Cigarette inventory counting rack and inventory counting method

Abstract

The present invention discloses a cigarette inventory rack and inventory method, comprising: a base for connecting to an external traction vehicle, a bracket mechanism for mounting a front-end mechanism; a front-end mechanism for organizing cigarettes and collecting image information, the front-end mechanism comprising a robotic arm assembly, a visual assembly cooperating with the robotic arm assembly, a flip assembly, and a spacing control unit; a lifting mechanism for driving the front-end mechanism to move upward and downward; a control system comprising a main controller, a motor controller, and a power module; the motor controller comprising a current monitoring module, a voltage monitoring module, a motor drive module, and a communication module; the main controller is connected to an external host computer. The present invention organizes loose cigarettes unpacked from an elevated container and uses computer vision combined with size and gravity measurement to perform inventory, suitable for inventorying both standard and irregular-shaped cigarettes.

Description

Technical Field

[0001] The present invention relates to the technical field of cigarette inventory, in particular to a cigarette inventory rack and an inventory method. Background Art

[0002] When counting unpacked cigarettes stored in high-bay containers, due to the different storage locations and the presence of various irregular shapes of cigarettes, manual counting usually requires the use of lifting equipment to lift the counting personnel to a certain height to record the number of cigarettes through human vision and code scanning. This method is inefficient and poses certain safety risks. To this end, some methods using computer vision have emerged. For example, a camera is used to capture an image of the stacked cigarettes on the container. For example, image analysis software analyzes the shape of the cigarette image to count the number of cigarettes, or recognizes the cigarette barcode in the image to count the number of cigarettes. Statistics; however, in reality, due to the influence of the direction of cigarette placement, the shooting angle of the camera, and the influence of light reflected from the plastic packaging of the cigarettes, the acquired image information is often unable to provide key information (cigarette strip shape, barcode, brand name, etc.), thereby affecting the software recognition and causing inventory errors; for this reason, an inventory rack is needed that can ensure the acquired image quality by adjusting the position of the cigarette strips. At the same time, it does not rely solely on computer vision, but combines mechanical measurement of cigarette size, gravity and other data to determine the type of cigarette (the packaging size of cigarettes is regulated) to adapt to standard and special-shaped cigarettes, thereby ensuring the efficiency and accuracy of inventory. Summary of the Invention

[0003] The purpose of the present invention is to provide a cigarette inventory counting rack and an inventory counting method to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a cigarette inventory counting rack, comprising:

[0005] A base, used for connecting to an external traction vehicle, wherein a base cover is provided on the upper portion of the base;

[0006] A bracket mechanism, used to install the front end mechanism, the bracket mechanism includes a straight rod and a cover plate, the lower portion of the straight rod passes through the base cover and is connected to the base, and the cover plate is arranged on the upper portion of the straight rod;

[0007] A front-end mechanism for arranging cigarettes and collecting image information, comprising a robotic arm assembly, a visual assembly coordinated with the robotic arm assembly, a flip assembly, and a spacing control unit;

[0008] The lifting mechanism is used to drive the front-end mechanism to move upward and downward, so that the front-end mechanism can organize cigarettes at different positions on the high-bay container and collect image information. The lifting mechanism includes a Z-axis motor and a Z-axis transmission assembly. The lower portion of the Z-axis motor is connected to the base surface; the Z-axis transmission assembly includes a lifting screw and a guide slide. The upper portion of the lifting screw is rotatably connected to the cover plate. The upper portion of the guide slide is connected to the cover plate, and the lower portion of the lifting screw is connected to the output shaft of the Z-axis motor.

[0009] A control system comprising a main controller, a motor controller and a power module, wherein the main controller, the motor controller and the power module are arranged on the upper portion of the base, the motor controller and the power module are respectively connected to the main controller, and the Z-axis motor is connected to the motor controller;

[0010] The motor controller includes a current monitoring module, a voltage monitoring module, a motor drive module and a communication module. The current monitoring module, the voltage monitoring module, the communication module and the motor drive module are connected. The motor drive module is connected to the main controller through the communication module, and the main controller is connected to an external host computer.

[0011] Preferably, the main controller includes a processor module, a storage module, an image processing module, a timing module and an interface module, the storage module is connected to the processor module, the interface module is connected to the processor module, the timing module and the image processing module are respectively connected to the interface module, and the communication module is connected to the interface module.

[0012] Preferably, the flip assembly includes a flip motor, a rotating tube, a connecting rod, a motor mounting plate and two support bearings, one end of the motor mounting plate is connected to the mounting seat, the lower part of the flip motor is connected to the motor mounting plate, the outer sides of the two support bearings are connected to the mounting plate, the rotating tube is arranged on the inner side of the support bearing, one end of the connecting rod is connected to the inner side of the rotating tube, the output shaft of the flip motor is connected to the connecting rod, the lifting screw and the guide slide rod pass through the two ends of the mounting seat, the lifting screw is threadedly connected to the mounting seat, the guide slide rod is slidably connected to the mounting seat, and the flip motor is connected to the main controller; a distance sensor 1 is installed on the lower side of one end of the mounting seat, and the distance sensor 1 is connected to the main controller;

[0013] The spacing control unit includes a control motor 1, a control motor 2, a mounting plate, a track, a slider 1 and a slider 2 cooperating with the track, a screw 1, a screw 2, a distance sensor 2 and a distance sensor 3. The lower part of the track is connected to the outer surface of the rotating tube, and the slider 1 and the slider 2 are respectively slidably connected to the track. The mounting plate is arranged on one side of the track, and one side of the control motor 1 and the control motor 2 is connected to the mounting plate. The screw 1 and the screw 2 are respectively connected to the output shafts of the control motor 1 and the control motor 2. The end of the screw 1 away from the motor 1 is threadedly connected to the slider 1, and the end of the screw 2 away from the motor 2 is threadedly connected to the slider 2. The distance sensor 2 and the distance sensor 3 are arranged on the upper part of the mounting plate, and the opposite side surfaces of the slider 1 and the slider 2 are respectively provided with a buffer groove 1 and a buffer groove 2. The control motor 1, the control motor 2, the distance sensor 2 and the distance sensor 3 are respectively connected to the main controller.

[0014] Preferably, the robotic arm assembly includes robotic arm 1 and robotic arm 2, and the robotic arm 1 includes a linear motor 1, a supporting frame 1, a swing arm 1, a swing motor 1, a rotating shaft 1, a matching electric cylinder 1 and an angle sensor 1. The lower part of the linear motor 1 is connected to the slider 1, and the lower part of the supporting frame 1 is connected to the mover of the linear motor 1. The swing motor 1 is arranged on one side of the supporting frame 1, and the output shaft of the swing motor 1 passes through one side of the supporting frame 1 and is connected to the rotating shaft 1. The side of the rotating shaft 1 away from the swing motor 1 is rotatably connected to the supporting frame 1. One end of the angle sensor 1 passes through the supporting frame 1 and is connected to the rotating shaft 1. A distance sensor 4 and an anti-collision bar 1 are provided on one side of the rotating shaft linear motor 1. An adjustment slot 1 is provided on one side of the supporting frame 1. The matching electric cylinder 1 is arranged on the inner side of the supporting frame 1. A storage slot 1 is provided on the end of the swing arm 1 away from the swing motor 1. The linear motor 1, swing motor 1, angle sensor 1, distance sensor 4 and matching electric cylinder 1 are respectively connected to the main controller.

[0015] Preferably, the robotic arm also includes a toggle assembly, and the retracted toggle assembly includes a toggle electric cylinder, a toggle rod, a collar and a connecting block. One end of the toggle electric cylinder is connected to a connecting plate, and the toggle electric cylinder is connected to a swing arm through a connecting plate. The toggle rod is rotatably connected to a storage slot, and the collar is slidably sleeved on the outside of the toggle rod, and the connecting block is rotatably connected to the toggle rod. One end of the toggle electric cylinder is connected to a connecting block, and the toggle electric cylinder is connected to a main controller.

[0016] Preferably, the second robotic arm includes a second linear motor, a second supporting frame, a second swing arm, a second swing motor, a second rotating shaft, a second matching electric cylinder and a second angle sensor. The lower part of the second linear motor is connected to the second slider, and the lower part of the second supporting frame is connected to the mover of the second linear motor. The second swing motor is arranged on one side of the second supporting frame, and the output shaft of the second swing motor passes through one side of the second supporting frame and is connected to the second rotating shaft. The side of the second rotating shaft away from the second swing motor is rotatably connected to the second supporting frame. One end of the second angle sensor passes through the second supporting frame and is connected to the second rotating shaft. A distance sensor five and a second anti-collision bar are provided on one side of the second rotating shaft linear motor. An adjustment slot two is provided on one side of the second supporting frame. The second matching electric cylinder is arranged on the inner side of the second supporting frame, and a storage slot two is provided on the end of the second swing arm away from the second swing motor. The second linear motor, the second swing motor, the second angle sensor, the fifth distance sensor and the second matching electric cylinder are respectively connected to the main controller.

[0017] Preferably, the second robotic arm also includes a second toggle assembly, which includes a second toggle electric cylinder, a second toggle rod, a second collar and a second connecting block. One end of the second toggle electric cylinder is connected to a second connecting plate. The second toggle electric cylinder is connected to the second swing arm through the second connecting plate. The second toggle rod is rotatably connected to the second storage slot. The second collar is slidably sleeved on the outside of the second toggle rod. The second connecting block is rotatably connected to the second toggle rod. One end of the second toggle electric cylinder is connected to the second connecting block. The second toggle electric cylinder is connected to the main controller.

[0018] Preferably, the visual component includes a visual unit 1, a visual unit 2 and a visual unit 3;

[0019] The visual unit 1 includes a mounting panel, a camera 1 and a radio frequency signal reader 1. The lower portion of the mounting panel is connected to the mounting base. The radio frequency signal reader 1 and the camera 1 are sequentially arranged on one side of the mounting panel from top to bottom.

[0020] The visual unit 2 includes a second camera, a third camera, a second radio frequency signal reader, a sixth distance sensor, a first groove, and a second groove. The first groove and the second groove are respectively provided on one side of the first swing arm. The second camera is provided on the rear side of the first groove. One end of the second camera passes through the first groove. The sixth distance sensor is provided on the rear side of the second groove. One end of the sixth distance sensor passes through the second groove. The second radio frequency signal reader is embedded in the first swing arm. The third camera is slidably provided in the first adjustment groove. One side of the third camera is connected to the first matching electric cylinder. The second camera, the third camera, the second radio frequency signal reader, and the sixth distance sensor are respectively connected to the main controller.

[0021] The visual unit three includes camera four, camera five, radio frequency signal reader three, side camera and groove three. The groove three is opened on one side of the swing arm two. The camera four is arranged on the rear side of groove three. One end of the camera four passes through groove three. The radio frequency signal reader three is embedded in the swing arm one. The camera five is slidably set in the adjustment groove two. One side of the camera five is connected to the matching electric cylinder two. One end of the side camera passes through the supporting frame two. The side camera is used for image information of the cigarettes stacked on the outside of the robotic arm two. The camera four, camera five, radio frequency signal reader three and side camera are respectively connected to the main controller.

[0022] A cigarette inventory counting method uses a cigarette inventory counting rack, and the specific steps are as follows:

[0023] S1. Move the cigarette inventory counting rack to the side of the high-bay container to be counted, and connect the cigarette inventory counting rack to the external traction equipment via the base;

[0024] S2. Take inventory of cigarettes stored at different locations on the high-bay containers;

[0025] S3. Compare the inventory results with the inventory information in the warehouse management system.

[0026] Preferably, step S2 includes the following sub-steps:

[0027] S2.1. Obtain the side and front images of cigarettes stored at a location on a high-bay container:

[0028] The front end mechanism is driven by the lifting mechanism to move to the position where cigarettes are stored on the high-bay container. The front image of the cigarette is captured by the first visual unit. The first and second robotic arms are flipped to a horizontal position by the robotic arm flip assembly. The first and second robotic arms are inserted into the container. The lifting mechanism is controlled to drive the first and second robotic arms to move from top to bottom along the side of the cigarette. The side image of the cigarette is captured by the second visual unit and the third visual unit installed on the first and second robotic arms.

[0029] S2.2. Analyze the placement of cigarettes through the image. If any cigarettes are found to be scattered, proceed to S2.3; otherwise, proceed to step S2.4.

[0030] S2.3. Arrange the stacked cigarettes: Robotic Arms 1 and 2 and the spacing control unit gather scattered and tilted cigarettes from both sides and the back, aligning them for easy identification.

[0031] S2.4. Identify the barcode, text, and shape information of the cigarettes using the image information and count them. If some cigarettes cannot be identified, proceed to step S2.5; otherwise, proceed to step S2.6.

[0032] S2.5. Identify the type of unidentifiable cigarettes by weighing and mechanically measuring their dimensions. The main controller records the abnormality information and sends the cigarette type and abnormality record information to the host computer.

[0033] The weighing method is as follows: the main controller controls the first and second robotic arms to move to both sides of the unrecognizable cigarette, the motor controller controls the lifting mechanism to drive the first and second robotic arms to move upward to a set height H, and obtains the time T through the timing module, obtains the current and voltage of the motor through the current monitoring module and the voltage monitoring module, and calculates the work W0 done by the motor within the time T through the main controller. Then, the first and second robotic arms tighten the unrecognizable cigarette and drive it upward to the same height H, and obtains the time T1 through the timing module, obtains the current and voltage information of the motor at this time through the current monitoring module and the voltage monitoring module, and calculates the work W1 done by the motor within the time T1 through the main controller. The absolute value of the difference between the two work done, |ΔW|, is the work done by the Z-axis motor to drive the cigarette to move to the height H, and the mass m of the cigarette = |ΔW| / gH;

[0034] The mechanical measurement method is as follows: controlling motor 1 and motor 2 to control mechanical arm 1 and mechanical arm 2 to fit the side of the cigarette, and obtaining a size data of the cigarette by measuring the distance between mechanical arm 1 and mechanical arm 2 through distance sensor 2 and distance sensor 3. Then, mechanical arm 1 or mechanical arm 2 is controlled to fit the lower surface of the high-bay container and the upper surface of the cigarette, and distance sensor 1 is used to measure the distance between the two sides. The difference between the two distances is another size data of the cigarette. The information of the cigarette can be obtained by the two size data.

[0035] S2.6, transmit the counting information to the main controller, and the main controller transmits it to the host computer; then move to the next inventory position.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The present invention controls the rotation of the flip motor through the main controller, which drives the rotation of the flip motor to drive the rotation of the connecting rod, which drives the rotation of the connecting rod to drive the rotation of the rotating tube, which drives the rotation of the rotating tube to drive the track to rotate, which drives the slider 1 and the slider 2 to move, which respectively drive the mechanical arm 1 and the mechanical arm 2 to move, and finally the mechanical arm 1 and the mechanical arm 2 are flipped to a horizontal state; the mechanical arm 1 and the mechanical arm 2 respectively drive the supporting frame 1 and the supporting frame 2 to move telescopically, and insert the supporting frame 1 and the supporting frame 2 into the two sides of the cigarette pile; then, the main controller is used to control the rotation of the flip motor, which drives the connecting rod to drive the rotating tube, which drives the rotating tube to drive the track to rotate, which drives the sliding block 1 and the sliding block 2 to move, which respectively drives the mechanical arm 1 and the mechanical arm 2 to move telescopically, and insert the supporting frame 1 and the supporting frame 2 into the two sides of the cigarette pile; then, the main controller is used to control the rotation of the flip motor, which drives the connecting block 1 and the rotating tube to rotate ... The device starts control motor 1 and control motor 2, which respectively drive screw 1 and screw 2 to rotate, and the rotation of screw 1 and screw 2 drives slider 1 and slider 2 to move, and slider 1 and slider 2 drive support frame 1 and support frame 2 to move. The movement distance of slider 1 and slider 2 is detected by distance sensor 2 and distance sensor 3, and the scattered cigarette strips are straightened; the straightened cigarette pile makes it convenient for visual component 1, visual component 2 and visual component 3 to obtain images of the side and front of the cigarettes. At the same time, the straightened cigarette pile also provides convenience for later manual review.

[0038] 2. In the present invention, robotic arms 1 and 2 are inserted into the inner side of the container. Camera 2, camera 3, and radio frequency signal reader 2 installed on swing arm 1 follow the movement of carrier frame 1. Camera 4, camera 5, radio frequency signal reader 3, and side cameras installed on swing arm 2 follow the movement of carrier frame 2. Image information of the left side of the cigarette is obtained through camera 2 and camera 3, and image information of the right side of the cigarette is obtained through camera 4 and camera 5. By installing four cameras for each of these purposes, the shooting area can be expanded to ensure that the sides of the stacked cigarettes can be fully photographed. It can also ensure that if one camera has a problem, the other camera can still capture images normally, reducing the frequency of shutdowns for maintenance and minimizing the impact on inventory efficiency.

[0039] 3. The inventory method of the present invention combines weighing and dimension measurement methods to improve the efficiency and accuracy of inventory. The weighing method is as follows: the main controller controls the movement of the first and second robotic arms to the two sides of the unidentifiable cigarette, the motor controller controls the lifting mechanism to drive the first and second robotic arms to move upward to a set height H, and obtains the time T through the timing module. The current and voltage of the motor are obtained through the current monitoring module and the voltage monitoring module. The main controller calculates the work W done by the motor during the time T. Then, the first and second robotic arms tighten the unidentifiable cigarette and drive it upward to the same height H. The time T is obtained through the timing module. The current and voltage information of the motor at this time is obtained through the current monitoring module and the voltage monitoring module. The main controller calculates the work W done by the motor during the time T. The absolute value of the difference between the two work steps, |ΔW|, is the work done by the Z-axis motor to drive the cigarette to the height H. The mass of the cigarette, m, = |ΔW| / gH. No separate weighing device is required.

[0040] The mechanical method of measuring size is: control motor one and control motor two to control machine one and robot arm two to fit the side of the cigarette, and obtain a size data of the cigarette by measuring the distance between robot arm one and robot arm two through distance sensor two and distance sensor three, and then control robot arm one or robot arm two in turn to fit the lower surface of the high-rise container and the upper surface of the cigarette, and measure the distance between the two sides through distance sensor one. The difference between the two distances is another size data of the cigarette. The information of the cigarette can be obtained through the two size data. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the overall structure of a cigarette inventory counting rack of the present invention;

[0042] Figure 2 This is a partial structural cross-sectional view of a cigarette inventory counting rack according to the present invention;

[0043] Figure 3 For the present invention Figure 1 Left view of;

[0044] Figure 4 For the present invention Figure 1 Right view;

[0045] Figure 5 Schematic diagram of the structure of the robot arm 1 and the visual component 2 of the present invention;

[0046] Figure 6 For the present invention Figure 5 Side view of;

[0047] Figure 7 Schematic diagram of the structure of the robot arm 2 and the visual component 3 of the present invention;

[0048] Figure 8 For the present invention Figure 7 Side view of;

[0049] Figure 9 This is a schematic structural diagram of the spacing control unit of the present invention;

[0050] Figure 10 For the present invention Figure 9 A top view of

[0051] Figure 11 A flowchart of the steps of a cigarette inventory counting method according to the present invention;

[0052] Figure 12 This is a module connection diagram of the present invention.

[0053] In the figure: base 1, bracket mechanism 2, front end mechanism 3, lifting mechanism 4, control system 5, adjustment slot 1 6, storage slot 1 7, storage slot 2 8, base cover 101, straight rod 21, cover plate 22, robot arm assembly 31, visual assembly 32, flip assembly 33, spacing control unit 34, Z-axis motor 41, Z-axis transmission assembly 42, lifting screw 421, guide slide 422, main controller 51, motor controller 52, power module 53, current monitoring module 521, voltage monitoring module 522, motor drive module 523, Communication module 1 524, flip motor 3301, rotating tube 3302, connecting rod 3303, motor mounting plate 3304, support bearing 3305, mounting seat 3306, distance sensor 1 3307, control motor 1 3401, control motor 2 3402, mounting plate 3403, track 3404, slider 1 3405, slider 2 3406, screw 1 3407, screw 2 3408, distance sensor 2 3409, distance sensor 3 34010, robotic arm 1 311, robotic arm 2 312, linear motor 1. 3111. Carrier frame 1. 3112. Swing arm 1. 3113. Swing motor 1. 3114. Rotating shaft 1. 3115. Matching electric cylinder 1. 3116. Angle sensor 1. 3117. Distance sensor 4. 3118. Toggle assembly 1. 3119. Toggle electric cylinder 1. 31191. Toggle rod 1. 31192. Collar 1. 31193. Connecting block 1. 31194. Connecting plate 1. 31195. Linear motor 2. 3121. Carrier frame 2. 3122. Swing arm 2. 3123. Swing motor 2. 3124. Rotating shaft 2. 3125. Matching electric cylinder. Two 3126, angle sensor two 3127, vision unit one 321, vision unit two 322, vision unit three 323, mounting panel 3211, camera one 3212, RF signal reader one 3213, camera two 3221, camera three 3222, RF signal reader two 3223, distance sensor six 3224, groove one 3225, groove two 3226, camera four 3231, camera five 3232, RF signal reader three 3233, side camera 3234, groove three 3235. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0056] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention in specific circumstances.

[0057] See also Figure 1-10 The present invention provides a technical solution: a cigarette inventory counting rack, comprising:

[0058] The base 1 is used to connect to an external traction vehicle, and a base cover is installed on the upper part of the base 1;

[0059] The bracket mechanism 2 is used to install the front end mechanism 3. The bracket mechanism 2 includes a straight rod 21 and a cover plate 22. The lower part of the straight rod 21 passes through the base 1 cover and is connected to the base 1. The cover plate 22 is installed on the upper part of the straight rod 21;

[0060] The front-end mechanism 3 is used to organize cigarettes and collect image information. The front-end mechanism 3 includes a mechanical arm assembly 31, a visual assembly 32 cooperating with the mechanical arm assembly 31, a flip assembly 33, and a spacing control unit 34;

[0061] The lifting mechanism 4 is used to drive the front-end mechanism 3 to move up and down, so that the front-end mechanism 3 can organize cigarettes at different positions on the high-bay container and collect image information. The lifting mechanism 4 includes a Z-axis motor 41 and a Z-axis transmission assembly 42. The lower portion of the Z-axis motor 41 is connected to the surface of the base 1; the Z-axis transmission assembly 42 includes a lifting screw 421 and a guide slide 422. The upper portion of the lifting screw 421 is rotatably connected to the cover plate 22, the upper portion of the guide slide 422 is connected to the cover plate 22, and the lower portion of the lifting screw 421 is connected to the output shaft of the Z-axis motor 41;

[0062] Control system 5, which includes a main controller 51, a motor controller 52 and a power module 53. The main controller 51, the motor controller 52 and the power module 53 are mounted on the upper portion of the base 1. The motor controller 52 and the power module 53 are connected to the main controller 51 respectively, and the Z-axis motor 41 is connected to the motor controller 52;

[0063] The motor controller 52 includes a current monitoring module 521, a voltage monitoring module 522, a motor drive module 523 and a communication module 524. The current monitoring module 521, the voltage monitoring module 522, the communication module 524 and the motor drive module 523 are connected. The motor drive module 523 is connected to the main controller 51 through the communication module 524, and the main controller 51 is connected to an external host computer.

[0064] The main controller 51 includes a processor module, a storage module, an image processing module, a timing module and an interface module. The storage module is connected to the processor module, the interface module is connected to the processor module, the timing module and the image processing module are respectively connected to the interface module, and the communication module 524 is connected to the interface module.

[0065] The flip assembly 33 includes a flip motor 3301, a rotating tube 3302, a connecting rod 3303, a motor mounting plate 3304, two support bearings 3305 and a mounting seat 3306. One end of the motor mounting plate 3304 is connected to the mounting seat 3306. The lower part of the flip motor 3301 is connected to the motor mounting plate 3304. The outer sides of the two support bearings 3305 are connected to the mounting seat 3306. The rotating tube 3302 is installed on the inner side of the support bearing 3305. One end of the connecting rod 3303 is connected to the mounting seat 3306. The inner side of the rotating tube 3302 is connected, the output shaft of the flip motor 3301 is connected to the connecting rod 3303, the lifting screw 421 and the guide slide 422 pass through both ends of the mounting base 3306, the lifting screw 421 is threadedly connected to the mounting base 3306, the guide slide 422 is slidingly connected to the mounting base 3306, and the flip motor 3301 is connected to the main controller 51; a distance sensor 3307 is installed on the lower side of one end of the mounting base 3306, and the distance sensor 3307 is connected to the main controller 51;

[0066] The spacing control unit 34 includes a control motor 1 3401, a control motor 2 3402, a mounting plate 3403, a track 3404, a slider 1 3405, a slider 2 3406, a screw 1 3407, a screw 2 3408, a distance sensor 2 3409 and a distance sensor 3 34010. The lower portion of the track 3404 is connected to the outer surface of the rotating tube 3302, the slider 1 3405 and the slider 2 3406 are respectively slidably connected to the track 3404, the mounting plate 3403 is installed on one side of the track 3404, the control motor 1 3401 and the control motor 2 3402 are connected to the mounting plate 3403, the screw 1 3407, the screw 2 3408, the distance sensor 2 3409 and the distance sensor 34010. 07 and screw two 3408 are respectively connected to the output shafts of control motor one 3401 and control motor two 3402, the end of screw one 3407 away from motor one is threadedly connected to slider one 3405, the end of screw two 3408 away from motor two is threadedly connected to slider two 3406, distance sensor two 3409 and distance sensor three 34010 are installed on the upper part of the mounting plate 3403, and buffer groove one and buffer groove two are respectively provided on the opposite side surfaces of slider one 3405 and slider two 3406, and control motor one 3401, control motor two 3402, distance sensor two 3409 and distance sensor three 34010 are respectively connected to the main controller 51.

[0067] The robot arm assembly 31 includes a robot arm 1 311 and a robot arm 2 312. The robot arm 1 311 includes a linear motor 1 3111, a carrier frame 1 3112, a swing arm 1 3113, a swing motor 1 3114, a rotating shaft 1 3115, a matching electric cylinder 1 3116 and an angle sensor 1 3117. The lower part of the linear motor 1 3111 is connected to the slider 1 3405, the lower part of the carrier frame 1 3112 is connected to the mover of the linear motor 1 3111, the swing motor 1 3114 is installed on one side of the carrier frame 1 3112, and the output shaft of the swing motor 1 3114 passes through one side of the carrier frame 1 3112 and is connected to the rotating shaft 1 3115. The rotating shaft 1 3115 is away from the swing motor One side of 3114 is rotatably connected to the supporting frame 3112, one end of the angle sensor 3117 passes through the supporting frame 3112 and is connected to the rotating shaft 3115, a distance sensor 4 3118 and an anti-collision bar 1 are installed on one side of the rotating shaft linear motor 3111, an adjustment slot 6 is provided on one side of the supporting frame 3112, a matching electric cylinder 3116 is installed on the inner side of the supporting frame 3112, and a storage slot 7 is provided on the end of the swing arm 3113 away from the swing motor 3114, the linear motor 3111, the swing motor 3114, the angle sensor 3117, the distance sensor 4 3118 and the matching electric cylinder 3116 are respectively connected to the main controller 51.

[0068] The robotic arm 311 also includes a toggle assembly 3119. The retractable toggle assembly 3119 includes a toggle cylinder 31191, a toggle rod 31192, a collar 31193 and a connecting block 31194. One end of the toggle cylinder 31191 is connected to a connecting plate 31195. The toggle cylinder 31191 is connected to the swing arm 3113 through the connecting plate 31195. The toggle rod 31192 is rotatably connected to the storage slot 7. The collar 31193 is slidably mounted on the outside of the toggle rod 31192. The connecting block 31194 is rotatably connected to the toggle rod 31192. One end of the toggle cylinder 31191 is connected to the connecting block 31194. The toggle cylinder 31191 is connected to the main controller 51.

[0069] The second robot arm 312 includes a second linear motor 3121, a second carrier frame 3122, a second swing arm 3123, a second swing motor 3124, a second rotating shaft 3125, a second matching electric cylinder 3126 and a second angle sensor 3127. The lower part of the second linear motor 3121 is connected to the second slider 3406, the lower part of the second carrier frame 3122 is connected to the mover of the second linear motor 3121, the second swing motor 3124 is installed on one side of the second carrier frame 3122, the output shaft of the second swing motor 3124 passes through one side of the second carrier frame 3122 and is connected to the second rotating shaft 3125, and the side of the second rotating shaft 3125 away from the second swing motor 3124 is connected to the carrier. Frame 2 3122 is rotatably connected, one end of angle sensor 2 3127 passes through carrier frame 2 3122 and is connected to rotating shaft 2 3125, distance sensor 5 3128 and anti-collision bar 2 are installed on one side of linear motor 2 3121, adjustment slot 2 is provided on one side of carrier frame 2 3122, matching electric cylinder 2 3126 is installed on the inner side of carrier frame 2 3122, and storage slot 2 8 is provided on the end of swing arm 2 3123 away from swing motor 2 3124, linear motor 2 3121, swing motor 2 3124, angle sensor 2 3127, distance sensor 5 3128 and matching electric cylinder 2 3126 are respectively connected to the main controller 51.

[0070] The second robotic arm 312 also includes a second toggle assembly 3129, which includes a second toggle cylinder 31291, a second toggle rod 31292, a second collar 31293 and a second connecting block 31294. The two ends of the second toggle cylinder 31291 are connected to a second connecting plate 31295. The second toggle cylinder 31291 is connected to the second swing arm 3123 through the second connecting plate 31295. The second toggle rod 31292 is rotatably connected to the inner wall of the storage groove 8. The second collar 31293 is slidably sleeved on the outside of the second toggle rod 31292. The second connecting block 31294 is rotatably connected to the second toggle rod 31292. One end of the second toggle cylinder 31291 is connected to the second connecting block 31294. The second toggle cylinder 31291 is connected to the main controller 51.

[0071] The visual component 32 includes a visual unit 1 321 , a visual unit 2 322 , and a visual unit 323 ;

[0072] The visual unit 1 321 includes a mounting panel 3211, a camera 1 3212, and a radio frequency signal reader 1 3213. The lower portion of the mounting panel 3211 is connected to the mounting base 3306. The radio frequency signal reader 1 3213 and the camera 1 3212 are sequentially mounted on one side of the mounting panel 3211 from top to bottom.

[0073] Vision unit 2 322 includes camera 2 3221, camera 3 3222, RF signal reader 2 3223, distance sensor 6 3224, groove 1 3225, and groove 2 3226. Groove 1 3225 and groove 2 3226 are respectively provided on one side of swing arm 1 3113. Camera 2 3221 is mounted on the rear side of groove 1 3225, with one end of camera 2 3221 extending through groove 1 3225. Distance sensor 6 3224 is mounted on the rear side of groove 2 3226, with one end of distance sensor 6 extending through groove 2 3226. RF signal reader 2 3223 is embedded in swing arm 1 3113. Camera 3 3222 is slidably mounted in adjustment slot 1 6. One side of camera 3 3222 is connected to matching electric cylinder 1 3116. Camera 2 3221, camera 3 3222, RF signal reader 2 3223, and distance sensor 6 3224 are respectively connected to main controller 51.

[0074] The vision unit three 323 includes a camera four 3231, a camera five 3232, a radio frequency signal reader three 3233, a side camera 3234, and a groove three 3235. The groove three 3235 is provided on one side of the swing arm two 3123. The camera four 3231 is mounted on the rear side of the groove three 3235. One end of the camera four 3231 passes through the groove three 3235. The radio frequency signal reader three 3233 is embedded in the swing arm one 3113. The camera five 3232 is slidably mounted in the adjustment slot two. One side of the camera five 3232 is connected to the matching electric cylinder two 3126. One end of the side camera 3234 passes through the supporting frame two 3122. The side camera 3234 is used to obtain image information of the stacked cigarettes outside the robotic arm two 312. The camera four 3231, the camera five 3232, the radio frequency signal reader three 3233, and the side camera 3234 are respectively connected to the main controller 51.

[0075] See Figure 11 The present invention also provides a cigarette inventory counting method, which uses a cigarette inventory counting rack, and the specific steps are as follows:

[0076] S1. Move the cigarette inventory counting rack to the side of the high-bay container to be counted, and connect the cigarette inventory counting rack to the external traction equipment via base 1;

[0077] S2. Take inventory of cigarettes stored at different locations on the high-bay containers;

[0078] S3. Compare the inventory results with the inventory information in the warehouse management system.

[0079] Step S2 includes the following sub-steps:

[0080] S2.1. Obtain the side and front images of cigarettes stored at a location on a high-bay container:

[0081] The front end mechanism 3 is driven by the lifting mechanism 4 to move to the position where cigarettes are stored on the high-bay container. The front image of the cigarette is captured by the vision unit 1 321. The robot arm flip assembly drives the robot arm 1 311 and the robot arm 2 312 to flip to a horizontal state. The robot arm 1 311 and the robot arm 2 312 extend into the container. The lifting mechanism 4 is controlled to drive the robot arm 1 311 and the robot arm 2 312 to move from top to bottom along the side of the cigarette. The side image of the cigarette is captured by the vision unit 2 322 and the vision unit 3 323 installed on the robot arm 1 311 and the robot arm 2 312.

[0082] S2.2. Analyze the placement of cigarettes through the image. If any cigarettes are found to be scattered, proceed to S2.3; otherwise, proceed to step S2.4.

[0083] S2.3. Arrange the stacked cigarettes: Robotic arm 1 311, robot arm 2 312, and spacing control unit 34 gather scattered and tilted cigarettes from both sides and the back, aligning them for easy identification.

[0084] S2.4. Identify the barcode, text, and shape information of the cigarettes using the image information and count them. If some cigarettes cannot be identified, proceed to step S2.5; otherwise, proceed to step S2.6.

[0085] S2.5. Identify the type of unrecognizable cigarettes by weighing and mechanically measuring their dimensions. The main controller 51 records the abnormal information and sends the cigarette type and abnormal record information to the host computer;

[0086] The weighing method is as follows: the main controller 51 controls the robot arm 1 311 and the robot arm 2 312 to move to both sides of the unrecognizable cigarette, and the motor controller 52 controls the lifting mechanism 4 to drive the robot arm 1 311 and the robot arm 2 312 to move upward to a set height H. The time T is obtained through the timing module, and the current and voltage of the motor are obtained through the current monitoring module 521 and the voltage monitoring module 522. The main controller 51 calculates the work W0 done by the motor during the time T. Then, the robot arm 1 311 and the robot arm 2 312 tighten the unrecognizable cigarette and drive it upward to the same height H. The time T1 is obtained through the timing module, and the current and voltage information of the motor at this time is obtained through the current monitoring module 521 and the voltage monitoring module 522. The main controller 51 calculates the work W1 done by the motor during the time T1. The absolute value of the difference between the two work steps |ΔW| is the work done by the Z-axis motor 41 to drive the cigarette to move to the height H. The mass m of the cigarette = |ΔW| / gH.

[0087] The mechanical measurement method is to control motor 1 3401 and motor 2 3402 to control robot 1 and robot arm 2 312 to contact the side of the cigarette. The distance between robot arm 1 311 and robot arm 2 312 is measured by distance sensor 2 3409 and distance sensor 3 to obtain the size of the cigarette. Then, robot arm 1 311 or robot arm 2 312 is controlled to contact the lower surface of the high-bay container and the upper surface of the cigarette. The distance between the two sides is measured by distance sensor 1 3307. The difference between the two distances is the other size data of the cigarette. The two size data can be used to obtain information about the cigarette.

[0088] S2.6, transmit the counting information to the main controller 51, and the main controller 51 transmits it to the host computer; then move to the next inventory position.

[0089] Working Principle: In actual use, the AGV acts as a traction device and moves under the high-bay container according to a set program. The main controller 51 controls the rotation of the Z-axis motor 41, which drives the connected lifting screw 421 to rotate. The rotation of the lifting screw 421 drives the front end mechanism 3 on the mounting base 3306 to move up and down outside the high-bay container. During this movement, the radio frequency signal reader 3213 reads the RFID tag information of each storage location on the high-bay container and transmits this information to the main controller 51. The main controller 51 connects to the host computer of the warehouse storage system and obtains the storage information of the location based on the tag information. If an inventory is required, it is carried out according to the inventory steps.

[0090] The reason for sorting during the inventory process is that the cigarettes in each warehouse are not placed neatly. Some stacked cigarette sticks fall during the storage process, and the falling position cannot be determined. The fallen cigarette sticks are often in a tilted state, and some tilt angles make it difficult for the camera to identify them from the side and front. In addition, the reflective plastic packaging on the outside of the cigarettes makes the captured images unclear, and some important information such as barcodes and trademark text cannot be obtained. In particular, for some cigarettes after unpacking, there is no RFID tag on the outer packaging, so they cannot be identified by radio frequency signals.

[0091] The cigarette sorting process: First, the main controller 51 controls the turning motor 3301 to rotate, the turning motor 3301 rotates and drives the connecting rod 3303 to rotate, the connecting rod 3303 rotates and drives the rotating tube 3302 to rotate, the rotating tube 3302 rotates and drives the track 3404 to rotate, the track 3404 drives the slider 1 3405 and the slider 2 3406 to move, the slider 1 3405 and the slider 2 3406 respectively drive the robot arm 1 311 and the robot arm 2 312 to move, and finally the robot arm 1 311 and the robot arm 2 312 are moved. The second robotic arm 312 flips to a horizontal state; the first robotic arm 311 and the second robotic arm 312 respectively drive the first carrier frame 3112 and the second carrier frame 3122 to move telescopically through the linear motor 1 3111 and the linear motor 2 3121, and insert the first carrier frame 3112 and the second carrier frame 3122 into the two sides of the cigarette pile; then the main controller 51 starts the control motor 1 3401 and the control motor 2 3402, and the control motor 1 3401 and the control motor 2 3402 respectively drive the screw 1 3407 and the screw The second screw 3408 rotates, the screw 1 3407 and the screw 2 3408 rotate to drive the slider 1 3405 and the slider 2 3406 to move, the slider 1 3405 and the slider 2 3406 drive the supporting frame 1 3112 and the supporting frame 2 3122 to move, and the movement distance of the slider 1 3405 and the slider 2 3406 is detected by the distance sensor 2 3409 and the distance sensor 3 34010 to straighten the scattered cigarette strips; in some cases, the cigarette cannot be straightened by pushing it from the side, so that one side of the cigarette is straightened. Facing the mounting panel 3211, the cigarette rod needs to be adjusted in angle by toggling it, while also being pushed from the side. The toggling process is as follows: Taking the toggling assembly 1 3119 as an example, the main controller 51 controls the toggling electric cylinder 1 31191 to retract. The retraction of the toggling electric cylinder 1 31191 pulls the connecting block 1 31194 downward. The connecting block 1 31194 drives the toggling rod to rotate via the collar 1 31193. The toggling rod 1 31192 then moves upward, and the cigarette rod is toggled by the toggling rod 1 31192. Furthermore, when the toggling rod 1 31192 and the toggling rod 2 31292 are located at the rear of the cigarette and extended to a certain angle, they are driven by the linear motor 1 3111 and the linear motor 2 3121 to approach the cigarette. The toggling rod 1 31192 and the toggling rod 2 31292 can then be used to push the cigarette forward, thereby sorting out cigarettes that have fallen to the rear of the bin.

[0092] When the robot arm 1 311 and the robot arm 2 312 push the cigarettes from both sides, if the scattered cigarettes are stacked together in multiple pieces, the contact area between the side of the swing arm 1 3113 or the swing arm 2 3123 and the side of the cigarette pile is very small, making it difficult to push the entire cigarette pile to move, and the upper cigarettes are likely to fall off during the pushing process. At this time, the main controller 51 controls the swing motor 1 3114 to rotate, and the swing motor 1 3114 drives the rotating shaft 1 3115 to rotate, and the rotating shaft 1 3115 drives the swing arm 1 3113 to tilt up, so that the swing arm 1 3113 and the supporting frame 1 3112 form a certain angle, so as to increase the contact points with the side of the cigarette, and the tilting angle of the swing arm 1 3113 is measured by the angle sensor 1 3117, and the side of the swing arm 1 3113 and the side of the supporting frame 1 3112 are used to jointly push the side of the cigarette. The main controller 51 controls the extension and retraction of the matching electric cylinder 1 3116, thereby driving the camera 3 3222 to slide in the adjustment slot 1 6, thereby adjusting the position of the camera 3 3222; in addition, when the swing arm 1 3113 is tilted, the projection point of the camera 3 3222 on the side of the cigarette will change. In order to prevent the camera 3 3222 from leaving the shooting area under the drive of the swing arm 1 3113, the matching electric cylinder 1 3116 can also be controlled to move and move the camera 3 3222 so that the projection point of the camera 3 3222 is always inside the side of the cigarette, thereby ensuring the image shooting effect.

[0093] When it is necessary to obtain side images of cigarettes, robotic arm 1 311 and robotic arm 2 312 need to be inserted into the inner side of the container. Camera 2 3221, camera 3 3222, and radio frequency signal reader 2 3223 installed on swing arm 1 3113 follow the movement of carrier frame 1 3112. Camera 4 3231, camera 5 3232, radio frequency signal reader 3 3233, and side camera 3234 installed on swing arm 2 3123 follow the movement of carrier frame 2 3122. Image information of the left side of the cigarette is obtained through camera 2 3221 and camera 3 3222, and image information of the right side of the cigarette is obtained through camera 4 3231 and camera 5 3232. By installing four cameras for each of these purposes, the shooting area can be expanded to ensure that the sides of the stacked cigarettes can be fully captured. It can also ensure that if one camera has a problem, the other camera can normally capture images, thereby reducing the frequency of downtime for maintenance and minimizing the impact on inventory efficiency.

[0094] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0095] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A cigarette inventory rack, characterized by: include: A base (1) is used for connecting to an external traction vehicle, and a base cover (101) is provided on the upper portion of the base (1); A bracket mechanism (2) for mounting the front end mechanism (3), the bracket mechanism (2) comprising a straight rod (21) and a cover plate (22), the lower portion of the straight rod (21) passing through the base cover (101) and connected to the base (1), and the cover plate (22) being arranged on the upper portion of the straight rod (21); A front-end mechanism (3) for arranging cigarettes and collecting image information, the front-end mechanism (3) comprising a mechanical arm assembly (31), a visual assembly (32) cooperating with the mechanical arm assembly (31), a flip assembly (33), and a spacing control unit (34); The robotic arm assembly (31) includes a robotic arm 1 (311) and a robotic arm 2 (312), wherein the robotic arm 1 (311) includes a linear motor 1 (3111), a supporting frame 1 (3112), a swing arm 1 (3113), a swing motor 1 (3114), a rotating shaft 1 (3115), a matching electric cylinder 1 (3116) and an angle sensor 1 (3117), wherein the lower portion of the supporting frame 1 (3112) is connected to the mover of the linear motor 1 (3111), the swing motor 1 (3114) is arranged on one side of the supporting frame 1 (3112), and the output shaft of the swing motor 1 (3114) passes through one side of the supporting frame 1 (3112) and is connected to the rotating shaft. One (3115) is connected, the side of the rotating shaft (3115) away from the swing motor (3114) is rotatably connected to the supporting frame (3112), one end of the angle sensor (3117) passes through the supporting frame (3112) and is connected to the rotating shaft (3115), one side of the rotating shaft linear motor (3111) is provided with a distance sensor four (3118) and an anti-collision bar one, one side of the supporting frame (3112) is provided with an adjustment slot (6), the matching electric cylinder (3116) is provided on the inner side of the supporting frame (3112), and the end of the swing arm (3113) away from the swing motor (3114) is provided with a storage slot (7); The robot arm 2 (312) includes a linear motor 2 (3121), a supporting frame 2 (3122), a swing arm 2 (3123), a swing motor 2 (3124), a rotating shaft 2 (3125), a matching electric cylinder 2 (3126) and an angle sensor 2 (3127). The lower part of the linear motor 2 (3121) is connected to the slider 2 (3406), the lower part of the supporting frame 2 (3122) is connected to the mover of the linear motor 2 (3121), the swing motor 2 (3124) is arranged on one side of the supporting frame 2 (3122), and the output shaft of the swing motor 2 (3124) passes through one side of the supporting frame 2 (3122) and is connected to the rotating shaft 2. (3125), the side of the second rotating shaft (3125) away from the second swing motor (3124) is rotatably connected to the second carrying frame (3122), one end of the second angle sensor (3127) passes through the second carrying frame (3122) and is connected to the second rotating shaft (3125), one side of the second linear motor (3121) is provided with a distance sensor five (3128) and an anti-collision rod two, one side of the second carrying frame (3122) is provided with an adjustment slot two, the second matching electric cylinder (3126) is provided on the inner side of the second carrying frame (3122), and the end of the second swing arm (3123) away from the second swing motor (3124) is provided with a storage slot two (8); The lifting mechanism (4) is used to drive the front-end mechanism (3) to move up and down, so that the front-end mechanism (3) can sort cigarettes at different positions on the high-bay container and collect image information. The lifting mechanism (4) includes a Z-axis motor (41) and a Z-axis transmission assembly (42). The lower part of the Z-axis motor (41) is connected to the surface of the base (1); the Z-axis transmission assembly (42) includes a lifting screw (421) and a guide slide (422). The upper part of the lifting screw (421) is rotatably connected to the cover plate (22). The upper part of the guide slide (422) is connected to the cover plate (22). The lower part of the lifting screw (421) is connected to the output shaft of the Z-axis motor (41). A control system (5), the control system (5) comprising a main controller (51), a motor controller (52) and a power module (53), the main controller (51), the motor controller (52) and the power module (53) being arranged on the upper portion of the base (1), the motor controller (52) and the power module (53) being connected to the main controller (51) respectively, and the Z-axis motor (41) being connected to the motor controller (52); The motor controller (52) includes a current monitoring module (521), a voltage monitoring module (522), a motor drive module (523) and a communication module (524). The current monitoring module (521), the voltage monitoring module (522), the communication module (524) and the motor drive module (523) are connected. The motor drive module (523) is connected to the main controller (51) through the communication module (524). The main controller (51) is connected to an external host computer.

2. The cigarette inventory counting rack and inventory counting method according to claim 1, characterized in that: The main controller (51) includes a processor module, a storage module, an image processing module, a timing module and an interface module. The storage module is connected to the processor module, the interface module is connected to the processor module, the timing module and the image processing module are respectively connected to the interface module, and the communication module 1 (524) is connected to the interface module.

3. The cigarette inventory counting rack according to claim 1, characterized in that: The flip assembly (33) comprises a flip motor (3301), a rotating tube (3302), a connecting rod (3303), a motor mounting plate (3304), two support bearings (3305) and a mounting seat (3306), one end of the motor mounting plate (3304) is connected to the mounting seat (3306), the lower part of the flip motor (3301) is connected to the motor mounting plate (3304), the outer sides of the two support bearings (3305) are connected to the mounting seat (3306), the rotating tube (3302) is arranged on the inner side of the support bearing (3305), one end of the connecting rod (3303) is connected to the rotating tube (3302), and the outer sides of the two support bearings (3305) are connected to the mounting seat (3306). The inner side of the movable tube (3302) is connected, the output shaft of the flip motor (3301) is connected to the connecting rod (3303), the lifting screw (421) and the guide slide (422) pass through both ends of the mounting seat (3306), the lifting screw (421) is threadedly connected to the mounting seat (3306), the guide slide (422) is slidably connected to the mounting seat (3306), and the flip motor (3301) is connected to the main controller (51); a distance sensor (3307) is installed on the lower side of one end of the mounting seat (3306), and the distance sensor (3307) is connected to the main controller (51); The spacing control unit (34) includes a control motor 1 (3401), a control motor 2 (3402), a mounting plate (3403), a track (3404), a slider 1 (3405) matched with the track (3404), a slider 2 (3406), a screw 1 (3407), a screw 2 (3408), a distance sensor 2 (3409) and a distance sensor 3 (34010), the lower part of the track (3404) is connected to the outer surface of the rotating tube (3302), the slider 1 (3405) and the slider 2 (3406) are respectively connected to the track (3404) in a sliding manner, the mounting plate (3403) is arranged on one side of the track (3404), one side of the control motor 1 (3401) and the control motor 2 (3402) are connected to the mounting plate (3403), the Screw rod 1 (3407) and screw rod 2 (3408) are connected to the output shafts of control motor 1 (3401) and control motor 2 (3402) respectively. The end of screw rod 1 (3407) away from motor 1 is threadedly connected to slider 1 (3405), and the end of screw rod 2 (3408) away from motor 2 is threadedly connected to slider 2 (3406). Distance sensor 2 (3409) and distance sensor 3 (34010) are arranged on the upper part of the mounting plate (3403). Buffer groove 1 and buffer groove 2 are respectively provided on the opposite side surfaces of slider 1 (3405) and slider 2 (3406). Control motor 1 (3401), control motor 2 (3402), distance sensor 2 (3409) and distance sensor 3 (34010) are respectively connected to the main controller (51).

4. The cigarette inventory counting rack according to claim 1, characterized in that: The lower part of the linear motor 1 (3111) is connected to the slider 1 (3405), and the linear motor 1 (3111), the swing motor 1 (3114), the angle sensor 1 (3117), the distance sensor 4 (3118) and the matching electric cylinder 1 (3116) are respectively connected to the main controller (51).

5. The cigarette inventory counting rack according to claim 4, characterized in that: The mechanical arm 1 (311) further includes a toggle assembly 1 (3119), the toggle assembly 1 (3119) including a toggle electric cylinder 1 (31191), a toggle rod 1 (31192), a collar 1 (31193) and a connecting block 1 (31194), one end of the toggle electric cylinder 1 (31191) is connected to a connecting plate 1 (31195), and the toggle electric cylinder 1 (31191) is connected to the swing arm 1 (31194) via the connecting plate 1 (31195). 3113), the toggle rod 1 (31192) is rotatably connected to the receiving groove 1 (7), the collar 1 (31193) is slidably sleeved on the outside of the toggle rod 1 (31192), the connecting block 1 (31194) is rotatably connected to the toggle rod 1 (31192), one end of the toggle electric cylinder 1 (31191) is connected to the connecting block 1 (31194), and the toggle electric cylinder 1 (31191) is connected to the main controller (51).

6. The cigarette inventory counting rack according to claim 4, characterized in that: The second linear motor (3121), the second swing motor (3124), the second angle sensor (3127), the fifth distance sensor (3128) and the second matching electric cylinder (3126) are respectively connected to the main controller (51).

7. The cigarette inventory counting rack according to claim 6, characterized in that: The second mechanical arm (312) further includes a second toggle assembly (3129), which includes a second toggle electric cylinder (31291), a second toggle rod (31292), a second collar (31293) and a second connecting block (31294). The two ends of the second toggle electric cylinder (31291) are connected to a second connecting plate (31295). The second toggle electric cylinder (31291) is connected to the second swing arm (31294) via the second connecting plate (31295). 123), the second toggle rod (31292) is rotatably connected to the inner wall of the second receiving groove (8), the second collar (31293) is slidably sleeved on the outside of the second toggle rod (31292), the second connecting block (31294) is rotatably connected to the second toggle rod (31292), one end of the second toggle electric cylinder (31291) is connected to the second connecting block (31294), and the second toggle electric cylinder (31291) is connected to the main controller (51).

8. The cigarette inventory counting rack according to claim 7, characterized in that: The visual component (32) includes a visual unit 1 (321), a visual unit 2 (322) and a visual unit 3 (323); The visual unit 1 (321) includes a mounting panel (3211), a camera 1 (3212) and a radio frequency signal reader 1 (3213), wherein the lower portion of the mounting panel (3211) is connected to the mounting base (3306), and the radio frequency signal reader 1 (3213) and the camera 1 (3212) are sequentially arranged on one side of the mounting panel (3211) from top to bottom; The visual unit 2 (322) includes a camera 2 (3221), a camera 3 (3222), a radio frequency signal reader 2 (3223), a distance sensor 6 (3224), a groove 1 (3225) and a groove 2 (3226), wherein the groove 1 (3225) and the groove 2 (3226) are respectively provided on one side of the swing arm 1 (3113), the camera 2 (3221) is provided on the rear side of the groove 1 (3225), one end of the camera 2 (3221) passes through the groove 1 (3225), and the distance sensor 6 (3224) is provided On the rear side of groove 2 (3226), one end of distance sensor 6 (3224) passes through groove 2 (3226), radio frequency signal reader 2 (3223) is embedded in swing arm 1 (3113), camera 3 (3222) is slidably set in adjustment slot 1 (6), one side of camera 3 (3222) is connected to matching electric cylinder 1 (3116), camera 2 (3221), camera 3 (3222), radio frequency signal reader 2 (3223) and distance sensor 6 (3224) are respectively connected to the main controller (51); The visual unit three (323) includes a camera four (3231), a camera five (3232), a radio frequency signal reader three (3233), a side camera (3234) and a groove three (3235), wherein the groove three (3235) is provided on one side of the swing arm two (3123), the camera four (3231) is provided on the rear side of the groove three (3235), one end of the camera four (3231) passes through the groove three (3235), and the radio frequency signal reader three (3233) is embedded in the swing arm one (3113). The camera five (3232) is slidably arranged in the adjustment slot two, one side of the camera five (3232) is connected to the matching electric cylinder two (3126), one end of the side camera (3234) passes through the supporting frame two (3122), and the side camera (3234) is used for image information of the cigarettes stacked outside the robotic arm two (312), and the camera four (3231), the camera five (3232), the radio frequency signal reader three (3233) and the side camera (3234) are respectively connected to the main controller (51).

9. A method for counting cigarette inventory, characterized by: Using the cigarette inventory counting rack according to claim 8, the specific steps are as follows: S1. Move the cigarette inventory counting rack to the side of the high-bay container to be counted, and connect the cigarette inventory counting rack to the external traction equipment through the base (1); S2. Take inventory of cigarettes stored at different locations on the high-bay containers; S3. Compare the inventory results with the inventory information in the warehouse management system.

10. The cigarette inventory counting method according to claim 9, characterized in that: The step S2 includes the following sub-steps: S2.

1. Obtain the side and front images of cigarettes stored at a location on a high-bay container: The front end mechanism (3) is driven to move to a position on a high-bay container for storing cigarettes by a lifting mechanism (4), a front image of the cigarette is photographed by a visual unit 1 (321), the robotic arm 1 (311) and the robotic arm 2 (312) are driven to flip to a horizontal state by a robotic arm flip assembly, the robotic arm 1 (311) and the robotic arm 2 (312) are extended into the container, the lifting mechanism (4) is controlled to drive the robotic arm 1 (311) and the robotic arm 2 (312) to move from top to bottom along the side of the cigarette, and an image of the side of the cigarette is photographed by a visual unit 2 (322) and a visual unit 3 (323) provided on the robotic arm 1 (311) and the robotic arm 2 (312); S2.

2. Analyze the placement of cigarettes through the image. If any cigarettes are found to be scattered, proceed to S2.3; otherwise, proceed to step S2.

4. S2.

3. Arrange the stacked cigarettes: Use the robotic arm 1 (311), the robotic arm 2 (312) and the spacing control unit (34) to gather the scattered cigarettes and the tilted cigarettes from both sides and the back, so that the cigarettes are placed evenly for easy identification; S2.

4. Identify the barcode, text, and shape information of the cigarettes using the image information and count them. If some cigarettes cannot be identified, proceed to step S2.5; otherwise, proceed to step S2.

6. S2.5, the type of unidentifiable cigarettes is identified by weighing and mechanically measuring the size, the main controller (51) records the abnormal information, and sends the type of cigarettes and abnormal record information to the upper computer; The weighing method is as follows: the main controller (51) controls the robot arm 1 (311) and the robot arm 2 (312) to move to the two sides of the unidentifiable cigarette, the motor controller (52) controls the lifting mechanism (4) to drive the robot arm 1 (311) and the robot arm 2 (312) to move upward to the set height H, and obtains the time T through the timing module, obtains the current and voltage of the motor through the current monitoring module (521) and the voltage monitoring module (522), and calculates the work W0 done by the motor within the time T through the main controller (51), then the robot arm 1 (311) and the robot arm 2 (312) clamp the unidentifiable cigarette and drive it to move upward to the same height H, and obtains the time T1 through the timing module, obtains the current and voltage information of the motor at this time through the current monitoring module (521) and the voltage monitoring module (522), and calculates the work W1 done by the motor within the time T1 through the main controller (51), then the absolute value of the difference between the two works is = the work done by the Z-axis motor (41) to move the cigarette to a height H, then the mass of the cigarette is ; The mechanical size measurement method is as follows: the main controller starts the control motor 1 (3401) and the control motor 2 (3402), controls the robot arm 1 (311) and the robot arm 2 (312) to fit the side of the cigarette, obtains a size data of the cigarette by measuring the distance between the robot arm 1 (311) and the robot arm 2 (312) by the distance sensor 2 (3409) and the distance sensor 3, and then sequentially controls the robot arm 1 (311) or the robot arm 2 (312) to fit the lower surface of the high-bay container and the upper surface of the cigarette, and measures the distance between the two sides by the distance sensor 1 (3307). The difference between the distances is another size data of the cigarette, and the information of the cigarette can be obtained by the two size data; S2.6, transmit the counting information to the main controller (51), and the main controller (51) transmits it to the host computer; then move to the next inventory position.

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