Pallet article packaging information image acquisition device and method in goods shelf

Abstract

The invention relates to the technical field of warehouse management, in particular to a device and method for collecting tray article packaging information images in a goods shelf. The device comprises an AGV, and the AGV is provided with an automatic navigation module, a driving module (7), a positioning module, an automatic tray taking and placing module (8), an image acquisition module and a control module. The image acquisition module is used for acquiring two-dimensional and three-dimensional information data of goods on the tray in multiple directions and sending the obtained information data to the control module for processing; the AGV integrates the functions of automatic navigation, positioning, tray taking and placing and image collecting, manual operation is reduced, and the automation level is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse management, and in particular to a device and method for collecting image information of pallet items in a shelf. Background Art

[0002] In modern logistics and warehousing management, the application of automation and intelligent technologies is becoming more and more widespread. Especially in large warehouses and distribution centers, how to quickly and accurately conduct inventory counting and cargo information management is the key to improving logistics efficiency and reducing costs. Traditional inventory management relies on manual work, and staff need to manually record the type, quantity and location of items on the pallet, which is not only inefficient but also prone to errors. With the acceleration of cargo circulation and the increase in SKUs, the traditional manual inventory counting method can no longer meet the needs of modern logistics.

[0003] In order to improve the level of automation in warehouse management, some automated equipment such as AGV has begun to be used in the handling and transportation of goods. AGV can automatically transport goods from one location to another through a preset path or navigation system, reducing the need for manual handling. However, the application of AGV is usually limited to the transportation of goods, and manual intervention is still required for the collection and processing of cargo information. Especially in the field of intelligent pallet storage, how to combine AGV with cargo information collection technology to realize the automatic collection of item information on the pallet is a problem that needs to be solved urgently in the current field of logistics automation. Therefore, in response to the above problems, this application proposes a device and method for collecting image information of pallet items in a shelf based on an AGV platform. Summary of the invention

[0004] The object of the present invention is to provide a device and method for collecting image information of pallet items in a shelf, so as to solve the problems of low efficiency, poor accuracy and low automation of pallet cargo information collection in the prior art.

[0005] To achieve the above purpose, the following technical solution is adopted.

[0006] A device for collecting image information of pallet items in a shelf, comprising:

[0007] AGV vehicle, the AGV vehicle is provided with an automatic navigation module, a driving module, a positioning module, an automatic pallet picking and placing module, an image acquisition module and a control module;

[0008] The automatic navigation module is used to automatically plan a path for the AGV vehicle and send the planned path to the control module for navigation;

[0009] The positioning module is used to determine the position of the tray whose information is to be collected, and send the determined position of the tray to the control module;

[0010] The driving module is used to receive the control signal of the control module and drive the AGV vehicle to move to the position of the pallet according to the planned path;

[0011] The automatic pallet pick-up and placement module is used to receive the control signal of the control module, take down the pallet to be collected information, and put the pallet after the information has been collected back to the shelf;

[0012] The image acquisition module is used to collect two-dimensional and three-dimensional information data of the goods on the pallet from multiple directions, and send the obtained information data to the control module for processing;

[0013] The control module is electrically connected to the automatic navigation module, the positioning module, the tray automatic pick-up and placement module and the image acquisition module.

[0014] Optionally, the image acquisition module includes a front image acquisition module, a top image acquisition module and a side image acquisition module;

[0015] The front image acquisition module is arranged in front of the AGV vehicle, and is used to acquire image information or environmental information in front of the pallet;

[0016] The top surface image acquisition module is arranged above the AGV vehicle and is used to collect image information or environmental information of the top surface of the pallet;

[0017] The side image acquisition module is configured on the AGV vehicle and is used to acquire image information of the side of the pallet;

[0018] Optionally, the front image acquisition module, the top image acquisition module and the side image acquisition module are all provided with a 2D image sensor, a 3D image sensor and a light source, the 2D image sensor is used for acquiring text or barcode information; the 3D image sensor is used for acquiring spatial arrangement information of goods on a pallet and providing analytical data for the control module to calculate the volume and quantity of goods; the light source is used for providing illumination for the 2D image sensor and the 3D image sensor.

[0019] Optionally, there are two groups of side image acquisition modules respectively arranged on both sides of the AGV vehicle, each group of the side image acquisition modules respectively includes a telescopic arm, a swivel arm and an information acquisition box, the first end of the telescopic arm is connected to the side of the AGV vehicle, the second end of the telescopic arm is rotatably connected to the first end of the swivel arm, the second end of the swivel arm is connected to the information acquisition box, the information acquisition box is used to collect image information of the side of the pallet, when the swivel arm is in use, it is parallel to or at an acute angle to the horizontal plane, when the swivel arm is not in use, the swivel arm is vertically arranged, and the telescopic arm is retracted to the position closest to the AGV vehicle.

[0020] Optionally, the top surface image acquisition module includes a vertical telescopic part, a transverse telescopic part and an information acquisition part, the first end of the vertical telescopic part is connected to the middle top surface of the AGV vehicle, the second end of the vertical telescopic part is connected to the first end of the transverse telescopic part, and the second end of the transverse telescopic part faces the direction of the pallet and is connected to the information acquisition part. When the top surface image acquisition module is in use, the vertical telescopic part drives the transverse telescopic part to move up and down to a position where the information acquisition part can capture a clear image of the goods on the pallet, and the transverse telescopic part drives the information acquisition part to move laterally to directly above the goods on the pallet; when the top surface image acquisition module is not in use, the transverse telescopic part and the vertical telescopic part drive the information acquisition part to shrink to the position closest to the AGV vehicle.

[0021] Optionally, the side image acquisition module is rotatably arranged at the second end of the transverse telescopic part, and the side image acquisition module includes a first telescopic arm, a second telescopic arm and a side information acquisition part. The first end of the first telescopic arm is horizontally rotatably arranged at the second end of the transverse telescopic part through a power module, the second end of the first telescopic arm is connected to the first end of the second telescopic arm, and the second end of the second telescopic arm is connected to the side information acquisition part. When the side image acquisition module is in use, the first telescopic arm drives the second telescopic arm to move laterally, and the second telescopic arm drives the side information acquisition part to move vertically until the side information acquisition part can capture a clear side image of the goods on the pallet, and the power module, the first telescopic arm and the second telescopic arm cooperate to drive the side information acquisition part to collect goods around the pallet; when the side image acquisition module is not in use, the side image acquisition module is driven by the first telescopic arm and the second telescopic arm to shrink to a position close to the second end of the transverse telescopic part.

[0022] A method for collecting image information of pallet items in a shelf, comprising the following steps:

[0023] The automatic navigation module automatically plans the path for the AGV to reach the information tray to be collected, and sends the planned path information to the control module;

[0024] The location of the tray to be collected is determined by the positioning module, and the determined location information of the tray is sent to the control module;

[0025] The control module receives the path planning information and the position information of the pallet, and sends the control instructions to the drive module;

[0026] The drive module drives the AGV to move to the location of the pallet along the planned path according to the control instructions of the control module;

[0027] The control module sends a control signal to the automatic pallet pick-up and placement module, and the automatic pallet pick-up and placement module takes the pallet whose information is to be collected from the shelf according to the control signal;

[0028] The image acquisition module collects two-dimensional and three-dimensional information data of the goods on the pallet, including two-dimensional and three-dimensional image information of the front, top and sides of the pallet, and sends the collected information data to the control module;

[0029] The control module receives the information data sent by the image acquisition module in real time, adjusts the acquisition position of the image acquisition module according to the information data, processes the acquired information data, and extracts the text, barcode and spatial position information of the goods;

[0030] Enter the processed goods information data into the warehouse management system for inventory management and approval of inbound and outbound data;

[0031] After the information collection is completed, the control module sends a control signal to the pallet automatic pick-up and placement module, and the pallet automatic pick-up and placement module puts the pallet back to the original shelf position according to the control signal;

[0032] The AGV repeats the above steps according to the instructions of the control module to collect images of the next pallet to be collected.

[0033] Optionally, the method further includes the following steps: the automatic navigation module performs path planning according to a preset warehouse drawing, the location of the pallet whose information is to be collected, and the environmental information collected in real time by the image acquisition module;

[0034] The positioning module positions the pallet according to the environmental information collected by the front image acquisition module and the top surface image acquisition module.

[0035] Optionally, the step of collecting two-dimensional and three-dimensional information data of the goods on the pallet by the image acquisition module specifically includes:

[0036] The control module sends an information acquisition signal through the image acquisition module to activate the front image acquisition module, the top image acquisition module and the side image acquisition module;

[0037] The front image acquisition module receives the information acquisition signal and starts the 2D and 3D image sensors and light sources; the 2D image sensor acquires the text or barcode information in front of the goods on the pallet; the 3D image sensor acquires the spatial layout information of the goods; and sends the acquired image information to the control module;

[0038] The top surface image acquisition module receives the information acquisition signal, starts the 2D and 3D image sensors and light sources, and acquires image information on the top of the tray; and sends the acquired image information to the control module;

[0039] The side image acquisition module receives the information acquisition signal, and the telescopic arms on both sides of the AGV extend away from the AGV, controlling the rotating arm to rotate from a vertical state to a horizontal state. The side image information of the goods on the pallet is collected through the information collection box on the rotating arm, and the collected information is sent to the control module;

[0040] The control module receives the image information collected by the front image collection module, the top image collection module and the side image collection module.

[0041] Optionally, the image acquisition module is used to collect two-dimensional and three-dimensional information data of the goods on the pallet, including two-dimensional and three-dimensional image information of the front, top and side of the pallet, and the collected information data is sent to the control module; the control module receives the information data sent by the image acquisition module in real time, and adjusts the acquisition position of the image acquisition module according to the information data, specifically including:

[0042] The control module sends an information acquisition signal through the image acquisition module to activate the front image acquisition module, the top image acquisition module and the side image acquisition module;

[0043] The front image acquisition module receives the information acquisition signal, starts the 2D and 3D image sensors and light sources, the 2D image sensor acquires the text or barcode information in front of the goods on the pallet, and the 3D image sensor acquires the spatial layout information of the goods, and sends the acquired image information to the control module;

[0044] The top surface image acquisition module receives the information acquisition signal, drives the horizontal expansion part through the vertical expansion part, moves up and down to the position where the information acquisition part can collect a clear image of the goods on the pallet, and the horizontal expansion part drives the information acquisition part to move horizontally to just above the goods on the pallet, starts the 2D and 3D image sensors and light sources provided in the information acquisition part, collects image information on the top of the pallet, and sends the collected image information to the control module;

[0045] The side image acquisition module receives the information acquisition signal, the first telescopic arm drives the second telescopic arm to move horizontally, and the second telescopic arm drives the side information acquisition unit to move vertically until the side information acquisition unit can acquire a clear side image of the goods on the pallet. The power module, the first telescopic arm and the second telescopic arm cooperate to drive the side information acquisition unit to collect goods around the pallet, start the 2D and 3D image sensors and light sources provided in the side information acquisition unit, collect image information of the side of the pallet, and send the collected image information to the control module;

[0046] When the image information collected by the front image collection module, the top image collection module or the side image collection module is unclear, the control module dynamically adjusts the side image collection module, moves the side information collection part to the unclear position for re-collection, and sends the collected image information to the control module.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] The AGV of the present invention integrates automatic navigation, positioning, pallet placement and image acquisition functions, reduces manual operations and improves the level of automation. Multiple functional modules are integrated into the AGV, so that a single device can complete complex cargo information collection tasks. With strong flexibility and adaptability, the AGV can flexibly move and perform tasks in the warehouse according to actual needs.

[0049] Through the front, top and side image acquisition modules, all-round image information acquisition of pallet cargo is realized. It can acquire image information of the front, top and sides of the pallet, providing rich raw data for subsequent data analysis and processing.

[0050] 2D image sensors are used to collect text or barcode information, and 3D image sensors are used to obtain the spatial layout information of goods, which improves the accuracy of information. The equipped light source provides good lighting conditions for 2D and 3D image sensors, ensuring the clarity of image acquisition.

[0051] The telescopic arm and rotating arm design of the side image acquisition module allows the device to be close to the AGV when not in use, saving space. The rotating arm can be rotated to a horizontal state to adapt to pallets of different heights, improving operational flexibility.

[0052] The vertical and horizontal telescopic parts of the top surface image acquisition module can be precisely adjusted to ensure the clarity of image acquisition. The modular design allows the top surface image acquisition module to be extended and retracted according to actual needs to adapt to pallets of different heights. The power module and telescopic arm design of the side image acquisition module enable the device to quickly adjust to the appropriate acquisition position, improving the acquisition efficiency. It can perform 360-degree acquisition around the goods on the pallet, ensuring the comprehensiveness of the side image information. The entire image acquisition process is automatically controlled by the control module, realizing full automation from path planning to image acquisition to data processing. The control module can adjust the position of the image acquisition module in real time according to the acquired image information to ensure image quality.

[0053] The automatic navigation module can plan the path according to the preset warehouse drawings and the real-time collected environmental information, which improves the intelligent level of path planning. The positioning module uses environmental information to locate the pallet, which improves the accuracy of positioning.

[0054] The control module can control the image acquisition module in real time to collect information, which improves the real-time nature of the acquisition. When the collected image information is unclear, the control module can dynamically adjust the image acquisition module to re-acquire the information, ensuring the image quality. Through the precise control of the vertical telescopic part and the horizontal telescopic part, the image of the top of the pallet is accurately collected. Through the cooperation of the first telescopic arm and the second telescopic arm, the image of the side of the pallet is fully collected.

[0055] The present invention improves the automation, accuracy and efficiency of pallet cargo information collection, and meets the needs of modern logistics for efficient and intelligent warehousing management. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 The three-dimensional structure diagram of an embodiment of a device for collecting image information of pallet items on a shelf according to the present invention.

[0057] Figure 2 The figure is a side structural schematic diagram of an embodiment of a device for collecting packaging information images of pallet items in a shelf according to the present invention.

[0058] Figure 3 The present invention is a flowchart of an embodiment of a method for collecting image packaging information of items on a pallet in a shelf.

[0059] Among them: 1-AGV vehicle; 2-tray; 3-front image acquisition module; 4-top image acquisition module; 5-side image acquisition module; 51-telescopic arm; 52-rotating arm; 53-information acquisition box; 6-control module; 7-drive module; 8-tray automatic pick-up and placement module. DETAILED DESCRIPTION

[0060] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0061] The following detailed description is an exemplary description, which is intended to provide further detailed description of the present invention. Unless otherwise specified, all technical terms used in the present invention have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used in the present invention are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention.

[0062] Example 1

[0063] like Figure 1 and Figure 2 As shown, in this embodiment, a device for collecting image information of pallet items in a shelf is provided, and the device includes the following components:

[0064] AGV 1: AGV 1 is the mobile platform of the device, which can move freely in the warehouse. AGV 1 has a certain load capacity and can carry pallet 2 and related collection equipment.

[0065] Automatic navigation module: The automatic navigation module includes various sensors, such as laser radar, camera, infrared sensor, etc., and the corresponding computing unit. This module is responsible for sensing the environment around the AGV 1, and based on the preset warehouse layout and real-time sensing information, using algorithms such as SLAMSimultaneous Localization and Mapping, automatically plans the optimal path from the current position to the position of the target pallet 2, and makes real-time adjustments to avoid obstacles.

[0066] Driving module 7: Driving module 7 includes a motor and wheels, and a driver for controlling the operation of the motor. The motor drives the AGV vehicle 1 to travel along the path planned by the navigation module according to the instructions of the control module 6.

[0067] Positioning module: The positioning module uses, for example, RFID Radio Frequency Identification or machine vision technology to identify the mark on the pallet 2 and determine the precise position of the pallet 2.

[0068] Automatic pallet picking and placing module 8: This module includes a group of robotic arms and actuators, which can automatically take out the pallet 2 to be collected from the shelf according to the instructions of the control module 6, and put the pallet 2 back to its original position or designated position after completing the information collection.

[0069] Image acquisition module: The image acquisition module includes multiple submodules, each of which is responsible for acquiring image information of the tray 2 in different directions. Specifically, it includes:

[0070] Front image acquisition device: It is arranged in front of the AGV vehicle 1, and usually includes a downward-tilted 2D image sensor and a 3D depth sensor, as well as corresponding fill light sources.

[0071] Top surface image acquisition device: installed on the top of the AGV vehicle 1, including one or more 2D image sensors and one 3D image sensor, used to obtain the top surface image information of the pallet 2.

[0072] Side image acquisition device: installed on both sides of the AGV vehicle 1, each side includes a telescopic arm 51, one end of the telescopic arm 51 is fixed on the AGV vehicle 1, and the other end is connected to a rotatable bracket, on which 2D and 3D image sensors are installed.

[0073] Control module 6: The control module 6 is the brain of the entire device, usually including one or more microprocessors, and storage and communication interfaces supporting them. The control module 6 is responsible for coordinating the work of each submodule, receiving the path information from the automatic navigation module and the position information of the tray 2 from the positioning module, directing the actions of the drive module 7 and the tray automatic pick-up and placement module 8, and processing the data collected by the image acquisition module.

[0074] In the specific implementation process, the AGV vehicle 1 first plans the path to the target pallet 2 through the automatic navigation module, and sends the path information to the control module 6. The control module 6 drives the AGV vehicle 1 to move to the position of the target pallet 2 through the drive module 7 according to the path information. The positioning module works at the same time to determine the precise position of the pallet 2 and feeds it back to the control module 6 in real time.

[0075] After reaching the position of the pallet 2, the pallet automatic pick-up and placement module 8 takes down the pallet 2 according to the instruction of the control module 6. At this time, the front, top and side image acquisition devices of the image acquisition module start to work, the 2D image sensor acquires information such as text and barcodes, and the 3D image sensor acquires the spatial distribution information of the goods. The acquired image information is sent to the control module 6 via a cable or wirelessly.

[0076] The control module 6 performs preliminary processing on the received image information, such as image cropping, filtering, etc., and extracts useful information, such as the volume, quantity and distribution of goods, etc. The processed information is sent to the warehouse management system through the wireless network for inventory management and warehouse entry and exit data approval.

[0077] After completing the information collection, the automatic pallet pick-up and placement module 8 puts the pallet 2 back to its original position, and the AGV vehicle 1 continues to perform the next task according to the instruction of the control module 6.

[0078] Through the above-mentioned implementation mode, the device of the present invention can automatically collect the packaging information of the items on the pallet 2, thereby greatly improving the efficiency and accuracy of warehouse management.

[0079] Example 2

[0080] In this embodiment, the image acquisition module is the core part of the device, including a front image acquisition module 3, a top image acquisition module 4 and a side image acquisition module 5. These modules work together to achieve all-round image acquisition of the items on the tray 2.

[0081] The front image acquisition module 3 , the top image acquisition module 4 and the side image acquisition module 5 are integrated with 2D image sensors, 3D image sensors and light sources to realize comprehensive image information acquisition of the items on the tray 2 .

[0082] Front image acquisition module 3: This module is configured in front of the AGV vehicle 1, and usually includes one or more 2D image sensors and one or more 3D image sensors, as well as corresponding light sources. The 2D image sensor is responsible for capturing the text, barcode or other two-dimensional identification information in front of the tray 2. The 3D image sensor is used to obtain the three-dimensional spatial distribution of the items on the tray 2, providing data support for subsequent volume and quantity calculations. The light source provides a stable lighting environment for the sensor to ensure that clear images can be obtained under different lighting conditions.

[0083] Top surface image acquisition module 4: This module is installed on the top of the AGV vehicle 1 and also includes 2D and 3D image sensors and light sources. The design of the top surface image acquisition module 4 allows it to move vertically within a certain range to adapt to pallets 2 of different heights. Through this design, the module can accurately obtain image information of the top surface of the pallet 2, including the stacking of items and possible number of layers.

[0084] Side image acquisition module 5: The side image acquisition module 5 is installed on both sides of the AGV vehicle 1. The module on each side includes a telescopic arm 51, a rotating arm 52 and an information acquisition box 53. The information acquisition box 53 is equipped with 2D and 3D image sensors and light sources. Under the coordinated action of the telescopic arm 51 and the rotating arm 52, it can extend to the side of the pallet 2 and perform image acquisition. When the AGV vehicle 1 moves to the side of the pallet 2, the telescopic arm 51 extends, and the rotating arm 52 rotates the information acquisition box 53 to a position parallel to or at an acute angle to the horizontal plane to obtain image information on the side of the pallet 2.

[0085] In actual applications, the control module 6 will automatically adjust the working state of the image acquisition module according to the position and environmental conditions of the pallet 2 to be acquired. For example, if the pallet 2 is located on a high-rise shelf, the vertical telescopic portion of the top surface image acquisition module 4 will be extended to a suitable height to ensure that the image sensor can clearly capture the image of the top surface of the pallet 2.

[0086] In addition, in order to improve the flexibility and accuracy of image acquisition, the design of the image acquisition module allows fine adjustment in different directions to accommodate pallets 2 of different sizes and shapes. For example, the telescopic arm 51 of the side image acquisition module 5 can be extended and retracted according to the actual position of the pallet 2 to ensure that the information acquisition box 53 can be correctly aligned with the side of the pallet 2.

[0087] Through this design, the image acquisition module can collect image information of items on the pallet 2 from multiple angles, providing rich raw data for subsequent data analysis and processing, thereby achieving efficient and accurate image acquisition of packaging information of items on the pallet 2.

[0088] Example 3

[0089] In this embodiment, the side image acquisition module 5 is an important part of the device, which includes two groups of image acquisition devices respectively arranged on both sides of the AGV vehicle 1. Each group of side image acquisition modules 5 specifically includes a telescopic arm 51, a rotating arm 52 and an information acquisition box 53. The coordinated work of these components enables the module to flexibly acquire image information of the side of the pallet 2.

[0090] Telescopic arm 51: The first end of the telescopic arm 51 is fixed to the side of the AGV vehicle 1, and the second end is connected to the first end of the rotating arm 52 through a rotating connection. This design allows the telescopic arm 51 to be telescopic within a certain range to adapt to pallets 2 of different heights.

[0091] Rotating arm 52: The second end of the rotating arm 52 is connected to the information collection box 53, and can rotate under the drive of the telescopic arm 51. When not in use, the rotating arm 52 is vertically arranged and parallel to the side of the AGV vehicle 1. In the working state, the rotating arm 52 can be rotated to a position parallel to the horizontal plane or at an acute angle, so that the information collection box 53 can be aligned with the side of the tray 2.

[0092] Information collection box 53: The information collection box 53 is equipped with 2D and 3D image sensors and a light source. In the working state, the information collection box 53 extends to the side of the pallet 2 and collects images through the coordinated action of the telescopic arm 51 and the rotating arm 52. The 2D image sensor in the information collection box 53 is responsible for capturing two-dimensional information such as text and barcodes, while the 3D image sensor is used to obtain the spatial distribution information of the goods.

[0093] In actual application, when the AGV 1 moves to the side of the pallet 2, the control module 6 sends a signal to activate the side image acquisition module 5. The telescopic arm 51 is first extended, and then the rotating arm 52 rotates the information acquisition box 53 to a suitable position. At this time, the image sensor and light source in the information acquisition box 53 are activated to start collecting image information of the side of the pallet 2. After the collection is completed, the telescopic arm 51 and the rotating arm 52 retract the information acquisition box 53 to a position close to the AGV 1, ready for the next pallet 2 image collection.

[0094] Through this design, the side image acquisition module 5 can not only adapt to pallets 2 of different heights and positions, but also be close to the AGV vehicle 1 when not in use, saving space. In addition, the flexibility and adaptability of the module are also significantly improved, allowing the AGV vehicle 1 to efficiently collect image information of the pallet 2 in the warehouse.

[0095] Example 4

[0096] In this embodiment, the top surface image acquisition module 4 is a key component of the device, including a vertical telescopic part, a horizontal telescopic part and an information acquisition part. The coordinated work of these parts enables the module to collect image information of the top surface of the tray 2 at different heights and positions.

[0097] Vertical telescopic part: The first end of the vertical telescopic part is fixed to the middle top surface of the AGV vehicle 1, and the second end is connected to the first end of the horizontal telescopic part. The vertical telescopic part can move up and down within a certain range to adapt to pallets 2 of different heights.

[0098] Horizontal telescopic part: The second end of the horizontal telescopic part faces the tray 2 and is connected to the information collection part. The horizontal telescopic part can move horizontally under the drive of the vertical telescopic part to adjust the distance between the information collection part and the tray 2.

[0099] Information collection unit: The information collection unit is equipped with a 2D image sensor, a 3D image sensor and a light source. The 2D image sensor is used to capture two-dimensional information such as text and barcodes on the top surface of the pallet 2, while the 3D image sensor is used to obtain the spatial distribution information of the goods.

[0100] In actual application, when the AGV vehicle 1 moves above the pallet 2, the control module 6 activates the top surface image acquisition module 4. The vertical telescopic part first moves up and down to adjust the information acquisition part to a suitable height. Then, the lateral telescopic part moves horizontally to position the information acquisition part just above the top surface of the pallet 2. At this time, the image sensor and light source of the information acquisition part are activated to start collecting image information of the top surface of the pallet 2.

[0101] The collected image information is sent to the control module 6 via a cable or wirelessly. The control module 6 performs preliminary processing on the received image information, such as image cropping, filtering, etc., and extracts useful information, such as the volume, quantity and distribution of the goods.

[0102] When the acquisition task is completed, the vertical telescopic part and the horizontal telescopic part will drive the information acquisition part to retract to a position close to the AGV vehicle 1 so as to acquire the image of the next pallet 2 .

[0103] Through this design, the top surface image acquisition module 4 can flexibly acquire images of the trays 2 at different heights and positions, thereby improving the adaptability and practicality of the device.

[0104] Example 5

[0105] In this embodiment, the side image acquisition module 5 is an important component of the device, including a first telescopic arm, a second telescopic arm and a side information acquisition unit. The coordinated work of these components enables the module to flexibly acquire image information of the side of the tray 2.

[0106] The first end of the first telescopic arm is horizontally rotated and arranged at the second end of the transverse telescopic part through a power module. The power module can be a servo motor or other appropriate driving mechanism, which is used to control the extension and contraction of the telescopic arm 51. The first end of the second telescopic arm is connected to the second end of the first telescopic arm, and the second end is connected to the side information collection part. The second telescopic arm is responsible for moving the side information collection part to a suitable position on the side of the pallet 2. A 2D image sensor, a 3D image sensor and a light source are arranged in the side information collection part. These sensors and the light source work together to collect two-dimensional and three-dimensional image information of the side of the pallet 2.

[0107] In actual application, when it is necessary to collect image information of the side of the tray 2, the control module 6 will send a signal to activate the side image collection module 5. The following is a detailed action flow:

[0108] The control module 6 sends a signal to the power module to activate the horizontal rotation of the first telescopic arm, thereby driving the second telescopic arm and the side information collection part to move toward the tray 2.

[0109] The first telescopic arm drives the second telescopic arm to move laterally until the side information collection part is located at an appropriate position on the side of the tray 2 .

[0110] The second telescopic arm further adjusts the vertical position of the side information acquisition part to ensure that the 2D and 3D image sensors can clearly capture the image of the side of the tray 2.

[0111] Driven by the power module, the first telescopic arm and the second telescopic arm work together to enable the side information collection unit to rotate around the goods on the pallet 2 to achieve 360-degree image collection.

[0112] During the process of moving to a suitable position, the 2D and 3D image sensors and light sources in the side information acquisition unit are activated to begin acquiring image information of the side surface of the tray 2 .

[0113] The collected image information is sent to the control module 6 for processing via an appropriate communication method such as cable or wireless communication.

[0114] After the image acquisition is completed, the control module 6 sends a signal to reset the side image acquisition module 5. The first telescopic arm and the second telescopic arm drive the side information acquisition part to retract and return to the unused state near the second end of the transverse telescopic part.

[0115] Through this design, the side image acquisition module 5 can flexibly acquire images of the pallets 2 at different heights and positions, thereby improving the adaptability and practicality of the device.

[0116] Example 6

[0117] like Figure 3As shown, this embodiment describes a method for collecting image information of pallet items in a shelf, and the method is based on the above-mentioned image collection device. The steps of the method are as follows:

[0118] After the AGV vehicle 1 is started, the automatic navigation module starts working, using built-in sensors such as lidar and cameras, combined with the preset map of the warehouse, to automatically plan the optimal path to reach the information tray 2 to be collected.

[0119] After the planning is completed, the automatic navigation module sends the path information to the control module 6.

[0120] The positioning module uses an RFID reader or machine vision technology to determine the position of the information tray 2 to be collected.

[0121] The positioning module sends the position information of the tray 2 to the control module 6 .

[0122] The control module 6 receives the path planning information from the automatic navigation module and the position information of the tray 2 from the positioning module.

[0123] The control module 6 generates a control instruction and sends it to the drive module 7 through the communication interface.

[0124] The driving module 7 receives the control instruction, controls the motor and the wheels, and drives the AGV vehicle 1 to move along the planned path to the location of the pallet 2.

[0125] The control module 6 sends a control signal to the tray automatic pick-up and placement module 8 to activate the robot arm.

[0126] The automatic pallet pick-up and placement module 8 takes the pallet 2 for which information is to be collected from the shelf according to the control signal, and places it at a fixed position on the AGV vehicle 1 .

[0127] The image acquisition module is started, including the front, top and side image acquisition modules 5.

[0128] The 2D and 3D image sensors and light sources of each image acquisition module work to collect two-dimensional and three-dimensional information data of the goods on the pallet 2.

[0129] The control module 6 receives the information data sent by the image acquisition module in real time.

[0130] The control module 6 adjusts the acquisition position of the image acquisition module according to the information data to ensure image clarity and coverage.

[0131] The control module 6 processes the collected information data and extracts the text, barcode and spatial location information of the goods.

[0132] The processed goods information data is sent to the warehouse management system via a wireless network or wired connection.

[0133] The warehouse management system uses data for inventory management and approval of inbound and outbound data.

[0134] After the information collection is completed, the control module 6 sends a control signal to the tray automatic pick-up and placement module 8 .

[0135] The automatic pallet pick-up and placement module 8 puts the pallet 2 back to the original shelf position or the designated position according to the control signal.

[0136] The AGV vehicle 1 repeats the above steps according to the instruction of the control module 6 to collect images of the next tray 2 for which information is to be collected.

[0137] In this embodiment, each step is intended to ensure the automation, accuracy and efficiency of the image acquisition process. Through precise path planning, positioning, execution and image acquisition, as well as real-time data processing and system input, the method can achieve rapid and accurate acquisition of the packaging information of the items on the pallet 2.

[0138] Example 7

[0139] In this embodiment, the image acquisition method includes the following steps:

[0140] The automatic navigation module uses the preset warehouse drawings and real-time collected environmental information for path planning. The module integrates a variety of sensors, such as lidar, cameras, infrared sensors, etc., and the corresponding computing unit, and uses the SLAM algorithm for real-time positioning and map construction.

[0141] The positioning module uses machine vision technology to determine the position of the information tray 2 to be collected, combining the environmental information collected by the front image acquisition module 3 and the top image acquisition module 4. The module may use an image recognition algorithm to identify the identification on the tray 2, such as a barcode or RFID tag, to achieve precise positioning.

[0142] The control module 6 receives the path planning information from the automatic navigation module and the position information of the pallet 2 from the positioning module, generates a control instruction and sends it to the drive module 7 to drive the AGV vehicle 1 to move along the planned path to the location of the pallet 2.

[0143] The control module 6 sends a control signal to the automatic pallet pick-up and placement module 8 to activate the robot arm, and according to the control signal, takes the pallet 2 to be collected from the shelf and places it in a fixed position on the AGV vehicle 1.

[0144] The image acquisition module is started, including the front, top and side image acquisition modules 5. The 2D and 3D image sensors and light sources of each module work to collect the two-dimensional and three-dimensional information data of the goods on the pallet 2.

[0145] The control module 6 receives the information data sent by the image acquisition module in real time, adjusts the acquisition position of the image acquisition module according to the information data, ensures the image clarity and coverage, processes the collected information data, and extracts the text, barcode and spatial location information of the goods.

[0146] The processed product information data is sent to the warehouse management system via a wireless network or wired connection. The warehouse management system uses the data for inventory management and warehouse entry and exit data approval.

[0147] After the information collection is completed, the control module 6 sends a control signal to the tray automatic pick-up and placement module 8 to put the tray 2 back to the original shelf position or the designated position.

[0148] The AGV vehicle 1 repeats the above steps according to the instruction of the control module 6 to collect images of the next tray 2 for which information is to be collected.

[0149] Through this design, the image acquisition module can flexibly acquire images of pallets 2 at different heights and positions, thereby improving the adaptability and practicality of the device. In addition, the flexibility and adaptability of the module are also significantly improved, so that the AGV vehicle 1 can efficiently acquire image information of pallets 2 in the warehouse.

[0150] Example 8

[0151] In this embodiment, the method for collecting image information of the packaging of items on the pallet 2 collects two-dimensional and three-dimensional information data of the items on the pallet 2 through an image collection module, and the specific steps are as follows:

[0152] The control module 6 sends an activation signal to the image acquisition modules, including the front image acquisition module 3, the top image acquisition module 4 and the side image acquisition module 5, to prepare for image acquisition.

[0153] After receiving the information acquisition signal sent by the control module 6, the front image acquisition module 3 starts the 2D and 3D image sensors and the light source.

[0154] The 2D image sensor is responsible for collecting text or barcode information in front of the goods on the pallet 2.

[0155] The 3D image sensor acquires the spatial arrangement information of the goods and provides analytical data for the control module 6 to calculate the volume and quantity of the goods.

[0156] The collected image information is sent to the control module 6 through the communication interface for subsequent processing.

[0157] The top surface image acquisition module 4 receives the information acquisition signal and starts the 2D and 3D image sensors and the light source.

[0158] The module moves to a position where the image of the goods on the pallet 2 can be clearly captured through the coordinated work of the vertical telescopic part and the horizontal telescopic part.

[0159] The 2D and 3D image sensors collect image information of the top of the tray 2 and send the data to the control module 6 .

[0160] The side image acquisition module 5 receives the information acquisition signal, and the telescopic arms 51 on both sides of the AGV vehicle 1 extend in a direction away from the AGV vehicle 1 .

[0161] The rotating arm 52 is controlled to rotate from a vertical state to a horizontal state, and the information collection box 53 is aligned with the side of the tray 2.

[0162] The 2D and 3D image sensors are activated to collect image information of the side of the tray 2 and send the data to the control module 6 .

[0163] The control module 6 receives image information from the front, top and side image acquisition modules 5 in real time.

[0164] The received image information is synchronized and preprocessed, such as denoising and enhancement, to improve image quality.

[0165] Image processing algorithms are used to extract text and barcode information from 2D images, and to calculate the volume and quantity of goods from 3D images.

[0166] If the acquired image information is unclear or incomplete, the control module 6 will adjust the position of the image acquisition module according to the data quality.

[0167] The control module 6 sends an adjustment signal to the corresponding image acquisition module to obtain clearer image information.

[0168] The processed goods information data is sent to the warehouse management system via a wireless network or wired connection.

[0169] The warehouse management system uses data for inventory management and approval of inbound and outbound data.

[0170] After the image acquisition is completed, the control module 6 sends a signal to reset the image acquisition module.

[0171] The top and side image acquisition modules 5 are retracted to an unused state, ready to acquire the image of the next tray 2 .

[0172] Through the above steps, the method can automatically collect the two-dimensional and three-dimensional information data of the items on the tray 2, and ensure the accuracy and real-time nature of the data, supporting the technical solution of the claims.

[0173] Example 9

[0174] In this embodiment, the method for collecting image information of the packaging of items on the pallet 2 collects two-dimensional and three-dimensional information data of the items on the pallet 2 through an image collection module, and the specific steps are as follows:

[0175] The control module 6 sends an activation signal to the image acquisition modules, including the front image acquisition module 3, the top image acquisition module 4 and the side image acquisition module 5, to prepare for image acquisition.

[0176] After receiving the information acquisition signal sent by the control module 6, the front image acquisition module 3 starts the 2D and 3D image sensors and the light source.

[0177] The 2D image sensor is responsible for collecting text or barcode information in front of the goods on the pallet 2.

[0178] The 3D image sensor acquires the spatial arrangement information of the goods and provides analytical data for the control module 6 to calculate the volume and quantity of the goods.

[0179] The collected image information is sent to the control module 6 through the communication interface.

[0180] The top surface image acquisition module 4 receives the information acquisition signal, drives the lateral expansion part through the vertical expansion part, and moves up and down to a position where the information acquisition part can acquire a clear image of the goods on the tray 2.

[0181] The transverse telescopic part drives the information collection part to move transversely to just above the goods on the pallet 2 , and starts the 2D and 3D image sensors and light sources provided in the information collection part to collect image information on the top of the pallet 2 .

[0182] The collected image information is sent to the control module 6 .

[0183] The side image acquisition module 5 receives the information acquisition signal, the first telescopic arm drives the second telescopic arm to move horizontally, and the second telescopic arm drives the side information acquisition unit to move vertically until the side information acquisition unit can acquire a clear side image of the goods on the pallet 2.

[0184] The power module, the first telescopic arm and the second telescopic arm cooperate to drive the side information collection unit to collect goods around the pallet 2, and start the 2D and 3D image sensors and light sources set in the side information collection unit to collect image information on the side of the pallet 2.

[0185] The collected image information is sent to the control module 6 .

[0186] The control module 6 receives image information from the front, top and side image acquisition modules 5 in real time.

[0187] If the collected image information is not clear, the control module 6 will adjust the position of the image collection module according to the data quality to ensure the image clarity and coverage.

[0188] The control module 6 sends an adjustment signal to the corresponding image acquisition module to obtain clearer image information.

[0189] The control module 6 synchronizes and pre-processes the received image information, such as denoising and enhancement, to improve the image quality.

[0190] Image processing algorithms are used to extract text and barcode information from 2D images, and to calculate the volume and quantity of goods from 3D images.

[0191] The processed goods information data is sent to the warehouse management system via a wireless network or wired connection.

[0192] The warehouse management system uses data for inventory management and approval of inbound and outbound data.

[0193] After the image acquisition is completed, the control module 6 sends a signal to reset the image acquisition module.

[0194] The top and side image acquisition modules 5 are retracted to an unused state, ready to acquire the image of the next tray 2 .

[0195] Through the above steps, the method can automatically collect the two-dimensional and three-dimensional information data of the items on the tray 2, and ensure the accuracy and real-time nature of the data, supporting the technical solution of the claims.

[0196] It is known from common technical knowledge that the present invention can be implemented by other embodiments that do not deviate from its spirit or essential features. Therefore, the above disclosed embodiments are only illustrative in all respects and are not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A device for collecting image information of pallet items on a shelf, characterized in that: include: An AGV vehicle (1), wherein the AGV vehicle (1) is provided with an automatic navigation module, a driving module (7), a positioning module, an automatic tray picking and placing module (8), an image acquisition module and a control module (6); The automatic navigation module is used to automatically plan a path for the AGV vehicle (1) and send the planned path to the control module (6) for navigation; The positioning module is used to determine the position of the tray (2) whose information is to be collected, and send the determined position of the tray (2) to the control module (6); The driving module (7) is used to receive the control signal of the control module (6) and drive the AGV vehicle (1) to move to the position of the pallet (2) according to the planned path; The automatic pallet pick-up and placement module (8) is used to receive the control signal of the control module (6), remove the pallet (2) whose information is to be collected, and put the pallet (2) whose information has been collected back into the shelf; The image acquisition module is used to collect two-dimensional and three-dimensional information data of the goods on the pallet (2) from multiple directions, and send the obtained information data to the control module (6) for processing; The control module (6) is electrically connected to the automatic navigation module, the positioning module, the automatic tray pick-up and placement module (8) and the image acquisition module.

2. The device for collecting image information of pallet items on a shelf according to claim 1, characterized in that: The image acquisition module comprises a front image acquisition module (3), a top image acquisition module (4) and a side image acquisition module (5); The front image acquisition module (3) is arranged in front of the AGV vehicle (1) and is used to acquire image information or environmental information in front of the pallet (2); The top surface image acquisition module (4) is arranged above the AGV vehicle (1) and is used to acquire image information or environmental information of the top surface of the pallet (2); The side image acquisition module (5) is arranged on the AGV vehicle (1) and is used to acquire image information of the side of the pallet (2).

3. The device for collecting image information of pallet items on a shelf according to claim 2, characterized in that: The front image acquisition module (3), the top image acquisition module (4) and the side image acquisition module (5) are all provided with a 2D image sensor, a 3D image sensor and a light source. The 2D image sensor is used for acquiring text or barcode information; the 3D image sensor is used for acquiring spatial arrangement information of goods on the pallet (2) and providing analytical data for the control module (6) to calculate the volume and quantity of the goods; and the light source is used for providing illumination for the 2D image sensor and the 3D image sensor.

4. The device for collecting image information of pallet items on a shelf according to claim 2, characterized in that: The side image acquisition modules (5) have two groups, which are respectively arranged on both sides of the AGV vehicle (1). Each group of the side image acquisition modules (5) comprises a telescopic arm (51), a rotating arm (52) and an information acquisition box (53). The first end of the telescopic arm (51) is connected to the side of the AGV vehicle (1). The second end of the telescopic arm (51) is rotatably connected to the first end of the rotating arm (52). The second end of the rotating arm (52) is connected to the information acquisition box (53). The information acquisition box (53) is used to collect image information of the side of the pallet (2). When the rotating arm (52) is in use, it is parallel to or at an acute angle to a horizontal plane. When the rotating arm (52) is not in use, the rotating arm (52) is vertically arranged, and the telescopic arm (51) is retracted to a position closest to the AGV vehicle (1).

5. The device for collecting image information of pallet items on a shelf according to claim 2, characterized in that: The top surface image acquisition module (4) comprises a vertical telescopic part, a lateral telescopic part and an information acquisition part. The first end of the vertical telescopic part is connected to the middle top surface of the AGV vehicle (1), the second end of the vertical telescopic part is connected to the first end of the lateral telescopic part, and the second end of the lateral telescopic part faces the pallet (2) and is connected to the information acquisition part. When the top surface image acquisition module (4) is in use, the vertical telescopic part drives the lateral telescopic part to move up and down to a position where the information acquisition part can capture a clear image of the goods on the pallet (2), and the lateral telescopic part drives the information acquisition part to move horizontally to just above the goods on the pallet (2); when the top surface image acquisition module (4) is not in use, the lateral telescopic part and the vertical telescopic part drive the information acquisition part to retract to a position closest to the AGV vehicle (1).

6. The device for collecting image information of pallet items on a shelf according to claim 5, characterized in that: The side image acquisition module (5) is rotatably arranged at the second end of the transverse telescopic part. The side image acquisition module (5) comprises a first telescopic arm, a second telescopic arm and a side information acquisition part. The first end of the first telescopic arm is horizontally rotatably arranged at the second end of the transverse telescopic part through a power module. The second end of the first telescopic arm is connected to the first end of the second telescopic arm. The second end of the second telescopic arm is connected to the side information acquisition part. When the side image acquisition module (5) is in use, the first telescopic arm drives the second telescopic arm to move horizontally, and the second telescopic arm drives the side information acquisition part to move vertically until the side information acquisition part can acquire a clear side image of the goods on the pallet (2). The power module, the first telescopic arm and the second telescopic arm cooperate to drive the side information acquisition part to collect around the goods on the pallet (2). When the side image acquisition module (5) is not in use, the side image acquisition module (5) is driven by the first telescopic arm and the second telescopic arm to shrink to a position close to the second end of the transverse telescopic part.

7. A method for collecting image information of packaging of items on a pallet in a shelf, based on the device for collecting image information of packaging of items on a pallet in a shelf as claimed in any one of claims 1 to 6, characterized in that: The following steps are included: The automatic navigation module automatically plans a path for the AGV vehicle (1) to reach the information tray (2) to be collected, and sends the planned path information to the control module (6); Using a positioning module to determine the position of the tray (2) for collecting information, and sending the determined position information of the tray (2) to a control module (6); The control module (6) receives the path planning information and the position information of the tray (2), and sends the control instruction to the drive module (7); The driving module (7) drives the AGV vehicle (1) to move along the planned path to the location of the pallet (2) according to the control instruction of the control module (6); The control module (6) sends a control signal to the automatic pallet picking and placing module (8), and the automatic pallet picking and placing module (8) takes the pallet (2) whose information is to be collected from the shelf according to the control signal; The image acquisition module acquires two-dimensional and three-dimensional information data of the goods on the pallet (2), including two-dimensional and three-dimensional image information of the front, top and sides of the pallet (2), and sends the acquired information data to the control module (6); The control module (6) receives the information data sent by the image acquisition module in real time, adjusts the acquisition position of the image acquisition module according to the information data, processes the acquired information data, and extracts the text, barcode and spatial position information of the goods; Enter the processed goods information data into the warehouse management system for inventory management and approval of inbound and outbound data; After the information collection is completed, the control module (6) sends a control signal to the automatic pallet picking and placing module (8), and the automatic pallet picking and placing module (8) puts the pallet (2) back to the original shelf position according to the control signal; The AGV vehicle (1) repeats the above steps according to the instruction of the control module (6) to collect images of the next tray (2) whose information is to be collected.

8. A method for collecting image information of pallet items on a shelf according to claim 7, characterized in that: The method also includes the following steps: the automatic navigation module performs path planning according to a preset warehouse drawing, the position of the pallet (2) whose information is to be collected, and the environmental information collected in real time by the previous image collection module (3); The positioning module positions the tray (2) according to the environmental information collected by the front image collection module (3) and the top surface image collection module (4).

9. A method for collecting image information of pallet items on a shelf according to claim 7, characterized in that: The step of collecting two-dimensional and three-dimensional information data of goods on the pallet (2) by means of an image acquisition module specifically comprises: The control module (6) sends an information acquisition signal through the image acquisition module to activate the front image acquisition module (3), the top image acquisition module (4) and the side image acquisition module (5); The front image acquisition module (3) receives the information acquisition signal and starts the 2D and 3D image sensors and the light source; the 2D image sensor acquires the text or barcode information in front of the goods on the tray (2); the 3D image sensor acquires the spatial arrangement information of the goods; and the acquired image information is sent to the control module (6); The top surface image acquisition module (4) receives the information acquisition signal, activates the 2D and 3D image sensors and the light source, and acquires image information of the top of the tray (2); and sends the acquired image information to the control module (6); The side image acquisition module (5) receives the information acquisition signal, the telescopic arms (51) on both sides of the AGV vehicle (1) extend in a direction away from the AGV vehicle (1), and the rotating arm (52) is controlled to rotate from a vertical state to a horizontal state, and the side image information of the goods on the pallet (2) is collected through the information collection box (53) on the rotating arm (52), and the collected information is sent to the control module (6); The control module (6) receives image information collected by the front image collection module (3), the top image collection module (4) and the side image collection module (5).

10. A method for collecting image information of pallet items on a shelf according to claim 7, characterized in that: The steps of collecting two-dimensional and three-dimensional information data of the goods on the pallet (2), including two-dimensional and three-dimensional image information of the front, top and side of the pallet (2), by means of an image acquisition module, and sending the collected information data to a control module (6); the control module (6) receiving the information data sent by the image acquisition module in real time, and adjusting the acquisition position of the image acquisition module according to the information data, specifically include: The control module (6) sends an information acquisition signal through the image acquisition module to activate the front image acquisition module (3), the top image acquisition module (4) and the side image acquisition module (5); The front image acquisition module (3) receives the information acquisition signal, activates the 2D and 3D image sensors and the light source, the 2D image sensor acquires the text or barcode information in front of the goods on the tray (2), the 3D image sensor acquires the spatial arrangement information of the goods, and sends the acquired image information to the control module (6); The top surface image acquisition module (4) receives the information acquisition signal, drives the lateral expansion part through the vertical expansion part, moves up and down to a position where the information acquisition part can collect a clear image of the goods on the pallet (2), drives the information acquisition part to move horizontally to just above the goods on the pallet (2), starts the 2D and 3D image sensors and light sources provided in the information acquisition part, collects image information of the top of the pallet (2), and sends the collected image information to the control module (6); The side image acquisition module (5) receives the information acquisition signal, the first telescopic arm drives the second telescopic arm to move horizontally, and the second telescopic arm drives the side information acquisition unit to move vertically until the side information acquisition unit can acquire a clear side image of the goods on the pallet (2). The power module, the first telescopic arm and the second telescopic arm cooperate to drive the side information acquisition unit to collect goods around the pallet (2), start the 2D and 3D image sensors and light sources provided in the side information acquisition unit, collect image information of the side of the pallet (2), and send the collected image information to the control module (6); When the image information collected by the front image collection module (3), the top image collection module (4) or the side image collection module (5) is unclear, the control module (6) dynamically adjusts the side image collection module (5), moves the side information collection unit to the unclear position for re-collection, and sends the collected image information to the control module (6).

Images