CN112801583A - Unattended intelligent warehouse system - Google Patents
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Abstract
The invention relates to a warehousing technology, in particular to an unattended intelligent warehouse system; the warehouse comprises a warehouse, a warehouse entry channel and a goods shelf, wherein a first gate and a second gate are respectively arranged on the outer side and the inner side of the warehouse entry channel, a human body proximity sensor is arranged on the outer side of the first gate, a person approaches the outer side of the first gate, the first gate is automatically opened for the person after the person is sensed by the human body proximity sensor of the first gate, a person identification device is arranged in the warehouse entry channel, a pickup man-machine conversation touch screen is also arranged in the warehouse entry channel, a required article is input into the system through the pickup man-machine conversation touch screen, the pickup man-machine conversation touch screen feeds back the goods shelf and the goods number where the article is located to the person, the person searches for the required article according to the goods shelf and the goods number after entering the warehouse, meanwhile, the system automatically records the path and the posture of the person after entering the warehouse and the article obtained by pickup by adopting a cross-border tracking method and automatically forms video storage, and the management of, and the enterprise management cost is greatly reduced.
Description
Technical Field
The invention relates to a warehousing technology, in particular to an unattended intelligent warehouse system.
Background
At present, 24-hour supervision is usually required in warehousing, night attendance is often required, and labor cost of enterprises is increased. In the industry, automatic on duty of storage is improved through cameras and the like, for example, an unattended rapid storage and retrieval system based on the internet of things technology disclosed in Chinese patent is disclosed as patent number 201510076540.2. The system uses a storage ERP system as data support, uses a storage operation system as data processing, realizes the unattended condition, other personnel can quickly find needed materials, the flow is that after the personnel confirm the identity, the personnel can automatically give an indication channel of a position of the materials, the system can automatically give the indication channel of the position of the materials, when the materials are delivered, the materials are quickly input through the scanning channel, an initial delivery list is formed, the personnel can simply supplement the materials, the delivery can be finally confirmed, the process completely does not need the intervention of warehouse management personnel, the operation of the delivery of the materials can be quickly and automatically completed, the operation flow is simple, convenient and fast, the time consumption is short, the requirement of emergency repair operation can be met, and the timely and efficient delivery of the materials can be ensured for emergency repair operation.
However, the above technical solutions have a drawback that no action picture is recorded after a person enters a bin, and we cannot know whether he only takes the applied object.
Disclosure of Invention
In view of the deficiencies of the prior art, the present invention provides an unattended intelligent warehouse system including cross-border tracking.
The technical scheme of the invention is as follows:
unattended wisdom warehouse system, it includes the warehouse, warehouse entry passageway and goods shelves, the parallel is provided with a plurality of goods shelves in the warehouse, correspond every goods shelves and goods shelves or goods shelves and wall corridor that form on the warehouse lateral wall and all be provided with fixed camera, the warehouse intercommunication has the warehouse entry passageway, the warehouse entry passageway outside and inboard are provided with first floodgate machine and second floodgate machine respectively, wherein the first floodgate machine outside is provided with the human body and is close the inductor, personnel are close the first floodgate machine outside and the human body of first floodgate machine is close the inductor perception after first floodgate machine is automatic to be opened for personnel, set up personnel identification device in the warehouse entry passageway, personnel identification device includes two kinds at least in face identification device, iris recognition device, voice recognition device and the fingerprint identification device, two kinds at least in face identification device, iris recognition device, voice recognition device and the fingerprint recognition device correctly discern this personnel be for predetermineeing personnel and control second floodgate machine from two kinds of self under the condition that the identification result is the same for predetermineeing The system is opened dynamically and controls the first gate to be closed, a pickup man-machine conversation touch screen is further arranged in the warehousing channel, required articles are input into the system through the pickup man-machine conversation touch screen, the pickup man-machine conversation touch screen feeds back shelves and goods numbers where the articles are located to personnel, the personnel find the required articles according to the shelves and the goods numbers after entering the warehouse, meanwhile, the system automatically records the paths and postures of the personnel after entering the warehouse and the articles obtained by pickup and automatically forms video storage, then the personnel return to the warehousing channel, the system closes the second gate and opens the first gate after the intention of picking up the articles is input through the pickup man-machine conversation touch screen, and the personnel leave with the required articles.
Specifically, the cross-border tracking method includes the following steps:
s101, establishing a data model capable of converting pixel coordinates into world coordinates according to a corresponding spatial data file aiming at each camera participating in tracking, wherein the spatial data file comprises PTZ parameter values, longitude and latitude and a field angle of the corresponding camera;
s102, detecting all human body images in a real-time video image of an initial camera by applying a Yolo object detection technology, and then, after a certain human body image is marked as a tracking target, carrying out following with the camera aiming at the tracking target;
s103, in the following process of the same camera, acquiring pixel coordinates of the tracking target in a video image, and then calculating by applying the mathematical model to obtain world coordinates of the tracking target;
s104, finding a plurality of peripheral cameras located in a certain range nearby by taking the world coordinate of the tracking target as a center;
s105, comparing and screening personnel characteristic values in real-time video images of peripheral cameras according to the tracking targets by applying an intelligent analysis algorithm, and acquiring corresponding tracking target identification results, wherein the intelligent analysis algorithm comprises a face identification algorithm, a posture analysis algorithm, a pedestrian attribute analysis algorithm and/or a pedestrian re-identification algorithm;
and S106, pushing the tracking target recognition results of the peripheral cameras to a front-end interface for output and display.
Specifically, the face recognition algorithm extracts the face characteristic value of the target person through a face recognition technology, and adds the face characteristic value into the comparison parameters of cross-mirror tracking, so that if the face photos of people appear in the captured video images of other peripheral cameras, the tracking target can be quickly and accurately found.
Specifically, the posture analysis algorithm acquires posture characteristics of the head, the shoulder, the palm, the sole, the knee, the waist and the like through recognition of key point parts of the human body, and adds the posture characteristics into a posture recognition task, so that the standing posture, the walking posture and the like of the target person can be judged, namely the characteristics of the postures are used as one of comparison parameters for tracking the target person across lenses.
Specifically, the pedestrian attribute analysis algorithm analyzes and records the current characteristics of the target person, such as clothes color, clothes shape, clothes type, backpack color and backpack size, and uses the characteristics as comparison parameters for tracking the target person across shots.
Specifically, the pedestrian re-identification algorithm is a technology for judging whether a specific pedestrian exists in an image or a video sequence by using a computer vision technology, and whether a person with the same specific condition appears again in a peripheral camera is analyzed in real time by combining the above analysis parameter configurations.
Further, a radio frequency reader-writer is further arranged in the warehousing channel, a radio frequency card (RFID card) is pasted on each article stored in the warehouse, an indicating lamp is arranged on each shelf corresponding to the radio frequency card, the system writes the radio frequency card on the article into article information and shelf and goods number information through the radio frequency reader-writer after the article enters the warehousing channel, the system lights the corresponding indicating lamp after a person inputs required article information to prompt the person to take the article, and the system reads the article information and shelf and goods number information through the radio frequency reader-writer and feeds the article information and shelf and goods number information back to the system after the person returns to the warehousing channel, so that warehousing and ex-warehouse are facilitated.
The invention has the beneficial effects that: the whole warehouse does not need management of warehouse management personnel, warehousing and ex-warehouse can be completed by taking and sending the goods by self, the management of the warehouse is intelligent unattended management, the enterprise management cost is greatly reduced, and a plurality of bad behaviors of manual attendance are reduced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure, 1, warehouse; 2. a warehousing channel; 3. fixing the camera; 4. a shelf; 5. a first gate; 6. a second gate; 7. a human body proximity sensor; 8. a person identification device; 9. get a man-machine conversation touch-sensitive screen.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
example 1
As shown in fig. 1, the unattended intelligent warehouse system comprises a warehouse, a warehouse entry channel and shelves, wherein a plurality of shelves are arranged in the warehouse in parallel, a fixed camera is arranged on the side wall of the warehouse corresponding to each shelf and the shelf or a corridor formed by the shelves and the wall, the warehouse is communicated with the warehouse entry channel, a first gate and a second gate are respectively arranged on the outer side and the inner side of the warehouse entry channel, a human body approach sensor is arranged on the outer side of the first gate, a person approaches the outer side of the first gate, the first gate is automatically opened by the person after the person approaches the sensor, a person identification device is arranged in the warehouse entry channel, the person identification device comprises at least two of a face identification device, an iris identification device, a voice identification device and a fingerprint identification device, at least two of the face identification device, the iris identification device, the voice identification device and the fingerprint identification device correctly identify the person as a preset person, and the identification results are controlled under the condition that the person is the preset and the identification results are The second gate is automatically opened and the first gate is controlled to be closed, a pickup man-machine conversation touch screen is further arranged in the warehousing channel, required articles are input into the system through the pickup man-machine conversation touch screen, the pickup man-machine conversation touch screen feeds back shelves and goods numbers where the articles are located to personnel, the personnel find the required articles according to the shelves and the goods numbers after entering the warehouse, meanwhile, the system automatically records the paths and postures of the personnel after entering the warehouse and the articles obtained by pickup and automatically forms video storage, then the personnel return to the warehousing channel, the system closes the second gate and opens the first gate after the intention of pickup is input through the pickup man-machine conversation touch screen, and the personnel leave with the required articles.
Specifically, the cross-border tracking method includes the following steps:
s101, establishing a data model capable of converting pixel coordinates into world coordinates according to a corresponding spatial data file aiming at each camera participating in tracking, wherein the spatial data file comprises PTZ parameter values, longitude and latitude and a field angle of the corresponding camera;
s102, detecting all human body images in a real-time video image of an initial camera by applying a Yolo object detection technology, and then, after a certain human body image is marked as a tracking target, carrying out following with the camera aiming at the tracking target;
s103, in the following process of the same camera, acquiring pixel coordinates of the tracking target in a video image, and then calculating by applying the mathematical model to obtain world coordinates of the tracking target;
s104, finding a plurality of peripheral cameras located in a certain range nearby by taking the world coordinate of the tracking target as a center;
s105, comparing and screening personnel characteristic values in real-time video images of peripheral cameras according to the tracking targets by applying an intelligent analysis algorithm, and acquiring corresponding tracking target identification results, wherein the intelligent analysis algorithm comprises a face identification algorithm, a posture analysis algorithm, a pedestrian attribute analysis algorithm and/or a pedestrian re-identification algorithm;
and S106, pushing the tracking target recognition results of the peripheral cameras to a front-end interface for output and display.
Specifically, the face recognition algorithm extracts the face characteristic value of the target person through a face recognition technology, and adds the face characteristic value into the comparison parameters of cross-mirror tracking, so that if the face photos of people appear in the captured video images of other peripheral cameras, the tracking target can be quickly and accurately found.
Specifically, the posture analysis algorithm acquires posture characteristics of the head, the shoulder, the palm, the sole, the knee, the waist and the like through recognition of key point parts of the human body, and adds the posture characteristics into a posture recognition task, so that the standing posture, the walking posture and the like of the target person can be judged, namely the characteristics of the postures are used as one of comparison parameters for tracking the target person across lenses.
Specifically, the pedestrian attribute analysis algorithm analyzes and records the current characteristics of the target person, such as clothes color, clothes shape, clothes type, backpack color and backpack size, and uses the characteristics as comparison parameters for tracking the target person across shots.
Specifically, the pedestrian re-identification algorithm is a technology for judging whether a specific pedestrian exists in an image or a video sequence by using a computer vision technology, and whether a person with the same specific condition appears again in a peripheral camera is analyzed in real time by combining the above analysis parameter configurations.
In this embodiment, the pickup man-machine conversation touch screen is a tablet computer or a palm computer. Wherein the first gate, the second gate, the personnel identification device, the pickup man-machine conversation touch screen and the fixed camera are all in signal connection with the computer.
Example 2
The warehouse entry passage is internally provided with a radio frequency reader-writer, each article stored in the warehouse is pasted with a radio frequency card (RFID card), each shelf is provided with an indicator lamp corresponding to the radio frequency card, after the article enters the warehouse entry passage, the system writes the radio frequency card on the article into article information and shelf and goods number information through the radio frequency reader-writer, when the required article information is input by personnel, the system lights the corresponding indicator lamp for prompting the personnel to take the article, and when the personnel takes the article and returns to the warehouse entry passage, the system reads the article information and shelf and goods number information through the radio frequency reader-writer and feeds the article information and shelf and goods number information back to the system, thereby being beneficial to warehouse entry and.
The foregoing embodiments and description have been presented only to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as hereinafter claimed.
Claims (7)
1. Unattended wisdom warehouse system, its characterized in that, it includes the warehouse, warehouse entry passageway and goods shelves, be provided with a plurality of goods shelves in the warehouse parallel, the corridor that corresponds every goods shelves and goods shelves or goods shelves and wall formation on the warehouse lateral wall all is provided with fixed camera, the warehouse intercommunication has the warehouse entry passageway, the warehouse entry passageway outside and inboard are provided with first floodgate machine and second floodgate machine respectively, wherein the first floodgate machine outside is provided with human body and is close the inductor, personnel are close the first floodgate machine outside and after the human body of first floodgate machine is close the inductor perception, first floodgate machine opens for personnel's automation, set up personnel identification device in the warehouse entry passageway, personnel identification device includes two at least of face identification device, iris identification device, voice identification device and fingerprint identification device, two at least kinds of correct recognition in face identification device, iris identification device, voice identification device and the fingerprint identification device are for predetermineeing personnel and the condition that the identification result is the same The system comprises a storage channel, a first gate, a second gate, a plurality of picking man-machine conversation touch screens, a picking man-machine conversation touch screen, a cross-border tracking method, a video recording and automatic video storage, wherein the second gate is controlled to be automatically opened and the first gate is controlled to be closed, the picking man-machine conversation touch screen is further arranged in the storage channel, required articles are input into the system through the picking man-machine conversation touch screen, the picking man-machine conversation touch screen feeds back shelves and goods numbers where the articles are located to personnel, the personnel can find the required articles according to the shelves and the goods numbers after entering the warehouse, meanwhile, the system adopts the cross-border tracking method to automatically record the paths and postures of the personnel after entering the warehouse and the articles obtained by picking the articles and automatically form video storage, then the personnel return to the storage.
2. The unattended intelligent warehouse system of claim 1, wherein: the cross-border tracking method comprises the following steps:
s101, establishing a data model capable of converting pixel coordinates into world coordinates according to a corresponding spatial data file aiming at each camera participating in tracking, wherein the spatial data file comprises PTZ parameter values, longitude and latitude and a field angle of the corresponding camera;
s102, detecting all human body images in a real-time video image of an initial camera by applying a Yolo object detection technology, and then, after a certain human body image is marked as a tracking target, carrying out following with the camera aiming at the tracking target;
s103, in the following process of the same camera, acquiring pixel coordinates of the tracking target in a video image, and then calculating by applying the mathematical model to obtain world coordinates of the tracking target;
s104, finding a plurality of peripheral cameras located in a certain range nearby by taking the world coordinate of the tracking target as a center;
s105, comparing and screening personnel characteristic values in real-time video images of peripheral cameras according to the tracking targets by applying an intelligent analysis algorithm, and acquiring corresponding tracking target identification results, wherein the intelligent analysis algorithm comprises a face identification algorithm, a posture analysis algorithm, a pedestrian attribute analysis algorithm and/or a pedestrian re-identification algorithm;
and S106, pushing the tracking target recognition results of the peripheral cameras to a front-end interface for output and display.
3. The unattended intelligent warehouse system of claim 2, wherein: the face recognition algorithm extracts the face characteristic value of a target person through a face recognition technology, and adds the face characteristic value into comparison parameters of cross-mirror tracking, and if face photos of people appear in captured video images of other peripheral cameras, a tracking target can be quickly and accurately found.
4. The unattended intelligent warehouse system of claim 2, wherein: the posture analysis algorithm is used for acquiring posture characteristics of the head, the shoulders, the palms, the soles, the knees, the waist and the like through recognition of key point parts of a human body and adding the posture characteristics into a posture recognition task, so that the standing posture, the walking posture and the like of a target person can be judged, namely the posture characteristics are used as one of comparison parameters for tracking the target person across lenses.
5. The unattended intelligent warehouse system of claim 2, wherein: the pedestrian attribute analysis algorithm is used for analyzing and recording the current characteristics of the target person, such as clothes color, clothes shape, clothes type, backpack color, backpack size and the like, and taking the characteristics as comparison parameters for tracking the target person across lenses.
6. The unattended intelligent warehouse system of claim 2, wherein: the pedestrian re-identification algorithm is a technology for judging whether specific pedestrians exist in an image or a video sequence by using a computer vision technology, and whether people with the same specific conditions reappear in the peripheral cameras is analyzed in real time by combining the configuration of some analysis parameters.
7. The unattended intelligent warehouse system of claim 1, wherein: the system comprises a warehouse, a warehouse entry channel, a radio frequency reader-writer and a radio frequency card, wherein the warehouse entry channel is internally provided with the radio frequency reader-writer, each article stored in the warehouse is pasted with the radio frequency card, each shelf is provided with an indicator lamp corresponding to the radio frequency card, after the article enters the warehouse entry channel, the system writes the radio frequency card on the article into article information and shelf and goods number information through the radio frequency reader-writer, when the required article information is input by personnel, the system lights the corresponding indicator lamp for prompting the personnel to take the article, and when the personnel takes the article and returns to the warehouse entry channel, the system reads the article information and shelf and goods number information.
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| CN115472026A (en) * | 2021-06-10 | 2022-12-13 | 湖南九九智能环保股份有限公司 | Method and system for commanding vehicle to run by intelligent fluorescent landmark in material shed |
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