Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings of the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, in the embodiments of the present application are intended to cover non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element.
The embodiment of the application discloses a goods management system can reduce workman intensity of labour, improves conveying efficiency.
The following detailed description will be given with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a cargo management system according to an embodiment of the present application, and as shown in fig. 1, the cargo management system may include an image capturing device 10, a central control device 20, an image recognition device 40, and a handling device 30, where the handling device 30 is communicatively connected to the central control device 20, and the image capturing device 10 and the image recognition device 40 are communicatively connected to the central control device 20, respectively.
An image acquisition device 10 for acquiring a cargo image including a plurality of cargos;
the image recognition device 40 is in communication connection with the image acquisition device 10 and is used for receiving the goods image and obtaining the quantity of goods in the goods image according to the goods image and the pre-stored goods frame size;
the central control device 20 is in communication connection with the image acquisition device 10 and the image recognition device 40, and is used for receiving the goods images and the quantity of the goods in the goods images, obtaining the position information of each goods according to the goods images, and obtaining a carrying instruction, wherein the carrying instruction comprises target position information of the goods to be carried, and the goods to be carried are any one of the goods;
and the carrying device 30 is in communication connection with the central control device 20 and is used for receiving and responding to the carrying instruction and carrying the goods to be carried to the target position corresponding to the target position information.
Alternatively, the image pickup apparatus 10 described above may be a video camera, a camera, or the like, which is installed at a place where a plurality of cargoes are stacked. The image recognition device 40 may be a device having a high arithmetic capability, such as a server.
Alternatively, the above-described transporting apparatus 30 may be a vehicle that does not require human control for cargo transportation. Alternatively, unmanned transport vehicle 200 includes, but is not limited to, an unmanned forklift.
Alternatively, the handling device 30 and the central control device 20 and the image capturing device 10 and the central control device 20 may be connected through any one of Wi-Fi, 3G (the 3, rd Generation mobile communication technology, third generation mobile communication technology), 4G (the 4, th generation mobile communication technology, fourth generation mobile communication technology) and 5G (the 5, th generation mobile communication technology, fifth generation mobile communication technology), and the handling device 30 may be provided with an automatic mode and a manual mode, the automatic mode of the handling device 30 is a mode requiring no manual operation, and the manual mode of the handling device 30 is a mode requiring manual operation. The central control device 20 may include, but is not limited to, a cell phone, tablet computer, wearable device, notebook computer, PC (Personal Computer ), etc. In addition, the operating system of the central control device 20 may include, but is not limited to, an Android (Android) operating system, an IOS operating system, a Symbian (plug) operating system, a Black Berry operating system, a Windows Phone8 operating system, and the like, which are not limited in the embodiments of the present application.
Optionally, the central control device 20 may further include a processor and a memory, where the memory is used to store code instructions; the processor is used for running code instructions to execute the received goods images and the quantity of goods in the goods images, and obtaining the position information of each goods according to the goods images to obtain a carrying instruction, wherein the carrying instruction comprises the target position information of the goods to be carried.
In one embodiment, the handling device 30 may be configured to receive the handling instructions sent by the central control device 20 and in an automatic mode, to handle the goods to be handled according to the handling instructions to the target location, and the handling device 30 may be configured to operate the handling device manually by a technician operating the handling device's lever in a manual mode.
Alternatively, a plurality of goods may be placed in a warehouse. The image acquisition device 10 acquires the cargo images of a plurality of cargoes in the warehouse, sends the cargo images to the image recognition device 40, so that the image recognition device 40 obtains the cargo quantity in the cargo images according to the cargo images and the pre-stored cargo frame sizes, the central control device 20 obtains the position information of each cargo according to the cargo images after receiving the cargo images and the cargo quantity, obtains a carrying instruction comprising the target position information of the cargoes to be carried by combining the cargo quantity and the position information of each cargo, and sends the carrying instruction to the carrying device 30, so that the carrying device 30 carries the cargoes to be carried to the target position corresponding to the target position information.
In one embodiment, the number of the image capturing devices 10 is at least one, and the detection range of each image capturing device covers all or part of the plurality of cargos, and the image capturing device 10 may be a fisheye camera or a camera with a cradle head.
Wherein the fisheye camera is a camera having a focal length of 16mm or less and a view angle of approximately or equal to 180 °. It is a wide-angle camera. In order to achieve the maximum photographing angle of view of the camera, the front lens of the photographing lens has a very short diameter and protrudes toward the front of the lens in a parabolic shape, which is quite similar to the eyes of fish. The camera with the cradle head is provided with a device for carrying the camera to rotate horizontally and vertically, and the camera can be arranged on the cradle head to shoot from a plurality of angles. The cradle head is internally provided with two motors which are respectively used for driving the camera to rotate in the horizontal direction and the vertical direction. The angle of the horizontal and vertical rotation can be adjusted by a limit switch.
In one embodiment, the number of the image capturing devices 10 is at least two, the image capturing devices 10 include base cameras, and each base camera may cover a plurality of cargos in a combination of shooting angles. The base camera is a camera having a photographing function but not having a direction adjustment function.
Alternatively, the distribution manner of the image capturing devices 10 is set by a person skilled in the art according to actual needs, for example, at least two image capturing devices 10 are installed on a ceiling of a warehouse and uniformly distributed on two diagonals of the ceiling, and an interval between any two image capturing devices 10 is determined by a person skilled in the art according to the actual size of the warehouse, which is not limited in this application.
In the cargo management system, the specific number of the cargos can be identified, so that the cargo in the warehouse can be directly scheduled without manually checking the cargo number, the labor intensity of personnel is reduced, and the transportation efficiency is improved.
Fig. 2 is a schematic structural diagram of another cargo management system according to an embodiment of the present application, and as shown in fig. 2, the handling device 30 may include a pose acquisition device 301. The handling device 30 is also used for identifying the goods pose of the goods to be handled in the warehouse by means of the pose acquisition means 301.
Alternatively, the pose acquisition device 301 may be a laser sensor or a camera, and the handling device 30 is further configured to identify a cargo pose of the cargo to be handled in the warehouse through the pose acquisition device 301. Wherein the laser sensor is used for acquiring point cloud data of the goods to be transported, and the transporting device 30 determines the pose of the goods according to the point cloud data. The camera is used for acquiring image data of the goods to be carried, and the carrying device 30 determines the pose of the goods according to the image data.
Alternatively, the handling device 30 moves to the target position after receiving the handling instruction, and then recognizes the cargo pose of the cargo to be handled at the target position by the pose acquisition device 301. The cargo positions may include a placement position of the cargo at the target location and a placement posture, which may include, but is not limited to, standing, lying, and the position of the handling device 30 may be adjusted according to the cargo positions to retrieve the cargo to be handled from the target location.
In the cargo management system, the cargo position and posture of the cargo to be transported at the target position can be identified by the transport equipment according to the set position and posture acquisition device, so that the accuracy of taking out the cargo to be transported by the transport equipment is improved, and the automation degree of cargo transport is further improved.
Fig. 3 is a schematic structural diagram of a cargo management system according to an embodiment of the present application, as shown in fig. 3, the handling device 30 may further include a cargo taking device 302, where the handling device is configured to determine a cargo taking parameter according to a cargo pose, and control the cargo taking device 302 to obtain a cargo to be handled according to the cargo taking parameter.
After identifying the position of the goods to be carried at the target position by the position and posture acquisition device 301, the carrying apparatus 30 can determine the goods taking parameters of the goods taking device 302 according to the position and posture of the goods, and control the goods taking device 302 to obtain the goods to be carried according to the goods taking parameters. Optionally, since the operation capability of the handling device 30 is lower than that of the central control device 20, the handling device 30 may send the identified cargo pose to the central control device 20, the central control device 20 may determine the cargo taking parameter corresponding to the cargo taking device 302 of the handling device 30 according to the cargo pose, the central control device 20 feeds back the cargo taking parameter to the handling device 30, and the handling device 30 controls the cargo taking device 302 to obtain the cargo to be handled in the target storage according to the cargo taking parameter sent by the central control device 20.
Illustratively, taking the pick up parameter as the pinch parameter as an example, the pick up device 302 may include two oppositely disposed pinch arms that may be used to open and close according to the pinch parameter. As an alternative embodiment, the gripping parameters may include the gripping strength of the pick device 302 and the gripping angle of the pick device 302. The handling device 30 controls the goods taking device 302 to rotate to the clamping angle, adjusts the opening and closing degree of two clamping arms of the goods taking device 302 to a preset opening and closing degree, and clamps goods to be handled with clamping force. Alternatively, the cargo specifications of the plurality of cargoes may be the same, and the gripping parameters may be fixed. The pick device 302 of the handling apparatus 30 may be controlled with the same gripping parameters when gripping each item.
Optionally, the pick device 302 may also include at least two forks, and the goods to be handled are forked by the at least two forks. As an alternative embodiment, the pick parameters may include a fork height, and the handling device 30 controls the pick device 302 to be raised to the fork height and then fork the goods to be handled. The above-mentioned fork height can be determined according to the stacking height of goods, and specific numerical range is set up by the person skilled in the art according to actual need, and this application does not do the restriction.
Optionally, the handling device 30 is also provided with a counter. The counter is used for counting the carried goods according to the received goods quantity information so as to judge whether the goods are carried or not.
When the handling device 30 needs to handle a plurality of cargoes once, that is, when the handling instruction includes the number of cargoes to be handled, the counter counts the cargoes completed by the handling device 30, so that when the handling device 30 finishes one cargoes per handling, the counter can be incremented to compare the number of cargoes completed by the handling with the number of cargoes in the handling instruction, and when the number of cargoes completed by the handling is smaller than the number of cargoes in the handling instruction, the handling of cargoes to be handled is continued until the number of cargoes completed by the handling is equal to the number of cargoes in the handling instruction. In some embodiments, after completing one handling operation and updating the number of times of the counter, the handling device 30 may also send the number of times of the counter to the central control device 20, so that the central control device 20 obtains the handling progress of the handling device 30.
In the cargo management system, the carrying equipment can acquire the cargo to be carried through the cargo taking device, and the corresponding cargo taking parameters are determined according to the cargo position and posture of the cargo to be carried, so that the accuracy of the cargo acquisition of the carrying equipment is improved, the manual operation is reduced, and the labor intensity is reduced.
Fig. 4 is a schematic diagram of another cargo management system disclosed in an embodiment of the present application, and as shown in fig. 4, the cargo management system may further include an instruction generating device 50, where the instruction generating device 50 is connected to the central control device 20. Wherein the instruction generating device 50 may provide a function for a user to select goods. Alternatively, the instruction generating device 50 may send the goods to be carried corresponding to the goods selection operation to the central control device 20 when the goods selection operation of the user is detected, where the goods selection operation may include a voice operation, a gesture operation, a clicking operation, and the like, and the embodiment of the present application is not limited to this. Alternatively, the user who operates the instruction generating apparatus 50 and the user who operates the handling apparatus 30 in the manual mode of the handling apparatus 30 may be the same user, or may be different users, which is not limited.
The central control device 20 may be configured to be communicatively connected to the instruction generating device 50, and may receive the identifier of the goods to be handled sent by the instruction generating device 50, generate a handling instruction according to the identifier of the goods to be handled, and also receive the handling instruction sent by the instruction generating device 50. Wherein the goods to be carried are one or more of a plurality of goods.
Alternatively, the instruction generating device 50 may be a device outside the cargo management system, and communicate with the central control device 20 in the cargo management system, which is not limited in this application.
In the cargo management system, the central control device can receive the cargo to be carried sent by the command generating device, output a carrying command according to the cargo to be carried, and the carrying device can receive the carrying command sent by the central control device and carry the cargo to be carried according to the carrying command to a target position corresponding to the target position information.
Fig. 5 is a schematic structural diagram of a cargo management system according to an embodiment of the present application, and as shown in fig. 5, the cargo management system includes a plurality of storage locations 60, where the plurality of storage locations 60 are used to store a plurality of cargos. Alternatively, the plurality of banks 60 may be arranged in an array, but the embodiments of the present application are not limited thereto. Multiple cargoes can be stacked and placed on a single storage position, namely, multiple cargoes are stacked in one storage position uniformly, and the cargoes can also be stacked in different storage positions respectively.
The image recognition device 40 is specifically configured to determine the number of cargos in the cargo image according to the border lines of the plurality of cargos in the cargo image and the border lines of the library position 60.
Alternatively, the border lines of the plurality of storage locations 60 may be solid lines drawn on the ground corresponding to the storage locations, where the image recognition device 40 performs real-time recognition on the border lines on the ground of the storage locations, or the border sizes of the plurality of storage locations may be stored in the image recognition device 40 in advance, and when the image recognition device 40 performs recognition on the plurality of cargoes, the positions of the storage locations to which the plurality of cargoes belong are known by comparing the border sizes of the storage locations with the plurality of cargoes.
Taking the example that the border lines of the plurality of storage locations 60 are solid lines drawn on the ground of the corresponding storage locations 60 as an example, the image recognition device 40 can directly recognize the border lines of the storage locations where the plurality of cargoes are located, and perform object recognition on the plurality of cargoes in the cargo image to obtain object recognition frames of the plurality of cargoes, further compare the border lines of the storage locations with the object recognition frames of the plurality of cargoes to obtain object recognition frames of the cargoes in the border lines of the storage locations, and count the cargoes of the object recognition frames in the border lines of the storage locations, thereby obtaining the number of the plurality of cargoes located on the corresponding storage locations and the corresponding position information. For example, if the goods a and B are located in the storage location a and the goods C are located in the storage location B, in the goods image acquired by the image acquisition device, the object identification frames of the goods a and the goods B are located in the storage location a and the object identification frame of the goods C is located in the storage location B, and then the image identification device 40 can directly identify that two goods are located in the storage location a and one goods is located in the storage location B from the goods image.
Illustratively, taking an example that the frame sizes of a plurality of library bits are stored in the image recognition device 40 in advance, when the image recognition device 40 receives a cargo image, the position information and the specific frame size of each library bit are mapped into the cargo image, so as to obtain the image information of the cargo in each library bit frame, then the image information of the cargo is recognized, so as to obtain the target recognition frame of each cargo, and the cargo of the target recognition frame in the frame line of the library bit is counted, so that the number of the plurality of cargos located on the corresponding library bit and the corresponding position information are obtained. For example, the image recognition device stores the frame sizes of the library bit a and the library bit B in advance, and when receiving the cargo image, maps the frames of the library bit a and the library bit B into the cargo image first, so as to obtain image information of cargoes in the library bit a and the library bit B, obtain a target recognition frame of each cargo from the image information of the cargoes, so as to obtain cargoes of the target recognition frame in the frame line of the library bit a, further obtain the number of cargoes in each library bit, and use the position information of the library bit as the position information of the corresponding cargo.
In the goods management system, the image recognition equipment compares the border line of the library position with the target recognition frame of the goods, and the quantity of the goods in the library position is obtained by counting the quantity of the goods in the border line of the library position through the target recognition frame, so that the inventory efficiency of the quantity of the goods in the library position is improved.
Fig. 6 is a schematic structural diagram of a cargo management system according to an embodiment of the present application, and as shown in fig. 6, the system may further include a display device 70, where the display device 70 is communicatively connected to the central control device 20, and is configured to receive and display the number of cargos in the cargo image and the location information of each cargo.
Alternatively, the display device 70 described above is used to display information provided to the user as well as various menus of the electronic device. The display device 70 may be configured in the form of a liquid crystal display (liquid crystal display, LCD), an organic light-emitting diode (OLED), or the like, without limitation.
Alternatively, the display device 70 may be integrated with the instruction generating device 50 as one device so that the device can simultaneously display information provided to the user and acquire information input by the user.
Alternatively, the display device 70 described above may be integrated in the central control device 20 to enable real-time display of the number of goods and the location information of each good.
In the goods management system, the display equipment is arranged, so that the central control equipment can send the quantity of the goods in the goods image and the position information of each goods to the display equipment in real time, a user can check the quantity of the goods and the position information of each goods in real time, and the user experience is improved.
Fig. 7 is a schematic structural diagram of a cargo management system according to an embodiment of the present application, and as shown in fig. 7, the system further includes a data storage device 80, where the data storage device 80 is in telecommunication connection with the central control device 20, and is configured to store a cargo image, a cargo number in the cargo image, and/or location information of each cargo.
Optionally, the data storage device 80 may be further connected to the image capturing device 10, for directly storing the cargo image including the plurality of cargos captured by the image capturing device 10, as a backup of the cargo image.
In the goods management system, the data generated in the goods management system can be stored by arranging the data storage equipment, so that management staff can conveniently check the data.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in the computer device) to perform part or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The foregoing has outlined a detailed description of a cargo management system disclosed in embodiments of the present application, and specific examples have been provided herein to illustrate the principles and embodiments of the present application, the above examples being provided only to assist in understanding the method and core concepts of the present application. Meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.