram showing the visual reference system tags used in the intelligent warehousing and picking system according to the preferred embodiment of the present invention, which are installed on the storage shelves; The third figure is a schematic diagram showing the map data stored in the map database of the intelligent warehousing and picking system according to the preferred embodiment of the present invention; The fourth figure is a three-dimensional schematic diagram showing the image capture module and navigation device used in the intelligent warehousing and picking system of the preferred embodiment of the present invention installed on the object handling device; The fifth figure is a three-dimensional schematic diagram showing the smart warehousing and picking system using the image capture module to capture outer packaging images of warehoused items according to the preferred embodiment of the present invention; The sixth figure shows the smart warehousing and picking system according to the preferred embodiment of the present invention. After using the item handling device to place the storage items on the storage racks, the visual reference system labels set on the storage racks correspond to the labels of the storage items. Three-dimensional diagram; The seventh figure shows the intelligent warehousing and picking system according to the preferred embodiment of the present invention, in which the image capture module provided in the object handling device captures images of the storage racks and the storage items placed on the storage racks. A schematic diagram of the operation interface display of the navigation device; The eighth figure is a schematic diagram showing a system schematic diagram of the smart warehousing and picking system using the image capture module of the navigation device to capture the image of the pick-up work order according to the preferred embodiment of the present invention; and Figure 9 is a schematic plan view showing that the smart warehousing and picking system uses the image capture module of the navigation device to capture the image of the retrieval work order according to the preferred embodiment of the present invention.

100: Intelligent warehousing and picking system

1: Vision reference system label

2: Map database

21:Map information

22: Product location information

3: Object handling device

4:Image capture module

5: Processing platform

51:Visual reference system label recognition module

52:Character recognition module

53: Processing unit

6:Navigation device

61:Image capture module

62: Positioning unit

63: Path planning unit

64: Operation interface

300: Warehousing items

S1: Vision reference system label image

S2: Outer packaging image

S3: coordinate signal

S4: Product information signal

Claims (4)

An intelligent warehousing and picking system is applied to a storage space with multiple storage racks, including: A plurality of visual fiducial system tags (Visual Fiducial System Tag; AprilTag) are set on the storage racks used to store a plurality of storage items, and the plurality of rack position coordinates of the storage racks are encoded and recorded; A map database stores a map data, and the map data is marked with a plurality of rack positions and a plurality of rack codes corresponding to the rack position coordinates; An object handling device used to transport the storage items to the storage racks: An image capture module is used to capture a plurality of visual reference system label images of the visual reference system labels when the object handling device carries the storage items to the storage racks, and capture respective images of the visual reference system labels. Corresponding to a plurality of outer packaging images of the warehousing items, the image capture module is further used to capture a pick-up work order image; A processing platform is communicated with the image capture module and includes: A visual reference system tag recognition module decodes the visual reference system tag images to parse the position coordinates of the racks; A character recognition module is used to identify at least one product information character in the outer packaging images to parse out a plurality of product information corresponding to the warehouse items, and to identify at least one product information character in the pick-up work order image. A character of product information to be retrieved is parsed to obtain at least one product information to be retrieved; and A processing unit electrically connected to the visual reference system label recognition module, the character recognition module and the map database, for receiving the rack position coordinates and the product information, The shelf position coordinates and the product information are integrated into a product location information and stored in the map database, and used to compare the product location information corresponding to the at least one item when receiving the at least one product information to be picked up. The position coordinates of at least one shelf of the product to be picked up in the product information to be picked up; and A navigation device is provided on the object handling device and includes: A positioning unit used to locate the coordinates of one of the object handling devices; and A path planning unit is electrically connected to the positioning unit, and is communicatively connected to the processing unit and the map database, for based on the coordinates of the transport device, the position coordinates of the at least one commodity shelf to be retrieved, and the map data. Plan at least one picking path extending from the coordinates of the handling device to the position coordinates of the at least one commodity shelf to be picked up. The intelligent warehousing and picking system as described in claim 1, wherein the character recognition module is an optical character recognition (Optical Character Recognition, OCR) module. The intelligent warehousing and picking system as described in claim 1, wherein the object handling device is a stack of high-speed machines. The intelligent warehousing and picking system of claim 1, wherein the navigation device further includes an operation interface that is electrically connected to the path planning unit and used to display the at least one picking path.

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