CN116834026B - Automatic inventory monitoring method, robot and network system for warehouse bulk material pile - Google Patents

Automatic inventory monitoring method, robot and network system for warehouse bulk material pile Download PDF

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CN116834026B
CN116834026B CN202311126393.6A CN202311126393A CN116834026B CN 116834026 B CN116834026 B CN 116834026B CN 202311126393 A CN202311126393 A CN 202311126393A CN 116834026 B CN116834026 B CN 116834026B
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bulk material
camera
distance
height
bulk
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CN116834026A (en
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伍灼研
谢斌
王壁
周广涛
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Guangzhou Qiaoyi Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
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    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G3/00—Storing bulk material or loose, i.e. disorderly, articles
    • B65G3/04—Storing bulk material or loose, i.e. disorderly, articles in bunkers, hoppers, or like containers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G17/00—Apparatus for or methods of weighing material of special form or property
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects

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Abstract

The invention discloses an automatic inventory monitoring method, a robot and a network system for a warehouse bulk material pile. And measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile. And calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance. Shooting the surface of the bulk material pile to obtain a bulk material image. And determining the unit area according to the resolution of the bulk material image and the camera. And calculating the mass of the bulk materials according to the unit area, the height of the bulk material points and the density of the bulk materials, and adding all the mass of the bulk materials to obtain the total mass of the stock. The method can monitor the stock quality change of the bulk material stack warehouse in real time, and can accurately detect the bulk material quality based on the height of the bulk material point corresponding to each pixel point of the camera, thereby accurately obtaining the change condition of the stock total quality.

Description

Automatic inventory monitoring method, robot and network system for warehouse bulk material pile
Technical Field
The invention relates to the technical field of warehouse monitoring, in particular to an automatic inventory monitoring method, a robot and a network system for a warehouse bulk material pile.
Background
Bulk material stacks in warehouses, such as grain stacks, require frequent inventory checking to account for changes in inventory quality, so that corresponding measures can be taken with less inventory quality or more inventory quality. The existing bulk material stack inventory checking method is mainly divided into two types, wherein the first type is manual monitoring, a warehouse patrol person is arranged every day to arrive at a warehouse, photographing is carried out at a designated position in the warehouse, and the change condition of a bulk material stack is judged by manually comparing the bulk material stack outlines of photos taken at different dates. The second method is to inventory bulk cargo piles based on image processing, for example, CN116002270a discloses extracting the historical shipment quantity of each cargo from the historical logistics record of the warehouse cargo, judging whether the corresponding cargo is in a warehouse shortage state according to the historical shipment quantity, and determining the warehouse area of the cargo in the warehouse shortage state as a target monitoring area. And indicating a camera connected to the Internet of things to acquire panoramic area images of the target monitoring area, and analyzing and processing the panoramic area images to obtain the total quantity of goods stored in the target monitoring area and the packaging state information of the currently stored goods, wherein the total quantity of goods stored in the target monitoring area and the packaging state information are taken as inventory information.
However, the above-mentioned first type bulk material stack inventory checking method has the problems of lower accuracy of manually judging inventory variation and higher manpower resource cost. The second type of bulk material stack inventory checking method has the problems that historical shipment amount of cargoes needs to be extracted, and if the accuracy of the historical shipment amount is low, an incorrect target monitoring area may be selected, so that incorrect inventory information is obtained.
Disclosure of Invention
The invention aims at: the automatic inventory monitoring method, the robot and the network system for the bulk material stacks of the warehouse can solve the problems that the accuracy of manually judging inventory variation is low and the accuracy of historical warehouse-out quantity is low, so that wrong inventory information is obtained in the existing bulk material stack inventory checking method.
To achieve the above object, a first aspect of the present invention provides an automated inventory monitoring method for a warehouse bulk material pile, including:
acquiring a ranging instruction, and measuring a first distance between a monitoring position and the ground according to the ranging instruction;
measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile;
calculating the height of a bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of a point on the surface of the bulk material pile from the ground;
shooting the surface of the bulk material pile to obtain a bulk material image;
determining a unit area according to the bulk material image and the resolution of the camera;
and calculating the mass of the bulk material according to the unit area, the height of the bulk material point and the density of the bulk material, and adding all the mass of the bulk material to obtain the total mass of the stock.
Preferably, the determining a unit area according to the bulk material image and the resolution of the camera includes:
extracting the ground area covered by the camera from the bulk material image;
and taking the ratio of the ground area to the resolution of the camera as a unit area.
Preferably, the calculating the bulk material mass according to the unit area, the bulk material point height and the bulk material density includes:
calculate the first according to the following formulaThe mass of the bulk materials is as follows:
；
wherein,bulk density>For said first distance,/a>Is the +.>The second distance corresponding to the pixel points is +.>Is the +.>The height of the bulk material point corresponding to each pixel point is +.>For the floor area>For the resolution of the camera, +.>For the unit area, ++>Is->And each bulk material mass.
Preferably, before the measuring the first distance between the monitoring position and the ground according to the ranging instruction, the method further includes:
receiving the ranging instruction, and decrypting the ranging instruction to obtain a decryption instruction;
and detecting whether the decryption instruction is positioned at the monitoring position or not according to the decryption instruction, and if not, moving the decryption instruction to the monitoring position along the overhead route.
Preferably, the calculating the height of the bulk material point corresponding to the pixel according to the first distance and the second distance includes:
subtracting the second distance from the first distance to obtain the height of the bulk material point; the monitoring position is the position of the camera.
Preferably, said adding all the bulk material masses to obtain an inventory total mass includes:
the total mass of inventory is calculated according to the following formula:
；
wherein,for the total mass of the inventory->Is->The bulk material mass,/->Is the total mass of the bulk material.
Preferably, after adding all the bulk material masses to obtain the total stock mass, the method further comprises:
encrypting the stock total mass to obtain an encrypted total mass;
the encrypted total mass is sent to a control server.
The second aspect of the invention provides a robot, which is applied to the automatic stock monitoring method of any warehouse bulk material pile, and comprises the following steps:
the camera is used for measuring a first distance between a monitoring position and the ground according to the distance measurement instruction, and shooting the surface of the bulk material pile to obtain a bulk material image;
the first end of the mechanical arm is provided with the camera, and the mechanical arm is used for adjusting the height of the camera;
the calculating module is connected with the camera and is used for measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile; calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance; determining a unit area according to the resolution ratio of the bulk material image and the camera, calculating bulk material mass according to the unit area, the bulk material point height and the bulk material density, and adding all the bulk material mass to obtain stock total mass;
the control module is connected with the mechanical arm and is used for acquiring a ranging instruction; the control module is used for controlling the degree of freedom of the mechanical arm.
Preferably, the travelling wheel is connected with the control module, and is used for receiving a control signal of the control module and moving to the monitoring position along the overhead route according to the control signal;
the power supply module is electrically connected with the camera, the calculation module and the control module, and is used for supplying power to the camera, the calculation module and the control module.
A third aspect of the present invention provides a network system, applied to the robot, the network system including:
the control server is used for sending the encrypted ranging instruction;
the front-end warehouse server is connected with the control server through a public network and is used for receiving the ranging instruction and decrypting the ranging instruction to obtain a decryption instruction; and sending the decryption instruction to the control module, and sending the inventory total quality fed back by the calculation module to the control server.
The invention relates to an automatic inventory monitoring method of a warehouse bulk material pile, which comprises the steps of obtaining a ranging instruction and measuring a first distance between a monitoring position and the ground according to the ranging instruction. And measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile. The monitoring position is the position of camera, can set up a plurality of cameras in the warehouse, measures the first distance of the monitoring position that every camera corresponds and ground. Each pixel point of the camera corresponds to one point on the surface of the bulk material pile, and the heights of different points on the surface of the bulk material pile from the ground are different. And calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of the point on the surface of the bulk material pile from the ground. Shooting the surface of the bulk material pile to obtain a bulk material image. The total area of the bulk material pile can be analyzed from the bulk material image, and the resolution of the camera is combined to determine the unit area. And calculating the mass of the bulk materials according to the unit area, the height of the bulk material points and the density of the bulk materials, and adding all the mass of the bulk materials to obtain the total mass of the stock. The method can monitor the stock quality change of the bulk material stack warehouse in real time, and can accurately detect the bulk material quality based on the height of the bulk material point corresponding to each pixel point of the camera, thereby accurately obtaining the change condition of the stock total quality.
Drawings
FIG. 1 is a flow chart of an automated inventory monitoring method for a warehouse bulk pile according to an embodiment of the present invention;
FIG. 2 is a flow chart of an automated inventory monitoring method for warehouse bulk stacks in accordance with a second embodiment of the present invention;
fig. 3 is a first structural diagram of a robot according to a third embodiment of the present invention;
fig. 4 is a second structural diagram of a robot according to a third embodiment of the present invention;
fig. 5 is a block diagram of a network system according to a fourth embodiment of the present invention;
fig. 6 is a scene diagram of detecting bulk material quality for implementing an embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any module and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example 1
Fig. 1 is a flow chart of an automated inventory monitoring method for a warehouse bulk pile according to an embodiment of the present invention, and referring to fig. 1, the automated inventory monitoring method for a warehouse bulk pile includes the following steps S10-S15:
s10: and acquiring a ranging instruction, and measuring a first distance between a monitoring position and the ground according to the ranging instruction.
The network in the warehouse sends the ranging instruction to the control module of the robot, and the control module of the robot receives the ranging instruction which is decoded.
The first distance is the height of the monitoring position from the ground, one monitoring position or a plurality of monitoring positions in the warehouse can be provided, and each monitoring position is provided with a camera. The larger the height of the camera from the ground, namely the larger the first distance, the larger the area of the scattered material pile shot by the camera.
S11: and measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile.
The camera may be a fisheye camera or a wide angle camera, which is not limited herein. The camera is a convex curved surface, the heights of different pixel points of the camera from the ground are different, and each pixel point of the camera is located on a different ranging plane.
The bulk material pile of the embodiment of the invention can be a grain pile or a material pile, and is not limited herein, and the grain pile is taken as an example in the embodiment of the invention.
Specifically, after one pixel point is selected, measuring the distance from the ranging plane of the pixel point to one point of the bulk material pile right below the pixel point to obtain a second distance.
S12: and calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of the point on the surface of the bulk material pile from the ground.
The first distance is the height of the camera from the ground, the second distance is the distance between the pixel point of the camera and the surface of the bulk material pile, and the difference between the first distance and the second distance is used as the height of the bulk material point.
S13: and shooting the surface of the bulk material pile to obtain a bulk material image.
After the bulk material image is obtained through shooting, the bulk material pile area can be identified from the bulk material image through an image connected domain analysis method or other methods. The larger the first distance is, the larger the area of the bulk material pile in the bulk material pile image shot by the camera is.
S14: and determining a unit area according to the bulk material image and the resolution of the camera.
The bulk material image comprises bulk material pile area, the resolution of the camera is the total number of pixel points of the camera, and the unit area is the area shot by one pixel point of the camera.
S15: and calculating the mass of the bulk material according to the unit area, the height of the bulk material point and the density of the bulk material, and adding all the mass of the bulk material to obtain the total mass of the stock.
The product of the unit area and the height of the bulk material point is the unit volume, the product of the unit volume and the bulk material density is the bulk material mass, and all the bulk material masses are added to obtain the corresponding stock total mass at one monitoring position.
When a worker transports the material pile in the warehouse outwards or stacks the materials outside the warehouse on the existing material pile, the height of the material pile can be changed, and the height of the bulk material point corresponding to each pixel point is detected through the steps S10-S15, so that the total inventory quality is accurately calculated, and the change condition of the bulk material pile in the warehouse is reflected.
The automatic inventory monitoring method of the warehouse bulk material pile comprises the steps of obtaining a ranging instruction and measuring a first distance between a monitoring position and the ground according to the ranging instruction. And measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile. The monitoring position is the position of camera, can set up a plurality of cameras in the warehouse, measures the first distance of the monitoring position that every camera corresponds and ground. Each pixel point of the camera corresponds to one point on the surface of the bulk material pile, and the heights of different points on the surface of the bulk material pile from the ground are different. And calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of the point on the surface of the bulk material pile from the ground. Shooting the surface of the bulk material pile to obtain a bulk material image. The total area of the bulk material pile can be analyzed from the bulk material image, and the resolution of the camera is combined to determine the unit area. And calculating the mass of the bulk materials according to the unit area, the height of the bulk material points and the density of the bulk materials, and adding all the mass of the bulk materials to obtain the total mass of the stock. The method can monitor the stock quality change of the bulk material stack warehouse in real time, and can accurately detect the bulk material quality based on the height of the bulk material point corresponding to each pixel point of the camera, thereby accurately obtaining the change condition of the stock total quality.
Example two
Fig. 2 is a flow chart of an automated inventory monitoring method for a warehouse bulk pile according to a second embodiment of the present invention, and referring to fig. 2, the automated inventory monitoring method for a warehouse bulk pile includes the following steps S20-S30:
s20: and receiving the ranging instruction, and decrypting the ranging instruction to obtain a decryption instruction.
If the ranging instruction is encrypted by adopting an asymmetric encryption method, decrypting the ranging instruction by adopting an asymmetric decryption method corresponding to the asymmetric encryption method after receiving the ranging instruction; and if the ranging instruction is encrypted by adopting a symmetric encryption method, decrypting the ranging instruction by adopting a symmetric decryption method corresponding to the symmetric encryption method after receiving the ranging instruction. The asymmetric encryption method includes an RSA encryption method and a digital signature encryption method, and the symmetric encryption method includes a DES encryption method and an advanced encryption standard method.
S21: and detecting whether the decryption instruction is positioned at the monitoring position or not according to the decryption instruction, and if not, moving the decryption instruction to the monitoring position along the overhead route.
The overhead line is a guide rail arranged above the bulk material pile, and the robot moves along the overhead line according to the decryption instruction until the robot reaches a monitoring position.
S22: and measuring a first distance between the monitoring position and the ground according to the distance measurement instruction.
And measuring a first distance between the monitoring position and the ground after detecting that the monitoring position is located at the monitoring position or detecting that the monitoring position is not located at the monitoring position and then moving along the overhead line to the monitoring position according to the decryption instruction.
The first distance is the height of the monitoring position from the ground, one monitoring position or a plurality of monitoring positions in the warehouse can be provided, and each monitoring position is provided with a camera. The larger the height of the camera from the ground, namely the larger the first distance, the larger the area of the scattered material pile shot by the camera.
S23: and measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile.
The bulk material pile of the embodiment of the invention can be a grain pile or a material pile, and is not limited herein, and the grain pile is taken as an example in the embodiment of the invention.
Specifically, after one pixel point is selected, measuring the distance from the ranging plane of the pixel point to one point of the bulk material pile right below the pixel point to obtain a second distance.
S24: and calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of the point on the surface of the bulk material pile from the ground.
The first distance is the height of the camera from the ground, the second distance is the distance between the pixel point of the camera and the surface of the bulk material pile, and the difference between the first distance and the second distance is used as the height of the bulk material point.
S25: and shooting the surface of the bulk material pile to obtain a bulk material image.
After the bulk material image is obtained through shooting, the bulk material pile area can be identified from the bulk material image through an image connected domain analysis method or other methods. The larger the first distance is, the larger the area of the bulk material pile in the bulk material pile image shot by the camera is.
S26: and extracting the ground area covered by the camera from the bulk material image.
The area of the whole bulk cargo image is the ground area covered by the camera, and the larger the height of the camera from the ground is, the larger the ground area covered by the camera is.
S27: and taking the ratio of the ground area to the resolution of the camera as a unit area.
The ground area is expressed asThe resolution of the camera is denoted +.>The unit area is expressed as +.>。
S28: and calculating the mass of the bulk material according to the unit area, the height of the bulk material point and the density of the bulk material, and adding all the mass of the bulk material to obtain the total mass of the stock.
Calculate the first according to the following formulaThe mass of the bulk materials is as follows:
；
wherein,bulk density>For a first distance, +>Is the first part of the camera>The second distance corresponding to each pixel point,>is the first part of the camera>The height of the bulk material point corresponding to each pixel point is +.>Is ground area (L)>For the resolution of the camera +.>Is of unit area->Is->And the mass of the bulk material.
After the bulk mass is calculated, the total mass of the inventory is calculated according to the following formula:
；
wherein,for the total mass of the inventory->Is->The bulk material mass,/->Is the total mass of the bulk material.
S29: encrypting the stock total quality to obtain the encrypted total quality.
The inventory total quality may be encrypted using an asymmetric encryption method or may be encrypted using a symmetric encryption method. The method of encrypting the stock total quality may be the same as or different from the method of encrypting the ranging instruction, and is not limited herein.
S30: the encrypted total mass is sent to a control server.
The front warehouse server sends the encrypted total quality corresponding to the monitoring position to the control server, and the control server stores the encrypted total quality.
As described above, the ground area covered by the camera is extracted from the bulk material image, the ratio of the ground area to the resolution of the camera is set as a unit area, and the unit area, the height of the bulk material point and the bulk material density are multiplied to obtain the bulk material quality. According to the method, the bulk material quality can be automatically calculated, the shape of up-and-down fluctuation of the bulk material pile can be better adapted based on different heights of the bulk material points corresponding to different pixel points, and the detected inventory total quality has higher accuracy.
Example III
Fig. 3 is a first structural diagram of a robot according to a third embodiment of the present invention, the robot being applied to the automated inventory monitoring method of the warehouse bulk material pile, and referring to fig. 3, the robot includes:
the camera 100 is configured to measure a first distance between a monitoring position and the ground according to the ranging instruction, and photograph the surface of the bulk material pile to obtain a bulk material image.
The first end of the mechanical arm 200 is provided with the camera, and the mechanical arm 200 is used for adjusting the height of the camera 100.
The robot arm 200 includes a rotational joint having a degree of freedom of 1, so that the robot arm 200 can adjust the height of the camera 100 according to the bulk head height.
The mechanical arm 200 extends out of the control box of the robot, and a camera 100 is arranged at one end of the mechanical arm 200 away from the control box of the robot.
The calculating module 300 is connected with the camera 100, and the calculating module 300 is used for measuring a second distance between a ranging plane corresponding to each pixel point of the camera 100 and the surface of the bulk material pile; calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance; and determining a unit area according to the bulk material image and the resolution of the camera 100, calculating bulk material mass according to the unit area, the bulk material point height and the bulk material density, and adding all the bulk material mass to obtain the stock total mass.
The calculating module 300 is disposed in the robot control box, and the calculating module 300 is configured to receive the bulk material image and the first distance captured by the camera 100, and calculate the total inventory quality according to the bulk material image and the first distance. After calculating the total inventory quality, the total inventory quality is sent to a pre-warehouse server.
The control module 400 is connected with the mechanical arm 200, and the control module 400 is used for acquiring a ranging instruction; the control module 400 is configured to control the degree of freedom of the robotic arm 200.
The control module 400 is disposed in a control box of the robot, and the control module 400 includes two stepper motors, a first stepper motor for controlling the degree of freedom of the mechanical arm 200. The second stepper motor is used for controlling the robot to move along the overhead line.
Further, the robot further includes:
the travelling wheel 500, the travelling wheel 500 with control module 400 is connected, the travelling wheel 500 is used for receiving control signal of control module 400, according to control signal moves to along the overhead line the monitoring position, overhead line can select for use high strength wire rods commonly used in electric power industry such as steel-cored aluminum stranded conductor.
Specifically, the second stepper motor of the control module 400 controls the road wheels 500 to control the robot to move along the overhead route to the monitoring position.
The power supply module 600, the power supply module 600 is electrically connected with the camera 100, the computing module 300 and the control module 400, and the power supply module 600 is used for supplying power to the camera 100, the computing module 300 and the control module 400.
The power supply module 600 is disposed in the robot, and supplies direct current or alternating current to the camera 100, the calculation module 300, and the control module 400.
Fig. 4 is a second structural diagram of a robot according to a third embodiment of the present invention, and referring to fig. 4, a traveling wheel 500 of the robot is connected to an overhead line, and a camera 100 of the robot photographs a bulk material pile on the ground of a warehouse.
The robot of the third embodiment is applied to the automatic inventory monitoring method of the warehouse bulk material pile provided by the first embodiment or the second embodiment, and the technical effect corresponding to the method can be achieved.
Example IV
A fourth embodiment of the present invention provides a network system, and fig. 5 is a block diagram of a network system according to the fourth embodiment of the present invention, where the network system is applied to the robot, and referring to fig. 5, the network system includes:
the control server is used for sending the encrypted ranging instruction;
the front-end warehouse server is connected with the control server through a public network and is used for receiving the ranging instruction and decrypting the ranging instruction to obtain a decryption instruction; and sending the decryption instruction to the control module, and sending the inventory total quality fed back by the calculation module to the control server.
The control server sends the encrypted ranging instruction to the front-end warehouse server through the public network, and the front-end warehouse server decrypts the encrypted ranging instruction after receiving the encrypted ranging instruction to obtain the ranging instruction. The pre-warehouse server transmits the ranging instruction to the control module 400 of the robot through the warehouse internal network.
The calculation module 300 of the robot feeds back the calculated total inventory quality to the pre-warehouse server, and the pre-warehouse server encrypts the total inventory quality to obtain the encrypted total inventory quality, and then sends the encrypted total inventory quality to the control server.
Fig. 6 is a view of a scene of detecting bulk material quality according to an embodiment of the present invention, and referring to fig. 6, a robot monitors bulk material piles on the warehouse floor after reaching a monitoring position on an overhead line.
The network system provided in the fourth embodiment may send the encrypted ranging instruction to the robot provided in the third embodiment, and receive the inventory total quality fed back by the robot.
It should also be noted that in this document relational terms such as first and second are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one.," does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (9)

1. An automated inventory monitoring method for a warehouse bulk material pile, comprising:
acquiring a ranging instruction, and measuring a first distance between a monitoring position and the ground according to the ranging instruction; the first distance is the height of the monitoring positions from the ground, one or more monitoring positions are provided, and a camera is arranged at each monitoring position; before the first distance between the monitoring position and the ground is measured according to the distance measurement instruction, the method further comprises:
receiving the ranging instruction, and decrypting the ranging instruction to obtain a decryption instruction;
detecting whether the decryption instruction is positioned at the monitoring position or not according to the decryption instruction, and if not, moving the decryption instruction to the monitoring position along the overhead route;
measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile;
calculating the height of a bulk material point corresponding to each pixel point according to the first distance and the second distance, wherein the height of the bulk material point is the height of a point on the surface of the bulk material pile from the ground;
shooting the surface of the bulk material pile to obtain a bulk material image; identifying the bulk material pile area from the bulk material image by an image connected domain analysis method;
determining a unit area according to the bulk material image and the resolution of the camera; the unit area is the area shot by one pixel point of the camera;
and calculating the mass of the bulk material according to the unit area, the height of the bulk material point and the density of the bulk material, and adding all the mass of the bulk material to obtain the total mass of the stock.
2. The automated inventory monitoring method of warehouse bulk material piles according to claim 1, wherein the determining a unit area from the bulk material images and the resolution of the cameras comprises:
extracting the ground area covered by the camera from the bulk material image;
and taking the ratio of the ground area to the resolution of the camera as a unit area.
3. The automated inventory monitoring method of warehouse bulk material piles of claim 2, wherein the calculating bulk material mass from the unit area, the bulk material point height and bulk material density comprises:
the i-th bulk mass is calculated according to the following formula:
；
wherein p is the bulk density,for said first distance,/a>For the purpose of image pick-upThe second distance corresponding to the ith pixel point of the head, +.>For the height of the bulk material point corresponding to the ith pixel point of the camera, < >>For the floor area>For the resolution of the camera, +.>For the unit area, ++>And (5) the i-th bulk material mass.
4. The automated inventory monitoring method of warehouse bulk material piles of claim 1, wherein the calculating the pixel-wise bulk material point height from the first distance and the second distance comprises:
subtracting the second distance from the first distance to obtain the height of the bulk material point; the monitoring position is the position of the camera.
5. An automated inventory monitoring method for warehouse bulk stacks as claimed in claim 3, in which said summing all of said bulk masses to a total inventory mass comprises:
the total mass of inventory is calculated according to the following formula:
；
wherein,for the libraryStore total mass (I)>For the ith bulk material mass, < > and>is the total mass of the bulk material.
6. The automated inventory monitoring method of warehouse bulk stacks of claim 1, further comprising, after summing all of the bulk masses to obtain a total inventory mass:
encrypting the stock total mass to obtain an encrypted total mass;
the encrypted total mass is sent to a control server.
7. A robot for use in the automated inventory monitoring method of a warehouse bulk pile of any one of claims 1-6, the robot comprising:
the camera is used for measuring a first distance between a monitoring position and the ground according to the distance measurement instruction, and shooting the surface of the bulk material pile to obtain a bulk material image;
the first end of the mechanical arm is provided with the camera, and the mechanical arm is used for adjusting the height of the camera;
the calculating module is connected with the camera and is used for measuring a second distance between a ranging plane corresponding to each pixel point of the camera and the surface of the bulk material pile; calculating the height of the bulk material point corresponding to each pixel point according to the first distance and the second distance; determining a unit area according to the resolution ratio of the bulk material image and the camera, calculating bulk material mass according to the unit area, the bulk material point height and the bulk material density, and adding all the bulk material mass to obtain stock total mass;
the control module is connected with the mechanical arm and is used for acquiring a ranging instruction; the control module is used for controlling the degree of freedom of the mechanical arm.
8. The robot of claim 7, further comprising:
the travelling wheel is connected with the control module and is used for receiving a control signal of the control module and moving to the monitoring position along the overhead route according to the control signal;
the power supply module is electrically connected with the camera, the calculation module and the control module, and is used for supplying power to the camera, the calculation module and the control module.
9. A network system, applied to the robot of claim 7, comprising:
the control server is used for sending the encrypted ranging instruction;
the front-end warehouse server is connected with the control server through a public network and is used for receiving the ranging instruction and decrypting the ranging instruction to obtain a decryption instruction; and sending the decryption instruction to the control module, and sending the inventory total quality fed back by the calculation module to the control server.
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