Stereo warehouse goods inventory device and stereo storage system

Abstract

The application discloses a stereoscopic warehouse goods inventory device and a stereoscopic storage system, which comprises a server, a communication connection route, a storage database, a stacker, a lifting loading platform, telescopic forks, a profile frame, a goods channel, a customer site device, a relay module, an image acquisition device and an industrial computer.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent warehousing, and in particular, relates to a stereoscopic warehouse goods inventory device and a stereoscopic warehousing system. BACKGROUND

[0002] In addition to the comprehensive material management function, the intelligent warehousing also has dynamic inventory, dynamic inventory, document confirmation, handheld machine management, library location management, quota management, life cycle management, and engineering project management and quality inspection management. Among them, the dynamic inventory supports "multiple people + different places + at the same time" inventory, and the inventory can be recorded at the same time. The inventory is very intuitive; the dynamic inventory reproduces the historical period inventory situation, which is convenient for financial audit; the document confirmation needs to be confirmed and updated after the warehouse-in, warehouse-out and allocation of the single document. The handheld machine management uses the handheld machine to confirm the single document, inventory, query and statistics. The library location management is the library shelf layer. The quality inspection management is the registration of the strong inspection goods, the warehouse-in quality inspection confirmation and the external inspection notification. The quota management is the material supply quota, the reserve quota and the project quota; the whole life cycle management is the whole process management of the material from the warehouse-in to the warehouse-out until the scrap; the engineering project management is the single engineering supplier management. The demand material procurement plan approval realizes the unlimited approval level, and the intelligent warehousing is provided with a warehouse-in machine, a warehouse-out machine, a query machine and other optional hardware devices.

[0003] In the related art, the whole inventory device of the stereoscopic warehouse is installed on the stacker of the vertical warehouse, and it is difficult to ensure the effective working distance of the camera and other visual sensors due to the narrow space between the stacker, the track and the vertical warehouse. To inventory a library location and obtain the results of the product specification, the pile type and the quantity, it is necessary to collect multi-dimensional information data of the goods in the pile, but it is very difficult to obtain reliable feature data. The metal support will interfere with the signal, and it is not convenient to arrange wireless devices in the warehouse area. When the stacker enters the deep part of the warehouse area, the communication quality is difficult to guarantee, and not all library locations in the vertical warehouse have goods. Performing inventory action on each library location will seriously affect the inventory efficiency. The vertical warehouse often contains multiple lanes, and if a set of inventory devices is installed in each lane, the investment and maintenance cost will be high.

[0004] How to use the effective space of the stereoscopic warehouse and the limitation of the device to improve the accuracy of the goods inventory has been an important research direction for the technical personnel in the field. SUMMARY

[0005] To solve at least one of the above technical problems, the present application provides a stereoscopic warehouse goods inventory device and a stereoscopic warehousing system.

[0006] According to a first aspect of the present invention, an automated warehouse inventory management device is provided, comprising: a server for generating and sending inventory management instructions and having a storage database; a router for communication connection to the server; a stacker crane, operating within an aisle, equipped with a lifting platform, an industrial control computer, and customer site equipment, wherein the lifting platform is equipped with telescopic forks and a profile frame, the telescopic forks picking up and placing goods at a target storage location on the rack, the profile frame being fixed to the lifting platform and having a goods passage, the industrial control computer controlling the telescopic forks to lift goods back and forth in the goods passage, and the customer site equipment being wiredly connected to the industrial control computer; a relay module, located on a rack at the aisle entrance and exit, and wirelessly connected to the router and the customer site equipment, the relay module being connected to an Ethernet power supply switch; and an image acquisition device for communication connection to the industrial control computer and the customer site equipment, used to acquire storage location information of the target storage location and feature surface data of goods at the target storage location.

[0007] Preferably, the image acquisition device includes a high-definition industrial camera, a wide-angle camera, and a full-resolution depth camera. The wide-angle camera is detachably fixed to the profile frame to acquire the location information of the target storage location; the high-definition industrial camera acquires the first feature surface information of the goods in the target storage location; and the full-resolution depth camera is adjustablely connected to the profile frame to acquire the second feature surface information of the goods in the target storage location.

[0008] In any of the above solutions, it is preferred that the profile frame is provided at both ends of the cargo passage and a first crossbeam is provided along the width of the cargo passage, and the high-definition industrial camera and the wide-angle camera are detachably fixed to the middle of the first crossbeam.

[0009] In any of the above solutions, it is preferred that a dual-camera bracket is fixed in the middle of the first crossbeam, the dual-camera bracket is provided with multiple camera fixing holes, and the high-definition industrial camera and the wide-angle camera can be detachably fixed to the dual-camera bracket.

[0010] In any of the above embodiments, preferably, the profile frame is symmetrically provided with two second crossbeams along the length of the cargo passage, and a push rod base is detachably fixed in the middle of the second crossbeam, and an electric push rod is fixed in the push rod base; above the second crossbeam, the profile frame is provided with a third crossbeam, and a buckle is fixed in the third crossbeam, and the electric push rod is fastened to the third crossbeam by the buckle.

[0011] In any of the above schemes, it is preferred that a fourth crossbeam is provided between the two first crossbeams along the length of the cargo passage, with the two ends of the fourth crossbeam fixed to the tops of the two electric push rods respectively, and a full-resolution depth camera fixed in the middle of the fourth crossbeam.

[0012] In any of the above solutions, preferably, a top camera mounting bracket is provided in the middle of the fourth crossbeam, and the full-resolution depth camera is detachably fixed to the top camera mounting bracket; a laser sensor is also installed on the side of the top camera mounting bracket, and the laser sensor is electrically connected to the industrial control computer.

[0013] In any of the above solutions, preferably, strip light sources are fixed on the profile frame at both ends of the goods passage.

[0014] In any of the above solutions, preferably, the profile frame further has an electric control cabinet support and a wire slot, the electric control cabinet support is fixed with an electric control cabinet, the industrial computer, the relay and the emergency stop switch are arranged in the electric control cabinet, the electric control cabinet is provided with a junction box for arranging redundant cables, and the wire slot is used for wiring.

[0015] According to a second aspect of the present application, a stereoscopic warehouse system is provided, which comprises a warehouse management system and / or a warehouse control system, and the stereoscopic warehouse goods inventory device according to any one of the above first aspect and each embodiment, the warehouse management system or the warehouse control system is communicatively connected to the server of the stereoscopic warehouse goods inventory device, an initial inventory instruction is sent to the server, and the server parses the initial inventory instruction into a goods inventory instruction.

[0016] Through the above design, the present application can at least achieve the following beneficial effects:

[0017] In the present application, wireless communication is arranged outside the region of the storage shelves through routing, and the wireless signal outside the region of the storage shelves is extended to the aisle through a relay module at the aisle opening between the storage shelves, thereby expanding the range of the wireless signal and ensuring the communication quality in the aisle. Moreover, the profile frame, the image acquisition device, the industrial computer and other mechanical devices can be quickly disassembled and assembled, all interfaces and cables support quick plugging, and error-proof plugging protection is provided, so that the stacker in different aisles can be replaced without the need to arrange each aisle, and the replacement cost is low. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a communication connection structure schematic diagram of an embodiment of the stereoscopic warehouse goods inventory device of the present application;

[0019] Figure 2 is a partial structure schematic diagram of another embodiment of the stereoscopic warehouse goods inventory device of the present application.

[0020] Explanation of reference numerals in the drawings:

[0021] 1-server; 2-routing; 3-profile frame; 31-first cross beam; 311-double camera support; 32-second cross beam; 321-push rod base; 33-electric push rod; 34-third cross beam; 341-buckle; 35-fourth cross beam; 351-top camera fixing part; 36-laser sensor; 37-strip light source; 38-electric control cabinet support; 381-electric control cabinet; 382-junction box; 39-wire slot; 4-relay module; 5-high-definition industrial camera; 6-wide-angle camera; 7-full-spectrum analysis depth camera. DETAILED DESCRIPTION

[0022] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0023] In addition, in the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The terms "connected", "connected" used in the present application should be understood broadly, for example, can be fixed connection, can also be detachable connection; can be directly connected, can also be indirectly connected through intermediate components, and those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0024] The intelligent warehouse management system is a system software that uses one product one code technology to manage and supervise the process of warehouse goods at each stage. It can manage the one product one code serial number of warehouse goods such as warehouse entry, warehouse storage, storage location, batch number, shelf life, etc. It can also produce various effective statistical information according to customer needs for all stages of standard work such as goods taking, goods delivery, goods preparation, consolidation, distribution, etc. In addition to the movement of goods by the stacker crane, the inventory system is also required to inventory the goods. The three-dimensional warehouse inventory system is an important technical application in modern logistics and warehouse management.

[0025] In the past, warehouse inventory usually relies on manual operation, which is time-consuming and labor-intensive, and prone to errors. However, with the development of technology and the application of automation technology, the stereoscopic warehouse inventory system has emerged, bringing revolutionary changes to warehouse management. This system uses advanced sensor technology, machine vision, and automatic control technology to monitor and track goods in the warehouse in real time. The key technologies involved include: sensor technology, the stereoscopic warehouse inventory system is equipped with various types of sensors, such as laser sensors, infrared sensors, ultrasonic sensors, etc., to obtain information such as the position, shape, and size of goods; machine vision, through the installation of cameras or laser scanners and other equipment, the system can obtain image information of goods in the warehouse, and with the help of image recognition and processing algorithms, it can realize automatic identification and classification of goods; automatic control technology, the stereoscopic warehouse inventory system is equipped with an intelligent control unit, which can automatically adjust the actions of mechanical arms or transportation equipment according to the feedback information of sensors and machine vision, to complete the automatic inventory task; data management and analysis, the system stores and analyzes the data obtained during the inventory process, providing real-time and accurate inventory information for warehouse managers, helping to optimize logistics operations and reduce inventory errors. The application of the stereoscopic warehouse inventory system brings many advantages. In addition to the automatic inventory that greatly improves the inventory efficiency, saves time and labor costs, and reduces errors and inventory differences caused by human operation, it also improves data accuracy and the reliability of warehouse management. In addition, the real-time monitoring function of the system can also detect goods abnormalities in time, avoiding inventory loss or omission.

[0026] However, the stereoscopic warehouse inventory system also faces some challenges. The shielding problem caused by complex warehouse environment and goods stacking may affect the accuracy of sensors and data accuracy. At the same time, the investment and maintenance cost of the system is high, which may have certain threshold for some small and medium-sized enterprises. Therefore, it is necessary to design an efficient, stable, and low-cost stereoscopic warehouse goods inventory device to realize the heavy warehouse goods inventory management.

[0027] The first aspect of the present application aims to solve the above-mentioned technical problems in the related art, and provides a stereoscopic warehouse goods inventory device. Figure 1 is a network connection structure diagram of an embodiment of the stereoscopic warehouse goods inventory device of the present application; Figure 2 is a partial structure diagram of another embodiment of the stereoscopic warehouse goods inventory device of the present application. As Figure 1 and Figure 2As shown, the automated warehouse inventory management system may include a server 1, a router 2, a stacker crane, a frame 3, a relay module 4, and an image acquisition device. The server 1 generates and sends inventory instructions and has a database. The router 2 is communicatively connected to the server 1. The stacker crane operates within the aisles and may be equipped with a lifting platform, an industrial control computer, and customer-specific equipment. The lifting platform has telescopic forks and the frame 3. The telescopic forks pick up and place goods at the target storage location on the shelves. The frame 3 is fixed to the lifting platform and has a goods passageway. The industrial control computer controls the telescopic forks to lift goods and move them back and forth in the goods passageway. The customer-specific equipment is wiredly connected to the industrial control computer. The relay module 4 can be installed on the shelves at the aisle entrances and exits and wirelessly connects to the router 2 and the customer-specific equipment. The relay module 4 is connected to an Ethernet power supply switch. The image acquisition device is communicatively connected to the industrial control computer and the customer-specific equipment to collect storage location information and feature surface data of goods at the target storage location.

[0028] This implementation example Figure 1 The area shown can be divided into three parts: the area outside the aisle, the aisle entrance, and the stacker crane inside the aisle. Server 1 can be located outside the area where the automated warehouse shelves are arranged. To ensure the quality of communication, Server 1 can connect to Router 2 via a wired network. In this embodiment, Router 2 can be a combination of an industrial router and a wireless access point (AP). The industrial-grade router is an IoT wireless communication router that can transmit network signals only to the required ports. The gateway can convert between standard Ethernet and industrial Ethernet protocols, wireless and wired interfaces, or Ethernet and fieldbus communication protocols. The processor performance ranges from 200 to over 1500 MIPS, and the on-chip memory capacity is typically greater than 256KB of L2 cache. This type of factory automation equipment has a robust structure, is suitable for harsh industrial environments without fan cooling, and is specifically designed for data transmission in the industrial field. A wireless access point (AP) is an access point for users with wireless devices (mobile devices such as mobile phones and wireless devices such as laptops) to access a wired network. It is mainly used inside buildings, campuses, industrial parks, warehouses, factories, and other places requiring wireless monitoring. Typical coverage distances range from tens to hundreds of meters, but some can be used for long-distance transmission, reaching up to approximately 30 kilometers. The main technology is the IEEE 802.11 series. Most wireless APs also have an access point client mode (APclient), which allows them to wirelessly connect with other APs to extend network coverage. Connecting server 1 to the aforementioned router 2 can extend network signal coverage to a larger area, preventing areas in the automated warehouse from being uncovered by the network signal and ensuring comprehensive communication.

[0029] Since the aisle is the gap formed between adjacent shelves, and the aisle of the stereoscopic warehouse is long and the shelves are made of metal material, at the aisle opening position, the network signal sent by the above-mentioned routing 2 is not affected, but in the aisle, especially at a position far away from the aisle opening, the metal shelves will affect the signal quality, and even form an electrostatic shielding phenomenon. To solve this problem, a relay module 4 is arranged on the shelf at the aisle opening in the embodiment, and the relay module 4 can connect the modules of two different devices. Among them, the relay module 4 at the aisle opening can receive the wireless network signal of the above-mentioned routing 2, and in the aisle, the industrial computer of the stacker can be connected through wired connection. Specifically, the server 1 can be connected to the routing 2 by wire, the routing 2 can be wirelessly connected to the relay module 4, the relay module 4 can be wirelessly connected to the customer premise equipment (CPE) arranged in the stacker in the aisle, and then wirelessly connected to the industrial computer, the industrial computer can be wirelessly connected to the image acquisition device and control the action of the stacker, thereby realizing the network communication between the server 1 and the image acquisition device, realizing the transmission of control instructions to make the industrial computer take and place the goods in the target storage location for image acquisition by the image acquisition device, and transmitting the image data collected by the image acquisition device to the server for analysis and processing, and completing the inventory of the goods in the target storage location. CPE is the abbreviation of Customer Premise(s) Equipment, which refers to any connection device used to access the Internet or services on a provider network, whether directly or indirectly connected to the network.

[0030] The relay module 4 in the embodiment can be a module device for connecting two different devices, can be powered by DC 24V, the bus signal input and output are electrically isolated, the signal isolation transmission is completed, the anti-interference ability of the whole system can be enhanced, and the communication distance can be expanded. In an example, the relay module can be a repeater. The repeater (RP repeater) is a connection device working on the physical layer. The repeater is suitable for interconnection of two completely same networks, and the main function is to expand the network transmission distance by retransmitting or forwarding the data signal. The repeater is a network device for signal regeneration and restoration: a physical layer device of OSI model. The repeater is used to extend the network distance in a local area network environment, but it belongs to network interconnection equipment and operates on the physical layer of OSI. The repeater has the function of amplifying and regenerating the signal on the line, and is used to expand the length of the local area network segment (only used to connect the same local area network segment). The repeater (RP repeater) is a device for connecting network lines, used for bidirectional forwarding of physical signals between two network nodes. The repeater mainly completes the function of the physical layer, is responsible for bit-by-bit transmission of information on the physical layer of two nodes, and completes the functions of signal copying, adjustment and amplification, so as to extend the length of the network. The repeater completes the connection of the physical line, amplifies the attenuated signal, and keeps the same as the original data. The two ends of the repeater can be connected to the same medium, and can also complete the switching work of different media. In theory, the use of the repeater is unlimited, and the network can also be infinitely extended.

[0031] Because the relay module 4 is arranged at the position of the lane opening, the wireless network outside the three-dimensional warehouse shelf area is extended in the lane through the relay module 4, and then connected to the customer premise equipment CPE of the stacker, which can effectively avoid the defect of communication signal quality decline caused by using wireless network signal to connect the stacker in the lane. The customer premise equipment CPE can be arranged on the stacker to realize the communication connection between the relay module 4 and the industrial computer. The customer premise equipment CPE of the stacker wirelessly connects the relay module 4 in the lane, extends the wireless network signal outside the lane in the lane, and wirelessly connects the industrial computer of the stacker, so as to ensure smooth communication signal, and even if the stacker is in the deep lane, the communication quality can still be maintained, so that the inventory operation of the target storage location can be more smoothly completed.

[0032] The profile frame 3 can be detachably fixed to the lifting loading platform of the stacker crane. In this embodiment, the profile frame 3 can be a cuboid frame structure, which can be formed by welding or detachably connecting multiple crossbeams and longitudinal beams. In this embodiment, the length direction of the cargo passage of the profile frame 3 can be the direction of reciprocating motion of the telescopic forks, and its width direction can be perpendicular to the direction of reciprocating motion of the telescopic forks. The telescopic forks can be placed at the bottom of the profile frame 3, and the telescopic forks can pick up the pallet loaded with goods and move it back and forth along the length direction of the cargo passage, thereby enabling the image acquisition device on the profile frame 3 to acquire image data of the goods and transmit the image data to the server 1.

[0033] In one example, such as Figure 2 As shown, the image acquisition device may include a high-definition industrial camera 5, a wide-angle camera 6, and a full-resolution depth camera 7. The wide-angle camera 6 is detachably fixed to the profile frame 3 to acquire the location information of the target storage location. The high-definition industrial camera 5 acquires the first feature surface information of the goods in the target storage location. The full-resolution depth camera 7 is adjustablely connected to the profile frame 3 to acquire the second feature surface information of the goods in the target storage location. The first feature surface information may be the outward-facing surface of the stack of goods in the target storage location captured by the high-definition industrial camera 5, identifying the nameplate, logo, and other specification information of the goods. The second feature surface information may be the point cloud information of the entire stack of goods acquired by the full-resolution depth camera 7.

[0034] After the server issues an inventory command, it transmits the data to the stacker crane via router 2 and relay module 4. The stacker crane moves to the corresponding position of the target storage location within the aisle, and the lifting platform rises to the height of the target storage location. Wide-angle camera 6 captures images of the aisle nameplate and the target storage location to determine the current aisle location of the stacker crane and whether the target storage location is empty. If the target storage location is not empty, high-definition industrial camera 5 captures the first feature surface of the goods in the target storage location, identifying the nameplate, logo, and other specification information of the goods, completing the acquisition of the first feature surface information. Then, the telescopic forks lift the pallet of goods onto the lifting platform, and the full-resolution depth camera 7 collects the point cloud information of the goods on the pallet. The stack type and quantity of the goods are calculated, and then the telescopic forks are used to return the pallet to the target storage location. The stack type, specifications, quantity, and original image data are all written into the storage database of server 1, and the database results are used to generate a management report, completing the inventory of a single storage location.

[0035] In this embodiment, the equipment constituting the inventory checking device of the stereoscopic warehouse of the embodiment can include a wireless AP, an industrial router, a poe switch, an Ethernet switch, a wireless CPE, etc. Among them, the wireless AP can be used to lay the wireless local area network in the stereoscopic warehouse area; the industrial router can be used to manage the wireless AP; the poe switch can uniformly provide poe power supply for the wireless AP; the Ethernet switch can provide a network interface for the camera and other equipment; the wireless CPE can be arranged on the stacker, used to receive the wireless signal sent by the wireless AP, and further control and manage the camera and other subnet equipment such as the industrial computer. The relay module 4, the industrial computer and the image acquisition equipment all support quick disassembly and assembly, can be used in different aisles, and save the cost investment of the stereoscopic warehouse.

[0036] Further, with reference to Figure 2 At both ends of the goods channel of the embodiment, a strip-shaped light source 37 can also be fixed on the profile frame 3. The strip-shaped light source 37 functions to illuminate the feature surface of a stack of goods on the target storage location, to ensure that the high-definition industrial camera 5 can acquire effective feature information, such as whether the goods packaging form is bagged or boxed, and the arrangement form of the goods on the side of the stack of goods is X rows and Y columns, etc. The strip-shaped light source 37 can improve the accuracy of image information acquisition of the high-definition industrial camera 5 and the wide-angle camera 6 in a low-light environment.

[0037] In some embodiments, the profile frame 3 is provided with a first cross beam 31 at both ends of the goods channel and along the width direction of the goods channel, and the high-definition industrial camera 5 and the wide-angle camera 6 are detachably fixed to the middle part of the first cross beam 31. Further, the middle part of the first cross beam 31 can be fixed with a double-camera bracket 311, and the double-camera bracket 311 is provided with a plurality of camera fixing holes, and the high-definition industrial camera 5 and the wide-angle camera 6 are detachably fixed to the double-camera bracket 311. In this embodiment, the wide-angle camera 6 is used to shoot the aisle nameplate and the target storage location, to determine the aisle where the stacker is currently located, and to judge whether the target storage location is empty; the high-definition industrial camera 5 shoots the first feature surface of the goods of the target storage location, to identify the model information such as the nameplate and logo of the goods. Therefore, to ensure that the goods of the target storage location can move smoothly in the goods channel, the height of the first cross beam 31 can be the same as or slightly higher than the height of the target storage location. In this embodiment, the first cross beam and the high-definition industrial camera 5 and the wide-angle camera 6 are arranged at both ends of the goods channel, which can facilitate installation during use, and even if the entrance and exit of the goods channel are reversed, it will not affect normal use, and the operation difficulty is reduced.

[0038] In some embodiments, the profile frame 3 is symmetrically provided with two second cross beams 32 along the length direction of the goods passage, and a push rod base 321 is detachably fixed in the middle of the second cross beam 32, and the electric push rod 33 is fixed on the push rod base 321; above the second cross beam 32, the profile frame 3 is provided with a third cross beam 34, and the third cross beam 34 is fixed with a buckle 341, and the electric push rod 33 is clamped on the third cross beam 34 through the buckle 341. The third cross beam 34 and the second cross beam 32 in this embodiment are mainly used to fix and reinforce the electric push rod 33. The push rod base 321 can be detachably connected to the second cross beam 32, which is convenient for adjusting the position of the electric push rod 33 and more convenient for replacement.

[0039] The third cross beam 34 cooperates with the buckle 341 to further reinforce the electric push rod 33 at a position higher than the second cross beam 32, thereby ensuring the stability of the electric push rod 33 during operation and avoiding shaking that affects the quality of image acquisition of the full-resolution depth camera 7.

[0040] In some embodiments, a fourth cross beam 35 is arranged between the two first cross beams 31 along the length direction of the goods passage, and the two ends of the fourth cross beam 35 are respectively fixed to the top ends of the two electric push rods 33, and the middle of the fourth cross beam 35 is fixed with the full-resolution depth camera 7. In this embodiment, the electric push rod is also called a linear actuator, which is a new type of linear actuator mainly composed of a motor push rod and a control device. The electric push rod makes reciprocating motion within a certain range of travel. The two ends of the electric push rod 33 and the fourth cross beam 35 can also be fixed together through bolts and elastic nuts, and the connection part can also connect one end of the drag chain. The baffle of the drag chain can be fixed on the profile frame 3, and the other end of the drag chain can be fixed on the top of the baffle of the drag chain. The cables connected with the industrial computer and the image acquisition device and the cables for controlling the electric push rod 33 can complete the lifting movement together with the lifting bracket in the drag chain 008.

[0041] The comprehensive analysis depth camera 7 can be a TOF (Time-of-Flight) depth camera. The TOF depth camera is an active imaging method, that is, the camera system emits laser to the target, and the time of the reflected light sensed by the receiving sensor is used to calculate the distance between the target and the camera. The TOF depth camera technology provides a complete scene depth map through one-time imaging, has no scanner device, has fast imaging speed, low calculation load, and has the opportunity to obtain ideal depth data for objects in motion or static objects, in dark environments or in outdoor environments with strong light, and for objects with low reflectivity or high reflectivity. The TOF depth camera has high-precision depth detection capability, can realize accurate depth measurement under different lighting conditions, adopts optical random access technology, can respond quickly within nanoseconds, realizes high frame rate and data output rate, is suitable for various real-time application scenarios, has wide frequency band and large dynamic range, can adapt to complex light and object surface characteristics in different environments, and has good stability and robustness.

[0042] In an example, the high-definition industrial camera 5 can be used to capture the number of layers of goods on the target storage location from the side of the target storage location. After the telescopic fork forks the goods from the target storage location to the lifting loading platform, the comprehensive analysis depth camera 7 obtains the depth information of the goods from the top of the goods, and then the total amount of the goods can be calculated in combination with the image data of the high-definition industrial camera 5. For example, the high-definition industrial camera 5 captures three rows and four columns of goods from the side of the goods, and the comprehensive analysis depth camera 7 obtains four rows and six columns of information from the top of the goods. However, the data of the goods on the inside of the goods cannot be obtained from the side of the high-definition industrial camera 5. At this time, the specific amount of goods can be clearly obtained in combination with the data of the comprehensive analysis depth camera 7, so that the data of the goods inventory is more accurate.

[0043] Further, in some embodiments, the middle part of the fourth cross beam 35 can be provided with a top camera fixing member 351, and the full-resolution depth camera 7 can be detachably fixed to the top camera fixing member 351. The side surface of the top camera fixing member 351 is further provided with a laser sensor 36, and the laser sensor 36 is electrically connected to the industrial computer. In this embodiment, the side surface of the camera fixing member 351 can be one side in the horizontal direction of the same horizontal plane as the full-resolution depth camera 7. The function of the laser sensor 36 is to measure the distance between the full-resolution depth camera 7 and the goods taken by the telescopic forks, so that the full-resolution depth camera 7 can obtain image information of the goods at a suitable height. When the goods taken by the telescopic forks are too close to the full-resolution depth camera 7, it is easy to cause the goods to be not fully photographed. Therefore, the laser sensor 36 is installed on the side surface of the top camera fixing member 351, so that the height of the full-resolution depth camera 7 can be adjusted according to the specific height of the goods. Specifically, the industrial computer can adjust the lifting / descending of the fourth cross beam 35 according to the height difference between the laser sensor 36 and the goods, so that the full-resolution depth camera 7 can be adjusted in height with the fourth cross beam 35, and the full-resolution depth camera 7 can obtain the full and accurate depth image information of the goods at a suitable height.

[0044] In some embodiments, the profile frame 3 is further provided with an electric control cabinet support 38 and a wire slot 39. The electric control cabinet support 38 is fixed with an electric control cabinet 381, and the industrial computer, the relay and the emergency stop switch are arranged in the electric control cabinet 381. The electric control cabinet 381 is provided with a collection box 382 for arranging redundant cables, and the wire slot 39 is used for wiring. The relay is used to complete the lifting control of the electric push rod 33, and the control scheme is more simple and efficient than the PLC. The electric push rod 33 is provided with a proximity switch, which prevents the full-resolution depth camera in the image acquisition device from colliding with the ceiling of the vertical warehouse.

[0045] Based on the same or similar design idea, the second aspect of the embodiment of the application provides a stereoscopic storage system, which can include a storage management system and / or a warehouse control system, and a stereoscopic warehouse goods inventory device as described in the first aspect and any preferred embodiment. Wherein, the storage management system or the warehouse control system can be a server 1 connected with the stereoscopic warehouse goods inventory device in communication, sending an initial inventory instruction to the server 1, and the server 1 analyzes the initial inventory instruction into a goods inventory instruction. In this embodiment, the warehouse management system (Warehouse Management System, WMS). The WMS system can realize goods management, operation management, warehouse layout optimization, inventory management, data analysis and decision support, transportation management, system integration and expansion. Among them, the goods management, the WMS system can comprehensively manage the goods in the warehouse, including warehousing, out-of-warehouse, inventory monitoring, etc. It tracks the goods information in real time through bar code, RFID and other technologies, improves the accuracy and efficiency; operation management, WMS system can plan and manage various operation activities in the warehouse, such as in-warehouse handling, sorting, packaging, etc., it arranges the operation sequence and path reasonably according to the optimization algorithm and rules, improves the operation efficiency and accuracy; warehouse layout optimization, WMS system can be optimized according to the size, layout and storage demand of the warehouse, to ensure the maximum utilization of warehouse space. It can carry out storage location planning, shelf allocation and other operations, optimize the logistics path and inventory location of the warehouse, and improve the capacity and circulation efficiency of the warehouse; inventory management, WMS system monitors and manages the inventory in the warehouse in real time, it can track and report the inventory quantity, quality and value, provide a series of reports and indicators, help managers to grasp the inventory situation in time, optimize the inventory strategy, and reduce the waste of funds and resources; data analysis and decision support, WMS system can collect, organize and analyze various data of warehouse and logistics. It can generate various reports and analysis charts, provide multi-angle data visualization, assist managers in decision-making and optimization; transportation management, WMS system can integrate the transportation management system to realize the control and tracking of the distribution and transportation process. Through the information interaction with suppliers and carriers, it can optimize the transportation route and plan, realize the fine management and coordination of logistics; system integration and expansion, WMS system can be integrated with other management systems, such as ERP system, e-commerce platform, etc., to realize information sharing and business process integration. It also supports flexible expansion and customized development of the system to meet the special needs of different industries or enterprises.

[0046] Warehouse Control System (WCS) is between upper information management system such as WMS and lower hardware execution system such as PLC, accepts the instruction of upper management system, sends it to PLC hardware execution system, thereby driving equipment operation;On the other hand, the state and data of PLC system are reflected on the interface in real time, and manual operation of PLC hardware system is provided.WCS system coordinates the scheduling of all peripheral devices of the stereoscopic warehouse, realizes the automatic and intelligent execution control of the stereoscopic warehouse.

[0047] At the operation platform of the stereoscopic warehouse, the server 1 is connected with the routing 2 through wired network, the server 1 is used for processing the initial inventory instruction sent by the WMS or WCS system, and running the inventory algorithm, establishing the database, front-end interface display and the like.At the end of the aisle, a wireless relay module 4 is installed, the relay module 4 is powered by poe, and is used for extending the wireless signal and expanding the range of wireless local area network.After the cpe on the stacker in the aisle receives the wireless signal, the communication of the whole inventory system is completed through wired connection of industrial computer and image acquisition equipment.

[0048] The stereoscopic warehouse system of the embodiment of the application utilizes the lifting cargo platform fixed profile frame 3 of the stacker to meet the installation and fixation of control modules such as bar light source 37 and electric control cabinet 381 and mechanical modules such as buckle 341 and electric push rod 33, fully reduces the space occupation under the premise of ensuring the stability of the inventory function.The limited characteristic surface data are collected by high-definition industrial camera 5, wide-angle camera 6 and comprehensive analysis depth camera 7, the whole characteristics of the whole stack of goods are calculated, important information such as product specification, quantity and stack type is calculated, and then compared with the data in the logistics system WMS or WCS, the inventory management is completed.The communication mode in and outside the stereoscopic warehouse in the application is wireless communication, and the wireless equipment is poe powered, which avoids the inconvenience of wiring in the warehouse area.The average inventory efficiency of the stereoscopic warehouse system of the embodiment of the application is less than 60s / warehouse, wherein the algorithm part only needs 5s / warehouse.To maximize the inventory efficiency, the empty warehouse detection function is designed in the embodiment of the application, the empty warehouse is quickly scanned by visual technology before formal inventory, and only the non-empty warehouse is inventoried during formal inventory, which greatly improves the inventory efficiency.

[0049] The embodiment of the present application can shoot two characteristic surfaces of a pile of goods through one TOF depth camera, two high-definition industrial cameras 5 and two wide-angle cameras 6, and obtain the information such as the product specification, the pile type and the quantity of the pile of goods through the algorithm of the server 1, and the recognition accuracy reaches 99.9%. For the storage locations with missing characteristic surface information, the original data is stored and marked, and manual research and judgment is carried out subsequently. In the design, the high degree of modularization, the optical module and the control module support quick disassembly, the use of replaceable lanes, all interfaces and cables support quick plugging, and there is an error protection function, the current lane of the device can be automatically identified in the algorithm, and the cost of the whole inventory system is greatly reduced.

[0050] The present application can minimize the installation volume under the condition of ensuring the normal working distance of the camera, so a door type double-drive electric camera lifting support is designed, when data is collected by shooting, the support lifts the camera to the target position, and in the remaining time, the support is kept in the retracted state, and the limited site space is fully utilized.

[0051] It is known from common general knowledge that the application can be implemented by other embodiments which do not depart from the nature or essential characteristics thereof. Therefore, the above disclosed embodiments are merely illustrative in all aspects and are not the only ones. All changes within the scope of the present application or within the scope equivalent to the present application are included in the present application.

Claims

1. A three-dimensional warehouse inventory counting device, characterized in that, Inventory checks are conducted in the aisles between the shelves in the automated warehouse, including: Server (1) is used to generate and send inventory instructions and is equipped with a storage database; Routing (2), communicating with the server (1); The stacker crane operates within the aisle and is equipped with a lifting platform, an industrial control computer, and customer site equipment. The lifting platform is equipped with telescopic forks and a profile frame (3). The telescopic forks pick up and place goods at the target storage location on the shelf. The profile frame (3) is fixed to the lifting platform and has a goods passage. The industrial control computer controls the telescopic forks to lift the goods and move them back and forth in the goods passage. The customer site equipment is wirelessly connected to the router (2) and wiredly connected to the industrial control computer. The relay module (4) is installed on the shelf at the entrance and exit of the alley and wirelessly connects the router (2) to the customer site equipment. The relay module (4) is connected to the Ethernet power supply switch. An image acquisition device, which is communicatively connected to the industrial control computer and the customer site equipment, is used to acquire the storage location information of the target storage location and the feature surface data of the goods at the target storage location; The image acquisition equipment includes a high-definition industrial camera (5), a wide-angle camera (6), and a full-resolution depth camera (7), wherein, The wide-angle camera (6) is detachably fixed to the profile frame (3) for collecting the storage location information of the target storage location; The high-definition industrial camera (5) collects the first feature surface information of the goods on the target storage location; The comprehensive analytical depth camera (7) is adjustablely connected to the profile frame (3) to collect the second feature surface information of the goods in the target storage location; The profile frame (3) is symmetrically provided with two second crossbeams (32) along the length of the cargo passage. A push rod base (321) is detachably fixed in the middle of the second crossbeam (32), and an electric push rod (33) is fixed in the push rod base (321). Above the second crossbeam (32), the profile frame (3) is provided with a third crossbeam (34), the third crossbeam (34) is fixed with a buckle (341), and the electric push rod (33) is fastened to the third crossbeam (34) through the buckle (341). The profile frame (3) is provided at both ends of the cargo passage and a first crossbeam (31) is provided along the width direction of the cargo passage. Along the length of the cargo passage, a fourth crossbeam (35) is provided between the two first crossbeams (31). The two ends of the fourth crossbeam (35) are respectively fixed to the top of the two electric push rods (33), and the full resolution depth camera (7) is fixed in the middle of the fourth crossbeam (35). The wide-angle camera (6) captures the lane nameplate and the target storage location, determines the lane where the stacker crane is currently located, and determines whether the target storage location is empty. If the target storage location is not empty, the high-definition industrial camera (5) captures the first feature surface of the goods in the target storage location and identifies the quality information of the goods. The quality information includes: nameplate and logo. The high-definition industrial camera (5), the wide-angle camera (6) and the full-resolution depth camera (7) collect limited feature surface data, deduce all the features of the whole stack of goods, calculate the specifications, quantity and stack type, and then compare them with the data in the logistics system WMS or WCS to complete the inventory management. Before the formal inventory count, visual technology is used to quickly scan empty storage locations. During the formal inventory count, only non-empty storage locations are counted.

2. The automated warehouse inventory counting device according to claim 1, characterized in that, The high-definition industrial camera (5) and the wide-angle camera (6) are detachably fixed to the middle of the first crossbeam (31).

3. The automated warehouse inventory counting device according to claim 2, characterized in that, A dual-camera bracket (311) is fixed in the middle of the first crossbeam (31). The dual-camera bracket (311) is provided with multiple camera fixing holes. The high-definition industrial camera (5) and the wide-angle camera (6) are detachably fixed to the dual-camera bracket (311).

4. The automated warehouse inventory counting device according to claim 1, characterized in that, The fourth crossbeam (35) is provided with a top camera fixture (351) in the middle, and the full resolution depth camera (7) is detachably fixed to the top camera fixture (351). A laser sensor (36) is also mounted on the side of the top camera fixture (351), and the laser sensor (36) is electrically connected to the industrial computer.

5. The automated warehouse inventory counting device according to claim 1, characterized in that, At both ends of the cargo channel, strip light sources (37) are fixed on the profile frame (3).

6. The automated warehouse inventory counting device according to claim 1, characterized in that, The profile frame (3) is also fixed with an electrical control cabinet bracket (38) and a cable tray (39). The electrical control cabinet bracket (38) is fixed with an electrical control cabinet (381). The industrial control computer, relays and emergency stop switches are placed inside the electrical control cabinet (381). The electrical control cabinet (381) is equipped with a junction box (382) for organizing redundant cables. The cable tray (39) is used for wiring.

7. An automated storage and retrieval system, characterized in that, The system includes a warehouse management system and / or a warehouse control system, and an automated warehouse inventory device as described in any one of claims 1 to 6. The warehouse management system or the warehouse control system is communicatively connected to the server (1) of the automated warehouse inventory device and sends an initial inventory instruction to the server (1). The server (1) parses the initial inventory instruction into an inventory instruction.

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