Intelligent logistics control system and method based on machine vision and storage medium

Abstract

The invention belongs to the technical field of information logistics, and particularly relates to an intelligent logistics control system and method based on machine vision and a storage medium, and the intelligent logistics control method based on machine vision comprises the steps: obtaining discharging information; controlling a visual identification module to run to a photographing position according to the discharging information so as to identify material grabbing position information and identification code information of an identification code; matching a discharging drawer of the storage cabinet module according to the identification code information, and generating matching information; and a robot carrying module is controlled to be matched with a transfer module according to the matching information and the material grabbing position information, so that the robot carrying module places the grabbed packaging parts on the transfer module, and the packaging parts are stored in a storage cabinet module through the transfer module. According to the invention, the classification, storage and taking efficiency of the packaging parts is improved, and the complexity and errors of manual operation are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of information logistics, and specifically relates to an intelligent logistics control system, method and storage medium based on machine vision. Background Art

[0002] In small warehouses, the storage and retrieval of packages are usually done by manually scanning and classifying the packages, and then storing them according to the categories of the packages. This makes it impossible to quickly enter and exit the warehouse, and human negligence may lead to information confusion, loss or leakage during warehouse entry and exit operations. In addition, the labor cost is high, and the efficiency of package classification and storage and retrieval is low. Summary of the invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, the present invention proposes an intelligent logistics control system, method and storage medium based on machine vision.

[0004] In the first aspect, a smart logistics control system based on machine vision is provided, which is suitable for storing packages in a storage cabinet module or taking them out from the storage cabinet module. The smart logistics control system based on machine vision includes: a storage cabinet module, which is provided with multiple material retrieval drawers and material discharge drawers, in which packages are placed, and an identification code is provided on the outside of the packages, and the discharge drawer is an empty drawer; a transfer module, which is suitable for taking out the discharge drawer or the material retrieval drawer; a robot handling module, which is suitable for placing packages in the discharge drawer or grabbing packages from the material retrieval drawer; a visual recognition module; a control module, which is connected to the storage cabinet module, the transfer module, The robot handling module and the visual recognition module are respectively communicatively connected, and the control module is suitable for obtaining material picking information or material placing information, and according to the material placing information, controls the visual recognition module to run to the photographing position to identify the material grabbing position information and the identification code information of the identification code, matches the material placing drawer of the storage cabinet module according to the identification code information, generates matching information, and the control module controls the robot handling module to cooperate with the transfer module according to the matching information and the material grabbing position information, so that the robot handling module places the grabbed package in the transfer module, and stores the package into the storage cabinet module through the transfer module.

[0005] In some embodiments, the storage cabinet module is provided with a storage cabinet processor, and the material retrieval drawer and the material discharge drawer are provided with a first detection device and a second detection device, the first detection device and the second detection device are respectively communicatively connected to the storage cabinet processor, the storage cabinet processor determines whether the drawer is in the storage cabinet based on the detection signal of the first detection device, and the storage cabinet processor determines whether the package exists in the corresponding drawer based on the detection signal of the second detection device.

[0006] In some embodiments, the control module is provided with a first register, the storage cabinet processor is provided with a second register, and the control module stores the acquired identification code information in the first register and the second register.

[0007] In a second aspect, a smart logistics control method based on machine vision is also provided, which adopts any one of the smart logistics control systems based on machine vision, and the smart logistics control method based on machine vision includes: obtaining material discharge information; controlling the visual recognition module to run to the photo taking position according to the material discharge information to identify the material grabbing position information and the identification code information of the identification code; matching the material discharge drawer of the storage cabinet module according to the identification code information, and generating matching information; controlling the robot handling module to cooperate with the transfer module according to the matching information and the material grabbing position information, so that the robot handling module places the grabbed package in the transfer module, and stores the package in the storage cabinet module through the transfer module.

[0008] In some embodiments, the material discharge drawer of the storage cabinet module is matched according to the identification code information, and matching information is generated, which specifically includes: obtaining the storage information of the storage cabinet module and the corresponding detection information of the material discharge drawer; comparing the storage information, the detection information and the identification code information to generate the matching information.

[0009] In some embodiments, the intelligent logistics control method based on machine vision further includes: Display the detection information; collect statistics on the detection information and display the statistical results.

[0010] In some embodiments, the robot handling module and the transfer module are controlled to cooperate according to the matching information and the grabbing position information, so that the robot handling module places the grabbed packages in the transfer module, and stores the packages in the storage cabinet module through the transfer module, specifically including: controlling the robot handling module to run to the grabbing position and grab the packages according to the grabbing position information; controlling the transfer module to take out the corresponding discharge drawer from the storage cabinet module according to the matching information; controlling the transfer module to transport the discharge drawer to the first discharge placement; controlling the robot handling module to run to the second discharge position and place the grabbed packages into the discharge drawer according to the matching information; controlling the transfer module to put the discharge drawer containing the packages back into the storage cabinet module; wherein, the first discharge placement and the second discharge position match each other.

[0011] In some embodiments, controlling the transfer module to put the discharge drawer containing the packages back into the storage cabinet module includes: obtaining placement information of the packages being placed in the discharge drawer; and controlling the robot transport module to run to a safe position according to the placement information.

[0012] In some embodiments, any of the machine vision-based intelligent logistics control methods further includes: after completing material picking or material discharge, controlling the transfer module to run to a first origin position; and / or after completing material picking or material discharge, controlling the robot transport module to run to a second origin position.

[0013] In a third aspect, a storage medium is also provided, storing a computer program, which, when executed by a processor, implements any one of the machine vision-based intelligent logistics control methods.

[0014] The beneficial effects of the present invention are: 1. By scanning the package identification code at the visual camera position to obtain package information and matching the storage cabinet module according to the information, the accuracy and reliability of the information can be ensured, avoiding confusion and loss caused by manual operation.

[0015] 2. By collecting and processing the package image at the visual camera position, the visual coordinate data of the package is automatically obtained, realizing automatic identification and positioning.

[0016] 3. By converting visual coordinate data into robot coordinate data, the robot locates and picks up the packages according to the coordinate data, thus achieving efficient package storage and retrieval operations.

[0017] 4. Storing the matching information ensures that the storage location and information of each package can be accurately recorded and queried, further improving the reliability of information management.

[0018] 5. By replacing manual operations with automated systems, dependence on manpower is reduced, labor costs are greatly reduced, the efficiency of package classification and storage and retrieval is improved, and the tediousness and errors of manual operations are reduced. The intelligent logistics control method based on machine vision has significant advantages in improving efficiency, reducing costs, and improving safety and reliability. It can effectively solve the problems in traditional manual storage and retrieval of packaging operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 A schematic diagram of the three-dimensional structure of a machine vision-based intelligent logistics control system provided by an embodiment of the present invention; Figure 2A block diagram of a smart logistics control system based on machine vision provided by an embodiment of the present invention; Figure 3 A block diagram of the visual recognition system of a machine vision-based intelligent logistics control system provided by one embodiment of the present invention; Figure 4 A flow chart of a smart logistics control method based on machine vision provided by one embodiment of the present invention; Figure 5 A schematic diagram of a smart logistics control method based on machine vision provided by another embodiment of the present invention; Figure 6 A flow chart of a smart logistics control method based on machine vision provided by another embodiment of the present invention; Figure 7 A workflow diagram of a smart logistics control method based on machine vision provided by another embodiment of the present invention; Figure 8 A safety warning principle diagram of a machine vision-based intelligent logistics control method provided in another embodiment of the present invention.

[0020] In the figure: 1. visual recognition module; 101. light source; 102. industrial camera; 2. robot handling module; 21. robot; 3. storage cabinet module; 31. sensor of storage cabinet module; 4. transfer module; 41. sensor of transfer module; 42. servo motor; 43. servo driver; 5. conveying device; 51. conveyor belt; 6. control module; 61. first programmable logic controller; 62. second programmable logic controller; 63. visual recognition processing module; 7. actuator; 8. touch screen; 9. network module; 10. Ethernet switch; 11. industrial computer. DETAILED DESCRIPTION

[0021] Below is the attached figure Figures 1 to 8 The present application is further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] Please refer to Figure 1, a three-dimensional structural schematic diagram of an intelligent logistics control system based on machine vision is provided for an embodiment of the present invention. The intelligent logistics control system based on machine vision is suitable for storing packages into a storage cabinet module 3 or taking them out from the storage cabinet module 3. The intelligent logistics control system based on machine vision includes: a storage cabinet module 3, which is provided with a plurality of material retrieval drawers and material discharge drawers, wherein packages are placed in the material retrieval drawers, and identification codes are provided on the outside of the packages, and the material discharge drawers are empty drawers; a transfer module 4, which is suitable for taking out the material discharge drawer or the material retrieval drawer; a robot handling module 2, which is suitable for placing packages in the material discharge drawer or grabbing packages from the material retrieval drawer; a visual recognition module 1; a control module Block 6 is respectively communicated with the storage cabinet module 3, the transfer module 4, the robot handling module 2 and the visual recognition module 1. The control module 6 is suitable for obtaining material picking information or material discharging information, and according to the material discharging information, controls the visual recognition module 1 to run to the photographing position to identify the material grabbing position information and the identification code information of the identification code, matches the material discharging drawer of the storage cabinet module 3 according to the identification code information, generates matching information, and the control module 6 controls the robot handling module 2 to cooperate with the transfer module 4 according to the matching information and the material grabbing position information, so that the robot handling module 2 places the grabbed packages in the transfer module 4, and stores the packages into the storage cabinet module 3 through the transfer module 4.

[0024] In this embodiment, continue to combine Figure 1 and Figure 2 As shown, the intelligent logistics control system based on machine vision includes a storage cabinet module 3, a transfer module 4, a robot handling module 2, a visual recognition module 1 and a control module 6. Among them, the package can be a box structure, and the package contains certificates, such as a port pass. An identification code is affixed to the outer surface of the package, and the identification code can be a QR code. The storage cabinet module 3 includes a plurality of storage cabinets, and a plurality of drawers are provided in the storage cabinet. For the convenience of explanation, the drawers can be divided into drawers for placing packages and empty drawers. The drawers for placing packages are named as material retrieval drawers, and the packages can be taken out of the drawers. The empty drawers can be placed in packages and are named as material discharge drawers. The transfer module 4 can transfer the trolley, and the robot handling module 2 includes a robot 21 and a gripper, and the gripper is provided on the robot 21.

[0025] The visual recognition module 1 can be arranged on the robot 21, such as Figure 3As shown, the visual recognition module 1 includes an industrial camera 102 and a light source 101. The industrial camera 102 includes a 3D camera and a 2D camera. The visual recognition module 1 automatically obtains the visual coordinate data of the package by collecting and processing the package image at the visual shooting point, thereby realizing automatic recognition and positioning. The visual processing module quickly obtains the visual coordinate data of the package in the visual coordinate system by performing template matching on the grayscale image, thereby improving the image processing speed, converting the visual coordinate data into the coordinate data of the robot 21. The robot 21 locates and absorbs the package according to the coordinate data, thereby realizing efficient package storage and retrieval operations.

[0026] The transfer module 4 includes a transfer vehicle, and the transfer module 4 includes a sensor 41 of the transfer module, which can detect the operating status information of the transfer module 4.

[0027] The robot handling module 2 locates according to the coordinate data and grabs the package through the suction cup, thereby realizing efficient package storage and retrieval operations.

[0028] The industrial computer 11 exchanges information with the control module 6 , and the control module 6 may specifically include a host computer.

[0029] The space of the intelligent logistics control system based on machine vision can be divided into a storage system and the outside world. The intelligent logistics control system based on machine vision also includes a conveying device 5, which can be a conveyor line. The conveyor belt 51 of the conveyor line is the intermediate medium for the storage system to interact with the outside world. The packaged items need to be conveyed to the outside world when leaving the warehouse, and the packaged items need to be conveyed to the storage system when entering the warehouse. It is the first and last step of the entire logistics control system. The staff puts the sorted packages on the transmission belt, and the light sensing acquisition module on the conveyor belt 51 senses the packages. The control module 6 receives the sensing signal, controls the motor, and transports the packages from the outside world to the storage system.

[0030] The image of the package captured by the visual recognition module 1 is transmitted to the industrial computer 11, the visual software of the industrial computer 11 processes the image and transmits the data to the control module 6, the control module 6 processes and analyzes the data for placement, the control module 6 controls the transfer module 4 to take the drawer, and controls the robot 21 to grab the package and pass the package to the transfer module 4, and the transfer module 4 places the package in the storage cabinet. The present invention realizes the planned storage and retrieval of packages through the information interaction of multiple devices, thereby improving efficiency.

[0031] Among them, after receiving the package information, material picking or material placing signal collected by the light sensing collection module on the conveyor belt, the robot 21 handling system moves to the photo taking position or directly picks up the package. After receiving the grabbing signal, the robot 21 is transported to the grabbing position according to the material picking signal or material placing signal, and is recognized by the sensor, at which time a signal is transmitted to the control module 6, so that the control module 6 issues a command to command the robot 21 to start moving.

[0032] The arm of robot 21 first uses its equipped industrial camera 102 to scan the identification code on the package. The control module 6 obtains the scanning information and determines the type of document based on the scanning information. At the same time, the feedback information obtained through the visual recognition module 1 controls the robot 21 to adopt different grasping methods. For example, large packages are grasped by two suction cups and small packages are grasped by one suction cup. This can achieve accurate grasping of the packages and start transporting the packages.

[0033] The QR code information read by the visual recognition module 1 is fed back to the control module 6. The control module 6 executes different instructions according to the current storage status of the storage cabinet. These different instructions are used to control the transfer module 4 to move from the first origin position to the specified position and use the electromagnet to pull out the drawer, and then move to the discharge point, waiting for the robot 21 to put the package into the drawer it grabs.

[0034] After the package is placed in the discharge point by the robot 21, the sensor on the drawer senses the package and inputs the signal into the control module 6. When the arm of the robot 21 moves to a safe position, that is, the robot 21 does not interfere with the movement of the transfer module 4, the transfer device moves the drawer containing the package back to its original position and pushes back the package. At this time, the robot 21 also returns to the standby state.

[0035] The transfer module 4 and the robot handling module 2 replace manual operations with an automated system, which reduces dependence on manpower, significantly reduces labor costs, and improves the efficiency of package classification and storage and retrieval.

[0036] like Figure 2 As shown, the control module 6, as the core of the entire control system, needs to communicate and interact with each device, perform logical control, communicate with the robot handling module 2, communicate with the transfer module 4, communicate with the touch screen 8, communicate with the visual recognition module 1, and communicate with the storage cabinet module 3.

[0037] The control module 6 communicates with the robot 21 , wherein an Ethernet switch 10 is provided to communicate via Ethernet free format. The control module 6 includes a first programmable logic controller 61 and a second programmable logic controller 62 .

[0038] The motion information of the robot 21: The control module 6 receives the motion information transmitted by the robot 21, such as the robot 21 moving out of the trolley motion range, the robot 21 reaching the material picking point during the material picking process, the robot 21 reaching the material discharging point during the material discharging process, and the start and end signal of the robot 21 material picking and discharging process, and sends the motion information of the controller of the transfer module 4 to the robot 21. When receiving the discharging information from the touch screen 8, the information is sent to trigger the robot 21 to identify the photo taking point. After determining the package point, it is converted into the A / B group material picking and discharging information and transmitted to the robot 21, triggering the robot 21 to start moving.

[0039] Cylinder control and proximity switch information: The control module 6 receives the sensor information on the robot handling module 2 to ensure that the packages will not fall when the robot 21 is sucking the packages, and determines whether the robot 21 is still sucking the packages after placing the packages; the cylinder movement is controlled by receiving the position information of the robot 21 to determine whether it has reached the material picking and placing point.

[0040] The control module 6 communicates with the controller of the transfer module 4. Manual control information: the touch screen 8 controls the movement of the transfer vehicle, and the control module 6 transmits these coils to the controller of the transfer module 4 in real time to realize the control of the lifting and lowering of the transfer vehicle, the forward and backward movement, the cylinder reciprocating movement, the power on and off of the electromagnet, the mechanical zero return of the transfer vehicle, and the return of the transfer vehicle to the origin; Package storage information: the control module 6 determines the specific storage point of the package and transmits it to the drawer number of the controller of the transfer module 4; Transfer vehicle movement information: the control module 6 receives the movement information transmitted by the controller of the transfer module 4, including the movement of the transfer vehicle to the discharge point of the robot 21, and sends the movement information of the robot 21, including the movement of the robot 21 out of the movement range of the trolley, to the controller of the transfer module 4.

[0041] The control module 6 communicates with the industrial computer 11 visually and in free format over Ethernet: Two-dimensional code information: The two-dimensional code information of the package is parsed visually and transmitted to the control module 6. The control module 6 determines the placement point of the package based on the two-dimensional code information, and stores the determined package point, package type and two-dimensional code information in the corresponding package point register.

[0042] The control module 6 communicates with the touch screen 8 serial port-modbus-RTU: Material taking and discharging information: the touch screen 8 is manually input with material taking or discharging action, the touch screen 8 triggers the register when the discharging action is input, and the touch screen 8 triggers the register when the material taking action is input, and stores the information of the material taking package in the register; Light control information: the touch screen 8 reads the light control information storage register in real time, and displays the information of whether the storage cabinet stores the package on the touch screen 8; Manual movement information: the touch screen 8 triggers the coil button, and the central control controller transmits these coils to the transfer module 4 controller in real time to realize the control of the lifting and moving forward and backward of the transfer vehicle, the cylinder going back and forth action, the electromagnet power on and off, the mechanical return of the transfer vehicle, and the return of the transfer vehicle to the origin. Among them, the electromagnet, the solenoid valve, the cylinder, the suction cup, etc. are all actuators 7.

[0043] Control module 6 communicates with the storage cabinet information via modbus-tcp: Light control information, by real-time monitoring of the photoelectric switch on each package, to determine whether the entire storage cabinet stores packages, and by monitoring the limit switch of the drawer to determine the movement of the transfer vehicle. The information of the output photoelectric switch is transmitted to the indicator light of the storage cabinet, so that the storage cabinet can display the storage information.

[0044] Optionally, the storage cabinet module 3 is provided with a storage cabinet processor, and the material retrieval drawer and the material placement drawer are provided with a first detection device and a second detection device, the first detection device and the second detection device are respectively communicatively connected to the storage cabinet processor, the storage cabinet processor determines whether the drawer is in the storage cabinet according to the detection signal of the first detection device, and the storage cabinet processor determines whether there is a package in the corresponding drawer according to the detection signal of the second detection device.

[0045] In this embodiment, the first detection device may be a limit switch, and the second detection device may be a photoelectric sensor. Two sensors are provided for one drawer, and the limit switch provided for the corresponding drawer is used to detect whether the drawer is in the storage cabinet. When the drawer completely reaches the storage cabinet, the limit switch may be triggered and the switch is set to 1. When the drawer is not in the storage cabinet, the limit switch is disconnected and the switch is set to 0. A photoelectric switch is provided at the position corresponding to each package, which can determine whether there is a package at this position.

[0046] The detection signals of the first detection device and the second detection device are sent to the storage cabinet processor, and the storage cabinet processor analyzes and processes the detection signals, and the following situations may occur: 1. The limit switch is triggered and the photoelectric switch is triggered, indicating that there is a package at this position.

[0047] 2. The limit switch is triggered, but the photoelectric switch is not triggered, indicating that there is no package at this position.

[0048] 3. The limit switch is not triggered and the photoelectric switch is not triggered, indicating that the drawer has left the storage cabinet.

[0049] 4. The limit switch is not triggered, but the photoelectric switch is triggered, which means that the drawer has left the storage cabinet and there are other things stored here.

[0050] When the storage cabinet processor processes the detection signal, the above-mentioned Class 1 and Class 2 signals are integrated into one signal, that is, whether there is storage space at this position, and sent to the control module 6 according to the storage principle from cabinet A to cabinet B, from top to bottom priority. The information is pre-processed to reduce the logic program of the control module 6, and the control module 6 makes a judgment directly. If it is in the third category, the storage cabinet processor compares with the control module 6 to determine whether the target drawer is taken away by the transfer module 4 for material collection and discharge. If the comparison with the control module 6 is unsuccessful, the control module 6 will alarm and display the alarm information on the touch screen 8; if it is the fourth category, the alarm signal is directly sent to the control module 6, and the control module 6 sends the alarm information to the touch screen 8, and the drawer at this position will not work at this time to prevent the drawer from being damaged.

[0051] Optionally, the control module 6 is provided with a first register, the storage cabinet processor is provided with a second register, and the control module 6 stores the acquired identification code information in the first register and the second register.

[0052] In this embodiment, when the control module 6 receives the QR code information, it will not only be stored in the first register of the corresponding control module 6, but also in the second register of the corresponding storage cabinet. This process has the following advantages: A. It can ensure that the data is backed up. When one of the processors of the control module 6 or the storage cabinet module 3 is damaged, the complete QR code information can also be found from the other one.

[0053] B. When the staff needs to take out the package, they input the corresponding QR code information on the touch screen 8, which will trigger the first register of the control module 6 to compare with the QR code information and find the corresponding storage point. The input QR code information will also be compared with the QR code information of the processor of the storage cabinet module 3, so as to ensure that the target package is absolutely corresponding. If the three QR code information cannot be matched at this time, the control module 6 can alarm the outside world through the touch screen 8, so as to deal with it in time.

[0054] C. In the process of taking and placing packages, one workflow will only move one storage position of a drawer. At this time, when the drawer is performing the workflow of taking or placing materials, the limit switch can determine that the target drawer is being taken out, and the photoelectric switch can determine whether the placement position of the package is correct. The sensor signal corresponds to the storage position of the control module 6 and the QR code information of the storage cabinet to ensure the accuracy of the storage position.

[0055] D. If the control module 6 does not send an instruction to the drawer of the storage cabinet that needs to take or put materials, but the limit switch and the photoelectric switch do not detect the drawer and the package, an alarm is issued to the outside world.

[0056] like Figure 4 and Figure 5 As shown, according to an embodiment of the present invention, a smart logistics control method based on machine vision is also proposed, using any one of the smart logistics control systems based on machine vision, and the smart logistics control method based on machine vision includes the following steps: Step S101: Obtaining material discharge information.

[0057] Step S103: Control the visual recognition module to run to the photographing position according to the material release information to identify the material grabbing position information and the identification code information of the identification code. Step S105: Match the material drawer of the storage cabinet module according to the identification code information and generate matching information. Step S107: Control the robot handling module to cooperate with the transfer module according to the matching information and the material grabbing position information, so that the robot handling module places the grabbed package in the transfer module, and the transfer module stores the package into the storage cabinet module.

[0058] In this embodiment, the material discharging information or material taking information can be input through the touch screen 8, and the package is transported to the photo taking position through the conveyor line. The package needs to be affixed with a specific QR code to distinguish the certificate of the package stored in the warehouse.

[0059] The control module 6 obtains the material discharge information, controls the visual recognition module 1 to run to the photo taking position to take photos of the packages, can identify the packages and calculate the spatial coordinates of the packages, thereby identifying the material grabbing position information. Among them, the visual processing module performs image processing on the packages and performs template matching on the grayscale image after image processing. The matched packages calculate the two-dimensional parameters X, Y, and Rz of the packages through coordinate transformation, and transmit the parameters to the robot 21; the visual recognition module 1 interacts with the control module 6, and the two-dimensional code will be detected by vision. The visual recognition module 1 recognizes the two-dimensional code and performs code reading communication. The detected two-dimensional code value contains the type of certificate, unique code, material collection, material discharge information, etc. This information is transmitted to the control module 6 via Ethernet, so as to judge the discharge point.

[0060] Among them, the visual recognition module 1 interacts with the robot handling module 2. After obtaining the material discharge information, the robot handling module 2 runs to the photographing position and outputs a signal to trigger the photographing function of the visual recognition module 1. After image processing and coordinate conversion, the coordinate points are obtained and transmitted to the robot 21 via Ethernet to realize the positioning of the robot 21.

[0061] The visual processing module processes the images taken by the camera, including image algorithms such as median filtering, binarization, Gaussian filtering, edge detection, and morphological processing. The image algorithm can eliminate irrelevant information in the image, improve the visual effect of the image, enhance the detectability of relevant information, and simplify the data to the maximum extent, thereby improving the reliability of feature extraction, image segmentation, matching, and recognition. By identifying the outer contour of the target package, the position and posture of the target package in the camera coordinate system can be obtained. By highlighting the outer contour of the package, it is convenient for the subsequent template matching, and the coordinate points of the robot 21 can be obtained, thereby identifying the material grabbing position information of the robot 21.

[0062] The visual coordinate data of the package in the visual coordinate system is obtained according to the target contour. Specifically, the geometric center, bounding box or other feature points of the target contour are calculated, the position of the package in the visual coordinate system is determined, and the visual coordinate data of the package in the visual coordinate system is extracted and recorded.

[0063] When the visual coordinate data is the spatial coordinate data corresponding to the 3D camera, the spatial coordinate data is assigned to the Cartesian coordinate variables of the robot 21.

[0064] Specifically, the spatial coordinate data (X / Y / Z / Rx / Ry / Rz) obtained by the visual recognition module 1 is assigned to the Cartesian coordinate variables of the robot 21. , realizing data conversion from the coordinate data of the visual recognition module 1 to the coordinate data of the robot 21.

[0065] When the visual coordinate data is the plane coordinate data corresponding to the 2D camera, converting the plane coordinate data into the robot 21 coordinate data includes: Set the reference space coordinates.

[0066] Specifically, a reference space coordinate point is preset, the Cartesian coordinate of the robot 21 of which is a known value, and its Z-axis coordinate, that is, the height, is increased by a fixed value, such as 600 mm, so as to provide a spatial position above the suction point.

[0067] The plane coordinate data is compared with the reference space coordinates, and the plane coordinate data (X, Y, Rz) is supplemented into complete space coordinate data by comparing the corresponding parameters in the plane coordinate data and the reference space coordinates.

[0068] The missing height data and plane rotation data in the plane coordinate data are supplemented, and the supplemented plane coordinate data are converted into the Cartesian coordinate variables of the robot 21. Among them, the missing height (Z) and other rotation parameters (Rx, Rz) in the plane coordinate data are supplemented according to the Z-axis coordinate value of the reference space coordinate and the rotation parameter (Rz) of the plane coordinate. Specifically, the complete space coordinate data (X, Y, Z, Rx, Ry, Rz) are converted into the Cartesian coordinate variables of the robot 21 , realizing the conversion of 2D visual data into robot 213D space coordinates.

[0069] Optionally, the intelligent logistics control method based on machine vision also includes the following steps: Step S102: After completing material picking or material discharge, control the transfer module to run to the first origin position.

[0070] Step S104: After completing the material picking or placing, control the robot transport module to move to the second origin position.

[0071] In this embodiment, the movement of the transfer module 4 is initiated by the first trigger from the origin to ensure that the position reached by the transfer module 4 is accurate. Therefore, the trigger condition for the start of the movement requires that the current pulse value of the transfer module 4 is the same as the value stored in the origin. The robot handling module 2 carries the package to the transfer module 4, and the transfer module 4 transports the package to the designated location, while the robot handling module 2 returns to the second origin position. The robot 21 at the second origin position is in a ready state to prepare for the next movement, which can improve efficiency.

[0072] Optionally, controlling the transfer module 4 to put the unloading drawer containing the packages back into the storage cabinet module 3 comprises the following steps: Step S106: Obtain placement information of the packages placed in the discharge drawer.

[0073] Step S108: Control the robot transport module to move to a safe position according to the placement information.

[0074] The control module 6 receives the motion information transmitted by the controller of the transfer module 4, the motion information includes the placement information of the transfer module 4 moving to the discharge point of the robot 21, and controls the robot 21 to run to a safe position, that is, a non-interference position. The information that the robot 21 moves out of the motion range of the transfer module 4 is sent to the control module 6. The control module 6 controls the transfer module 4 to send the drawer back to the storage cabinet, avoiding mutual interference and improving efficiency.

[0075] Optionally, matching the material drawer of the storage cabinet module 3 according to the identification code information and generating matching information specifically includes the following steps: Step S201: Obtain storage information of the storage cabinet module and detection information of the corresponding discharge drawer.

[0076] Step S203: Compare the storage information, detection information and identification code information to generate matching information.

[0077] Scan the QR code of the package to obtain the package information, match the storage cabinet module 3 according to the package information, and store the matching information, thereby improving efficiency.

[0078] Optionally, the intelligent logistics control method based on machine vision also includes the following steps: Step S301: Display the detection information.

[0079] Step S303: Count the detection information and display the statistical results.

[0080] In this embodiment, the data obtained by the interaction between the control module 6 and the storage cabinet module 3 needs to be converted, and the obtained detection information can be processed into an indicator light display on the touch screen 8. The detection of the package by the storage cabinet module 3 will cause the indicator light of the corresponding storage cabinet to change between red and green. When the storage cabinet stores the package, the indicator light will change from red to green. The control module 6 can also count the storage situation of the entire storage cabinet based on the detection information, count the number of stored packages and the remaining vacant positions, so as to facilitate the staff to manually take or put materials.

[0081] Optionally, according to the matching information and the material grabbing position information, the robot handling module is controlled to cooperate with the transfer module, so that the robot handling module places the grabbed package in the transfer module, and the transfer module stores the package into the storage cabinet module, which specifically includes the following steps: Step S401: Control the robot transport module to move to the material grabbing position and grab the package according to the material grabbing position information.

[0082] Step S403: Control the transfer module to take out the corresponding discharge drawer from the storage cabinet module according to the matching information.

[0083] Step S405: Control the transfer module to transport the discharge drawer to the first discharge placement.

[0084] Step S407: Control the robot transport module to move to the second discharge position according to the matching information and place the grabbed packages into the discharge drawer.

[0085] Step S409: Control the transfer module to put the discharge drawer containing the packages back into the storage cabinet module.

[0086] The first material discharging position matches the second material discharging position.

[0087] Before matching the storage cabinet module 3 according to the package information, the method further includes detecting and storing the position information and storage status of each storage cabinet module 3. Matching the storage cabinet module 3 according to the package information includes: The location information and storage status of each storage cabinet module 3 are traversed, and a storage cabinet module 3 in an idle state is selected.

[0088] Exemplarily, there are storage cabinet modules 3A and B. The sensor signal of each storage cabinet module 3 is read in order from A to B and from top to bottom. The storage cabinet module 3 is a space for safely storing packages. By reading the sensor signal of each storage cabinet module 3, it is determined whether it is in an idle state, that is, no packages are stored, and its position information is recorded.

[0089] A storage cabinet module 3 matching the package information is selected from the storage cabinet modules 3 in an idle state.

[0090] Specifically, according to the information of the package, such as the size, weight and address of the package, a storage cabinet module 3 matching it is selected from all the free storage cabinets.

[0091] Acquiring the storage status of the storage cabinet module includes: Acquire photoelectric sensor signals and / or contact sensor signals of each storage cabinet module.

[0092] Specifically, the state of each storage cabinet module 3 is detected in real time through the photoelectric sensors and contact sensors installed in the storage cabinet module 3.

[0093] The storage state of the storage cabinet module 3 is determined according to the photoelectric sensor signal and the contact sensor signal.

[0094] Specifically, by analyzing the sensor signal, it is determined whether the storage cabinet module 3 is idle, has stored packages, has a drawer open, or in other states.

[0095] Determine whether the storage cabinet module 3 is in a storage state: if so, take out the drawer of the storage cabinet module 3 that matches the package to be taken out; if not, sound an alarm.

[0096] According to an embodiment of the present invention, there is also provided a storage medium storing a computer program, which implements any step of the intelligent logistics control method based on machine vision when executed by a processor.

[0097] In this embodiment, two storage cabinets A and B are taken as examples. When the computer program is running, the steps of the intelligent logistics control method based on machine vision can be executed, such as Figure 6 and Figure 7 As shown, the details are as follows: Step 1: Establish communication with the host computer and the visual recognition module 1. According to the set logical steps, receive and read data from the host computer and the visual recognition module 1 respectively. If no connection is established with the host computer, the robot 21 will stop operating and try to establish a communication connection again. After repeating the communication connection attempt three times, the robot 21 will alarm.

[0098] Step 2: The protocol for sending and receiving data with the host computer is defined as segmenting by the number of characters, start character, and end character. The data is stored in global variables to facilitate the logical judgment of the main program and the subroutine, and the character data is converted into the variable type. By judging the variable data and jumping between the main program and the subroutine, the host computer can also control the motion sequence of the robot 21.

[0099] Among them, in the process of interaction between robot 21 and the host computer, robot 21 receives data in groups of fourteen characters. If more characters are received, they will be divided into the buffer area, waiting for the next data reception of robot 21 or the data being cleared. The number of characters received is stored in different global variables of robot 21 according to different operation steps. Global variables are divided into the following according to different movement steps: ① Global variable used by robot 21 to identify and grasp packages--Global_recognition, which is mainly used to trigger robot 21 to move to the identification point and the grasping point, and when reaching the grasping point, Global_recognition is reset and the arrival signal is transmitted to the host computer. ② Global variable used for pick-and-place movement of robot 21-Global_motion, which is mainly used to trigger robot 21 to move to the pick-and-place point of transfer module 4. For example, when the host computer transmits the recognition signal, robot 21 receives the string data "011101$000110101110#0101111", and robot 21 segments the data by judging the start character and the end character, that is, it starts segmenting from "$", segments 16 characters and ends with "#", and segments the data "000110101110" and transmits it to robot 21Global_recognition. Robot 21 converts the character format into int type hexadecimal data, that is, converts the data into "1AE" and performs conditional judgment. After the value is verified to be correct, it enters the recognition motion subroutine. The values ​​of the variables are defined according to the storage location of the packages and the process of picking and placing. The received data is defined, that is, the 1st to 4th bits "0001" are defined as placing, "0002" as taking, the 5th to 8th bits "1010" are defined as storage in the storage cabinet of group A, "1011" as storage in the storage cabinet of group B, the 9th to 12th bits "1110" are defined as storage on the left side of the storage cabinet, and "1111" as storage on the right side of the storage cabinet. That is, if the data received by robot 21 is "000110101110", robot 21 will judge that it is the storage cabinet on the left side of group A for placing. If it receives "001010101111", robot 21 will judge that it is the storage cabinet on the right side of group A for taking. The data received by robot 21 is stored in Global_motion and converted into a different format. The robot 21 jumps to different material picking and placing motion programs based on conditional judgment. For example, if the characters "011101$000110101110#010111" are received, the program jumps to the subroutine Project_moton_a_left and performs the motion flow of the subroutine.When the robot 21 moves to different movement positions, it will interact with the host computer to ensure the safety between the devices. For example, when the transfer module 4 moves to the material picking and placing point, it sends a signal to the robot 21, and the robot 21 grabs the package and places it in the drawer; after the robot 21 puts the package, it moves out of the operation range of the transfer module 4, sends a signal, and the transfer module 4 moves to the drawer, etc.

[0100] The protocol for sending and receiving data with the visual recognition module 1 is set to use ";" as a delimiter, and receive the data in the form of an array to segment the data. According to different types of cameras, the data is divided into the spatial coordinate data X / Y / Z / Rx / Ry / Rz corresponding to the 3D camera, and the coordinate data obtained by the visual recognition module 1 is assigned to the Cartesian coordinate variable of the robot 21. , realize the data conversion from the coordinate data of the visual recognition module 1 to the coordinate data of the robot 21. The plane coordinate data X / Y / Rz corresponding to the 2D camera, and the corresponding relationship between the received data and the segmented coordinate data can be set according to the needs. Reference space coordinates, since the 2D data lacks Z / Rx / Ry coordinate parameters, the reference space coordinates need to be set in advance, and the robot 21 is manually controlled to move to the package grabbing point, and a coordinate variable - Coordinate_reference is defined to save the current Cartesian coordinates of the robot 21. The parameters of the Coordinate_reference are modified, where the Rx / Ry, i.e., the X-axis / Y-axis rotation parameters remain unchanged, the Z coordinate parameter value increases by 600, and the remaining parameters are reset to zero, and the data calculation is performed with the 2D parameters obtained by the 2D camera to obtain the new robot 21 coordinate point - Coordinate_capture_above. The coordinate data is actually the coordinate point above the package grabbing point space, which contains the package plane information obtained by vision and other 3D parameters obtained by the reference point. According to the coordinates of the grasping point and the pre-set reference space coordinates, the data transmitted by the 2D camera is supplemented with the missing height data and plane rotation data. The data is processed to obtain the Cartesian coordinate variables of the robot 21 , realizing the conversion of 2D visual data into data on the Cartesian left side of the robot 21 three-dimensional space.

[0101] The coordinate transformation can be, for example: reference space coordinates, initially set to the two-dimensional parameters {x1, y1, rz1} acquired by vision, the coordinates of the robot 21 are converted to: X-axis translation ∆x= (x1-x), Y-axis translation ∆y= (y1-y), rotation around the Z axis ∆rz= (rz1-rz).

[0102] The reference coordinate is initially set to: Coordinate_reference={x,y,z,rx,ry,rz}.

[0103] The transformation matrix is: Pxyz=Trans(∆x,∆y,0)Rot(z,∆rz).

[0104] That is, the coordinates are first translated into: .

[0105] The coordinates are then rotated to Rot(z,∆rz)= .

[0106] The reference coordinates ordinate_reference.x / Coordinate_reference.y / Coordinate_reference.rz are zero, and the acquired 2D parameters are {x1, y1, rz1}. These three parameters can complement each other, so the coordinate transformation can be expressed as: Coordinate_capture_above={x1, y1, z, rx, ry, rz}.

[0107] Step 3: Determine the system operation status of the transfer module 4 and the material picking and unloading points of the robot 21 according to the variable data obtained through communication with the upper computer. The material picking and unloading points of the robot 21 are divided into the material picking and unloading points of the transfer module 4A-1 / A-2 / B-1 / B-2. Different material picking and unloading points will guide the robot 21 to complete different movement steps of the robot 21.

[0108] The transfer module 4 plays a key role in the entire storage system. It is the first and last step of the mechanical movement of the entire system during the process of placing and taking out boxes. It is the physical hub for safely placing the packages in the correct position. Therefore, real-time feedback is required on the position of the transfer module 4. The servo motor 42 can be used to control the movement of the transfer module 4 with high precision. The control module 6 controls the action of the servo motor 42 through the servo driver 43.

[0109] The transfer module 4 realizes the communication function, communicates with the control module 6, realizes information exchange and collaborative work, and issues an alarm message when an unexpected situation occurs during the working process. Figure 8 As shown, the control command of the control module 6 is received and the current working position of the transfer module 4 is sent.

[0110] The transfer module 4 realizes the box placing function, receives the material placing information and position sent by the control module 6, extracts the empty drawer according to the position, and transfers the empty drawer to the material placing position coordinated with the robot 21. After that, it receives the information that the robot 21 has completed placing the package and left the interference area, and finally places the drawer with the package placed back to the original corresponding position, and the transfer module 4 returns to the origin position.

[0111] The transfer module 4 realizes the box picking function, receives the box picking information point sent by the control module 6, extracts the corresponding drawer according to the point, and transfers the drawer to the discharge point that cooperates with the robot 21. After that, it receives the information that the robot 21 takes away the package and leaves the interference area, and finally places the drawer back to the corresponding position, and the transfer module 4 returns to the origin position.

[0112] The transfer module 4 implements manual control function. In case of emergency or manual debugging of the system, the transfer module 4 is switched to manual mode to manually control the operation of the transfer module 4, including translation and lifting of the transfer module 4, pushing and pulling of the cylinder, power on and off of the electromagnet, mechanical zero return and return to the original state. Functions such as adjusting the running speed can be directly input into the drawer number, and the transport vehicle automatically reaches the drawer position. The specific steps are as follows: Step 1: The package judgment coil sent by the control module 6 is used as a trigger condition, and the received register D150, which stores the specific storage cabinet drawer number, is used as a judgment condition, and the drawer number of the target storage cabinet is stored in the material collection point X / Z to be moved. There are 44 drawers in total, that is, 44 lines of assignment program.

[0113] Step 2: The successful assignment of the material picking point register used for assignment is used as the trigger condition for movement. According to the movement sequence of the package, it is divided into 7 steps, namely: 1) return to the origin; 2) go to the drawer point; 3) pick up the drawer; 4) go to the robot 21 material picking point or material placement point; 5) go to the drawer placement point; 6) place the drawer; 7) return to the origin.

[0114] The origin position of the transfer module 4 is stored in the second register, and the start of the movement of the transfer module 4 is triggered from the origin to ensure that the point reached by the transfer module 4 is accurate. Therefore, the trigger condition for the start of movement requires that the current pulse value of the trolley is the same as the value stored in the origin register.

[0115] The step sequence is stored in the second register, which is also used as the condition for triggering and ending the step sequence. Use the DRVA pulse motion instruction to move the transport module 4, and set different speeds and accelerations according to different actions. For example, the speed of returning to the origin is increased, and the X-axis speed is faster than the Z-axis movement. The specific speed and acceleration storage address can be referred to Figure 5 The accumulated pulse is compared with the expected pulse value as the condition for triggering the next action.

[0116] While waiting for the robot 21 to pick up or put down materials, it is necessary to communicate with the robot 21. The robot 21 is notified to arrive at the picking point or putting down point that cooperates with the transfer module 4. The trigger condition coil for putting down the drawer is that the robot 21 leaves the interference area with the transfer module 4.

[0117] The last step of the transfer module 4 is to return to the origin, and the real-time pulse value of the operation module is the same as the origin position register, triggering the reset initial state instruction of the motion-related storage area.

[0118] Step 3: K03 is the program for the trolley to pull the drawer. This motion needs to interact with multiple sensors and components on the transfer module 4, including solenoid valves, magnetic switches, proximity switches, and electromagnets. The motion program is divided into: 1) Take the drawer; 2) Electromagnet sucks the drawer; 3) Pull the drawer.

[0119] The trigger condition for taking out the drawer is the package movement sequence, and the end condition is that the near-end magnetic switch detects that the cylinder moves to the near end. The trigger condition for the electromagnet to be powered on is that the far-end magnetic switch detects that the cylinder moves to the far end and stops the cylinder from pushing again.

[0120] The triggering condition for pulling the drawer is that the proximity switch senses the drawer and the remote magnetic switch detects that the cylinder is at the remote end. The input and output of the cylinder and the power on and off of the electromagnet indirectly set the triggering condition to prevent program disorder.

[0121] Step 4: K04 is the program for the trolley to deliver the drawer. This motion needs to interact with multiple sensors and components on the transfer module 4, including solenoid valves, magnetic switches, proximity switches, and electromagnets. The motion program is divided into: 1) Deliver the drawer; 2) Release the drawer by pressing the electromagnet; 3) Pull back the suction cup.

[0122] The trigger condition for sending the drawer is the package movement sequence, and the end condition is that the near-end magnetic switch detects that the cylinder has moved to the near end of the stroke. The trigger condition for the electromagnet to turn off the power is that the far-end magnetic switch detects that the cylinder has moved to the far end and stops the cylinder from pushing again. The trigger condition for sending the drawer is that the proximity switch senses the drawer and the far-end magnetic switch detects that the cylinder is at the far end. The input and output of the cylinder and the power on and off of the electromagnet indirectly set the trigger conditions to prevent program disorder.

[0123] The storage cabinet is a place to store documents safely. The system and staff need to know the current storage status in the drawer. Cabinet A is used to store port passes. Each drawer has two sensors and two sets of indicator lights. Each drawer has 10 wires, and Group A has 240 wires. Cabinet B has two drawers with four storage locations, four sensors, and four sets of indicator lights. The last drawer has three storage locations, three sensors, and three indicator lights. Therefore, Group B has 225 wires. Each cabinet will convert the signal into an IP signal through modbus-tcp and transmit it to the controller.

[0124] The lighting control and packaging judgment system of the storage cabinet realizes the function of the overall control system. As the hub of each device, each device transmits the device data to the storage cabinet processor through TCP / IP and Modbus-TCP connection. The transmitted data is processed in the storage cabinet processor, and the next operation signal of each device is transmitted according to the operating sequence between sensors and devices to start or reset the system.

[0125] The lighting control and package judgment system of the storage cabinet realizes the storage cabinet indicator light display function. The storage cabinet storage situation is judged in real time based on the detection of packages by the photoelectric sensor of the storage cabinet. The 8-bit detection data is processed into 16-bit indicator light data in the controller and transmitted to the indicator light of the storage cabinet for display in real time.

[0126] The lighting control and package judgment system of the storage cabinet realizes the package storage judgment function, verifies and performs logical judgment on the two-dimensional code data recognized by vision and the material picking information transmitted by external equipment, determines the storage cabinet point for picking or putting materials, and converts the storage cabinet point into the material picking point or material putting point transmitted to the robot 21, and the drawer point transmitted to the transfer module 4.

[0127] The lighting control and package judgment system of the storage cabinet realizes the signal input terminal function of human-computer interaction. The human-computer interaction functions realized in the touch screen 8 are such as manually controlling the transfer module 4, starting the pause system, running the material picking or placing tasks, adjusting the speed of the transfer module 4, etc. The input terminal corresponding to the function is the storage cabinet processor. The storage cabinet processor transmits this signal to each device. A total of 13 devices need to establish communication, including 11 cabinets, a robot 21, and an industrial computer 11, to realize human-computer interaction. The specific steps are as follows: Step (1): The touch screen 8 realizes human-computer interaction. By clicking the button or indicator light on the touch screen 8, the corresponding software is triggered, so that the system runs the corresponding control program, such as manually controlling the transfer module 4, displaying a fault alarm on the touch screen 8 when a device fails, triggering automatic material collection or discharge, manually controlling the transfer module 4 and the robot 21 to return to the origin, and displaying the indicator light of the control cabinet. In addition, the red and green indicator lights of the storage cabinet allow the staff to directly receive the storage status of the storage cabinet. The red light indicates that there is no package stored at this location, and the green light indicates that there is a package stored at this location.

[0128] Among them, the program running, pausing, returning to the original state, and the running state of the robot 21 are all connected to the control module 6 through Ethernet and controlled by the control module 6. In the process of the robot 21 and the transfer module 4 working together, the step sequence of the robot 21 and the transfer module 4 is controlled by the control module 6. In order to ensure the safety of the equipment during the operation, when the robot 21 or the transfer module 4 moves, other components that may interfere with the operation of the equipment will stop moving. When the robot 21 reaches the photo point, the material discharge point, the safety point, and the origin point, it will report to the control module 6 in real time. After receiving the signal, the control module 6 will proceed to the next step according to the sequence.

[0129] The visual recognition module 1 scans the QR code on the package to detect the package information and transmits it to the control module 6. The control module 6 performs logical judgment on the QR code information, and judges the location of the package according to the package storage principle and the type of certificate through program logic, and transmits the storage point information to each device. The QR code information is accurately, safely and correctly stored in correspondence with the storage location, thereby ensuring the security of information storage. After determining that the storage information and location are correct, the QR code information and the certificate storage point are sent to the external device together.

[0130] The operation of the transfer module 4 is the same as that of the robot 21. The automatic and manual operation control of the transfer module 4 requires information transmission through the control module 6, and the operation status of the transfer module 4 is received in real time, and the working status and position information of the transfer module 4 are displayed on the touch screen 8. Through the touch screen 8, the staff can monitor the operation status of the robot 21 and the transfer module 4 to ensure the normal operation of the equipment.

[0131] A functional module is embedded in the storage cabinet. The device converts the IO signals of the photoelectric switch and the limit into digital network communication signals and processes the signals to infer whether the storage cabinet meets the storage conditions and whether storage can be performed. The storage cabinet processor and the control module 6 interact with these signals through the Ethernet connection to display the real-time storage status of the storage cabinet.

[0132] Step (2): The storage location of the packages is determined based on the package storage principle and the port pass type. Packages are stored in sequence from group A storage cabinets to group B storage cabinets, and from upper storage cabinets to lower storage cabinets. There are 35 storage locations for normal license types, and a few others can be used to store other certificates.

[0133] When picking up materials, the material picking information, including the drawer number and the QR code information, is inputted by the touch screen 8 or the industrial computer 11. Each storage point has a corresponding register for storing the QR code information. After receiving the material picking information, the controller will check the material picking information to ensure that the target package to be taken out is the correct package.

[0134] After determining the storage position, the positions of the robot 21 and the transfer module 4 are assigned respectively. The robot 21 obtains the A / B group discharge position, and the transfer module 4 obtains the drawer number position.

[0135] Step (3): The data obtained from the interaction with the storage cabinet needs to be converted into data. The sensor detection results of the storage cabinet are processed into indicator light display. The sensor detection of the package will cause the indicator light of the corresponding storage cabinet to change from red to green. When the package is stored, the indicator light will change from red to green; and the storage situation of the entire storage cabinet is counted, and the number of packages stored in group A / B and the remaining empty positions are counted to facilitate manual loading and unloading of materials by staff.

[0136] Step (4): When the system completes a material collection or discharge, the registers and relays used in the operation process will be cleared to ensure the normal operation of the next operation process. If the system has an alarm, such as sensor detection failure, material collection point, discharge point verification failure, package falling during operation, etc., the system will stop the equipment to ensure the safety of the equipment, and wait for the staff to check and check, find out the problem, record the problem, adjust the equipment, reset the registers and relays used in the system operation, and return the transfer module 4 and robot 21 to their original state or manually return the transfer module 4 and robot 21 to their original state to ensure the normal operation of the system.

[0137] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A machine vision-based intelligent logistics control system, suitable for storing packages into or taking them out of a storage cabinet module, characterized in that: The intelligent logistics control system based on machine vision includes: The storage cabinet module (3) is provided with a plurality of material retrieval drawers and material discharge drawers, wherein packages are placed in the material retrieval drawers, and identification codes are provided on the outsides of the packages, and the material discharge drawers are empty drawers; A transfer module (4), adapted to take out the material discharge drawer or the material retrieval drawer; A robot handling module (2), adapted to place packages in the material placing drawer or to grab packages from the material taking drawer; Visual recognition module (1); The control module (6) is respectively connected to the storage cabinet module (3), the transfer module (4), the robot handling module (2) and the visual recognition module (1), and the control module (6) is suitable for obtaining material picking information or material discharge information, and controlling the visual recognition module (1) to run to a photographing position to identify the material grabbing position information and the identification code information of the identification code according to the material discharge information, matching the material discharge drawer of the storage cabinet module (3) according to the identification code information to generate matching information, and the control module (6) controls the robot handling module (2) to cooperate with the transfer module (4) according to the matching information and the material grabbing position information, so that the robot handling module (2) places the grabbed package in the transfer module (4), and stores the package in the storage cabinet module (3) through the transfer module (4).

2. The intelligent logistics control system based on machine vision according to claim 1 is characterized in that: The storage cabinet module (3) is provided with a storage cabinet processor, and the material retrieval drawer and the material discharge drawer are provided with a first detection device and a second detection device, the first detection device and the second detection device are respectively connected to the storage cabinet processor for communication, the storage cabinet processor determines whether the drawer is in the storage cabinet based on the detection signal of the first detection device, and the storage cabinet processor determines whether the package is in the corresponding drawer based on the detection signal of the second detection device.

3. The intelligent logistics control system based on machine vision according to claim 2 is characterized in that: The control module (6) is provided with a first register, the storage cabinet processor is provided with a second register, and the control module (6) stores the acquired identification code information in the first register and the second register.

4. A smart logistics control method based on machine vision, characterized in that: Using the intelligent logistics control system based on machine vision as described in any one of claims 1 to 3, the intelligent logistics control method based on machine vision includes: Get discharge information; According to the material discharge information, the visual recognition module is controlled to run to the photographing position to identify the material grabbing position information and the identification code information of the identification code; Matching the material discharging drawer of the storage cabinet module according to the identification code information and generating matching information; The robot handling module and the transfer module are controlled to cooperate according to the matching information and the material grabbing position information, so that the robot handling module places the grabbed packages in the transfer module, and stores the packages into the storage cabinet module through the transfer module.

5. The intelligent logistics control method based on machine vision according to claim 4 is characterized in that: Matching the material drawer of the storage cabinet module according to the identification code information and generating matching information, specifically including: Acquire storage information of the storage cabinet module and detection information of the corresponding discharge drawer; The storage information, the detection information and the identification code information are compared to generate the matching information.

6. The intelligent logistics control method based on machine vision according to claim 5 is characterized in that: Also includes: Display the detection information; The detection information is counted and the statistical results are displayed.

7. The intelligent logistics control method based on machine vision according to any one of claims 4 to 6, characterized in that: Controlling the robot handling module and the transfer module to cooperate according to the matching information and the material grabbing position information, so that the robot handling module places the grabbed package in the transfer module, and stores the package in the storage cabinet module through the transfer module, specifically including: Control the robot transport module to move to the material grabbing position and grab the package according to the material grabbing position information; Control the transfer module to take out the corresponding discharge drawer from the storage cabinet module according to the matching information; Control the transfer module to transport the discharge drawer to the first discharge placement; Control the robot transport module to move to the second discharge position according to the matching information and place the grabbed package into the discharge drawer; Controlling the transfer module to put the discharge drawer containing the packages back into the storage cabinet module; Wherein, the first material discharge placement and the second material discharge position match each other.

8. The intelligent logistics control method based on machine vision according to claim 7 is characterized in that: Controlling the transfer module to put the discharge drawer containing the package back into the storage cabinet module comprises: Acquire placement information of the package being placed in the discharge drawer; The robot transport module is controlled to move to a safe position according to the placement information.

9. The intelligent logistics control method based on machine vision according to any one of claims 4 to 6, characterized in that: Also includes: After completing the material picking or discharging, controlling the transfer module to run to the first origin position; and / or After completing the material picking or placing, the robot transport module is controlled to move to the second origin position.

10. A storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the intelligent logistics control method based on machine vision described in any one of claims 4 to 9 is implemented.

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