Hanging warehousing system and method

Abstract

The invention provides a hanging warehousing system and method. The hanging warehousing system comprises an identification module, a dynamic inventory management module, an environment sensing module, a hanging manipulator module, a path planning module, a control center module and a man-machine interaction module. Through cooperation of all the modules, the warehouse management process is optimized, the efficiency and accuracy of storage and delivery are improved, and the intelligent warehouse management system is particularly suitable for intelligent warehouse management of vulnerable articles such as down jackets.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent warehouse management, and in particular to a hanging warehouse system and method, which are particularly suitable for the automated storage, management and outbound operations of fragile items such as down jackets. Background Art

[0002] With the rapid development of the e-commerce industry and the warehousing and logistics industry, intelligent warehousing management technology has received widespread attention. Traditional warehousing management systems mostly use manual or semi-automatic operation methods, which have the following problems: Inefficient storage: Manual search and retrieval of goods takes a long time and is prone to errors, making it difficult to meet the needs of large-scale warehouse management.

[0003] Insufficient environmental adaptability: Traditional warehousing systems have limited ability to perceive and control environmental parameters such as temperature, humidity, and light, and can easily cause damage to environmentally sensitive items such as down jackets.

[0004] Insufficient path planning and task scheduling capabilities: The existing system lacks intelligent path planning and task scheduling capabilities, which easily leads to low operating efficiency of the hanging manipulator.

[0005] Poor human-computer interaction experience: The user interface design of traditional systems is simple, and information feedback is not timely, which makes it difficult to meet the real-time and interactivity requirements of modern warehouse management. Summary of the invention

[0006] In view of the above problems, the present invention proposes a hanging storage system and method, which optimizes the efficiency of item storage and retrieval and improves the automation and intelligence level of storage management through intelligent identification, dynamic path planning, environmental perception and task scheduling. The specific invention contents are as follows: A hanging storage system includes the following modules: A recognition module is used to identify the specific location of the down jacket through computer vision technology; Dynamic inventory management module, used to record and update the storage status of down jackets; Environmental perception module, used to monitor storage environment parameters and generate environmental adjustment instructions; A hanging manipulator module is used to grab and transport the down jacket according to the position information provided by the recognition module; Path planning module, used to dynamically generate the optimal transportation path based on warehouse layout and task requirements; The control center module is used to coordinate the operation of the above modules and realize the intelligent control of the grabbing and shipping processes; The human-computer interaction module is used to receive user shipping instructions and display the storage status and task execution progress.

[0007] Preferably, the recognition module is composed of a visual recognition unit and a data processing unit: The visual recognition unit is equipped with a high-definition camera and a depth camera to collect image data of the storage area in real time, ensuring that the storage location of the down jackets and the status of the storage track can be fully and accurately obtained. The visual recognition unit uses a convolutional neural network algorithm (CNN) to accurately mark the location of the down jackets by extracting the feature information of the image layer by layer, and at the same time detect the distribution of obstacles on the storage track. The algorithm uses the following feature extraction function formula: ; in, represents the feature extraction function, is the activation function, and are the weight matrix and bias term respectively. Through this process, the visual recognition unit realizes a comprehensive scan of the down jacket storage environment and obstacle recognition, providing reliable data support for subsequent path planning and task scheduling.

[0008] The data processing unit combines the feature information provided by the visual recognition unit with the existing location data in the warehousing system to optimize the selection of storage points and pickup points. In order to improve the accuracy of location matching, the data processing unit introduces the weighted cosine similarity formula to calculate the matching degree of candidate storage points. The formula is as follows: ; in, and are the components of the eigenvectors, It represents the location matching score, which is used to determine the priority of the actual storage point location. By matching and sorting the feature data with the storage location information, the data processing unit can dynamically optimize the priority of down jacket storage and pickup, significantly improving the efficiency and accuracy of warehousing operations.

[0009] Preferably, the dynamic inventory management module is composed of a database unit and an update unit: The database unit uses a hash structure to store and manage the dynamic inventory information of down jackets. The recorded information includes the unique identification code of each down jacket (used to accurately locate the individual), storage location (indicating the storage area where the down jacket is currently located), and delivery time (used to track the logistics process and cycle of the item). Through the hash structure, the database unit achieves efficient storage and fast retrieval of data. For example, when the system needs to find the storage location of a specific down jacket, it can directly locate it through the identification code to avoid traversing all records, thereby greatly improving the response speed. In addition, the database unit also supports dynamic update of batch data to ensure that inventory information is always accurate and synchronized.

[0010] The update unit is responsible for receiving data input from the identification module and making real-time modifications to inventory records. The specific steps include: After the down jacket is grabbed by the hanging robot, its status is updated from "in stock" to "out stock", and the changes are synchronized to the database unit in real time; Collect and analyze inventory change data, and generate daily or periodic inventory change statistical reports for management personnel’s reference; After the inventory is updated, feedback information is sent to the control center module to confirm the task completion and update the task status for subsequent scheduling operations.

[0011] Preferably, the environment perception module is composed of a sensor unit and an alarm unit: The sensor unit is composed of a variety of environmental monitoring devices, including temperature and humidity sensors (real-time collection of temperature and humidity data in the storage area to ensure that the storage environment of down jackets is suitable and to prevent damage or mold to down jacket materials due to excessively high or low temperature and humidity), light sensors (monitoring the light intensity in the storage area to avoid fading or aging of materials due to excessive light, while providing suitable lighting conditions to support operations) and air quality sensors (detecting the concentration of particles in the air and identifying harmful substances that may affect the quality of down jackets (such as dust or volatile organic compounds)). The sensor unit collects data at fixed time intervals (every minute), aggregates it into an environmental parameter data stream, and sends it to the alarm unit for further analysis.

[0012] The alarm unit receives the real-time environmental data transmitted by the sensor unit and compares it with the preset standard threshold. Through rapid calculation, it compares the temperature, humidity, light intensity and particle concentration with the set range one by one. If a parameter exceeds the preset threshold (temperature is higher than 25°C or particle concentration exceeds 50μg / m³), an alarm signal is generated. The alarm unit immediately sends an alarm to the control center module and triggers the corresponding environmental adjustment mechanism. For example: When the temperature exceeds the standard, start the air conditioning equipment to cool down; When the air quality deteriorates, start the air purifier or turn on the exhaust system.

[0013] Through the linkage between the sensor unit and the alarm unit, the environmental perception module realizes real-time monitoring and dynamic adjustment of the storage environment, providing safe and reliable storage conditions for down jackets.

[0014] Preferably, the hanging manipulator module is composed of a grabbing unit and a moving unit: The gripping unit is responsible for completing the safe gripping operation of the down jacket. Its core design is an intelligent adjustment device and a flexible terminal device. Before the gripping operation, the system dynamically adjusts the gripping force according to the volume, material and weight of the down jacket to ensure that the object can be firmly grasped without squeezing or damaging the down jacket. For example, a lighter down jacket requires a smaller gripping force, while a heavier down jacket requires a corresponding increase in force. The end of the gripping unit is made of flexible material (silicone or soft rubber) to reduce direct pressure on the surface of the down jacket, avoid scratches or deformation, and thus protect the appearance and quality of the down jacket.

[0015] The mobile unit ensures that the hanging robot can move accurately and operate flexibly within the storage track, including: The drive motor provides power for the hanging manipulator. By adjusting the motor speed, its moving speed and acceleration are precisely controlled to ensure smooth and correct operation. The track travel device is combined with the track layout design, and the mobile unit supports free movement in three directions, including horizontal, longitudinal and vertical directions, so as to adapt to the multi-level and complex storage structure in the storage area.

[0016] During the navigation process, the mobile unit collaborates with the path planning module to adjust the motion path in real time, avoid obstacles on the storage track, and ensure the efficient execution of the grasping task.

[0017] Preferably, the path planning module is composed of a path calculation unit and an obstacle avoidance planning unit: The path calculation unit is responsible for generating the optimal path from the starting point to the target point of the hanging manipulator according to the current warehouse layout. The shortest path is determined by recursive calculation using the dynamic programming algorithm. The formula is as follows: ; in, For slave nodes To Node The minimum path cost, Representation Node With Node The warehouse layout may change at any time due to the entry and exit of items. The path calculation unit obtains updated warehouse status information in real time and dynamically adjusts the path planning results to ensure that the path calculation is always consistent with the actual layout.

[0018] The obstacle avoidance planning unit optimizes the generated path in combination with the obstacle data provided by the recognition module to ensure that the suspended manipulator will not collide with obstacles when performing tasks. The obstacle avoidance planning unit uses the A* algorithm to dynamically adjust the moving direction and node priority based on the heuristic evaluation function of the path. Taking into account the location of obstacles, a safe path from the starting point to the target point is generated. During the execution of the task, the obstacle avoidance planning unit works together with the recognition module to perceive the distribution of obstacles on the track in real time. If a new obstacle appears, the obstacle avoidance planning unit will immediately re-plan the path to avoid task interruption or collision.

[0019] Preferably, the control center module is composed of a task allocation unit, a status monitoring unit and a collaborative control unit: The task allocation unit is responsible for coordinating the work of various modules of the warehousing system according to the user's shipping instructions to ensure efficient execution of tasks. The task allocation unit first receives the shipping instructions input by the user and decomposes the instructions into specific operation requirements, such as the location of the target down jacket, shipping time and other information. Then, combined with the inventory information provided by the dynamic inventory management module and the task status of the hanging manipulator module, the most suitable hanging manipulator is selected to perform the current shipping task, and the path planning module is called to calculate the optimal path to ensure task execution efficiency and system resource utilization.

[0020] The status monitoring unit collects system operation data in real time, including task completion progress, parameter changes (temperature and humidity) of the environmental perception module, and the operating status of the hanging manipulator. During the monitoring process, if an abnormal situation is detected (such as task delay, equipment failure, or environmental indicators exceeding the standard), an alarm is immediately generated and the relevant modules or users are notified.

[0021] The collaborative control unit uses a distributed control algorithm to coordinate task allocation and path selection between multiple hanging manipulators and path planning modules to avoid resource conflicts and task blocking. In complex task scenarios (such as multi-point grasping), this unit dynamically adjusts the task execution strategy according to the current task priority and equipment operating status to ensure the overall efficiency of the system is optimized.

[0022] Preferably, the human-computer interaction module is composed of a touch screen unit and a voice interaction unit: The touch screen unit provides users with a graphical interface and supports a variety of interactive functions: Interface design and operation: Through intuitive icons and menus, users can easily browse inventory information, select items to be shipped, set shipping time, and view the real-time status of task execution; Dynamic feedback display: The touch screen updates the task execution progress in real time, such as the grasping status, the position of the hanging manipulator, the delivery time and other information, and graphically displays the changes in storage parameters detected by the environmental perception module; Manual control assistance: In special circumstances, users can manually control the movements of the hanging manipulator or adjust task allocation through the touch screen interface.

[0023] The voice interaction unit provides users with a convenient way to input natural language commands and provide feedback, including the following: Instruction recognition and processing: Users input shipping instructions or inventory query requirements through voice, and the system uses natural language processing technology to semantically analyze the instructions and transmit the analysis results to the task allocation unit; Voice feedback: The system generates voice feedback information based on the task execution progress, inventory status or abnormal conditions, such as "task completed", "inadequate inventory" or "ambient temperature exceeds the standard", etc., to ensure that users understand the system operation status in real time; Multi-language support: The voice interaction unit supports multiple languages ​​to meet the needs of different user groups and improve the applicability of the system.

[0024] A hanging storage method comprises the following steps: Step 1: The recognition module collects real-time image data of the storage location of the down jackets through the high-definition camera and depth camera configured in the visual recognition unit, and processes the image using the convolutional neural network algorithm. By extracting the feature information of the down jackets, the accurate location coordinates are calculated, and the distribution of obstacles on the storage track is identified to ensure accurate input data for subsequent path planning. Step 2: The dynamic inventory management module updates the inventory status of down jackets in the database in real time according to the location information provided by the identification module, including the unique identification code, storage location, outbound status and task execution record of the item, to ensure that the inventory information is consistent with the actual storage status, and supports the generation of dynamic inventory reports and feedback of update results to the control center module; Step 3: The environment perception module detects the temperature, humidity, light intensity and air quality parameters in the storage environment through the sensor unit, and compares the detected data with the preset threshold value. If a parameter exceeds the standard range, the module will generate an alarm signal and send an adjustment instruction to the control center module to maintain the stability of the storage environment, thereby avoiding damage to the storage quality of the down jackets; Step 4: The hanging manipulator module controls the hanging manipulator to move to the target storage position along the preset path according to the instructions assigned by the control center, and uses the flexible grasping device to automatically adjust the grasping force according to the characteristics of the down jacket to achieve precise grasping operation of the down jacket, ensuring that the down jacket will not be squeezed or damaged during the grasping process; Step 5: The path planning module calculates the shortest path from the current storage point to the delivery point through a dynamic programming algorithm based on the storage location and storage layout diagram of the down jackets provided by the recognition module, and dynamically adjusts the path using the A* algorithm in combination with the obstacle distribution data to ensure that the hanging manipulator can efficiently avoid obstacles and complete the grasping task; Step 6: The control center module receives the outbound instruction input by the user, and assigns the grabbing task to the specific hanging manipulator and path planning module in combination with the dynamic inventory information and task allocation rules. At the same time, it monitors the operating status of each module in real time, including the task completion progress, environmental parameter changes and hardware equipment status, to ensure the efficiency and stability of the system operation; Step 7. The human-computer interaction module receives the user's operation instructions through the touch screen unit and the voice interaction unit. The touch screen provides users with functions such as inventory query, task configuration and status display. The voice unit supports users to issue instructions through natural language and provide voice feedback on the real-time progress and results of task execution, further improving the convenience of user operation and the intelligent interactivity of the system.

[0025] Compared with the prior art, the present invention has the following beneficial effects: Accurate identification and efficient path planning: Through the high-definition camera and deep learning algorithm of the visual recognition module, the system can collect image data of the storage location of down jackets in real time and extract key features, effectively avoiding the problem of manual positioning errors in traditional warehousing. Combined with the dynamic planning algorithm and obstacle avoidance algorithm of the path planning module, the optimal path is generated to ensure that the hanging manipulator can complete the grasping task quickly and accurately, significantly improving the delivery efficiency and system intelligence level.

[0026] Dynamic inventory management optimization: The dynamic inventory management module updates the storage status and task execution records of down jackets in real time to ensure the accuracy and timeliness of inventory information. It also supports the generation of dynamic inventory reports to provide accurate data support for warehouse operations. This real-time update mechanism significantly reduces the inventory management chaos caused by information lag in traditional warehousing.

[0027] Intelligent environmental perception and automatic adjustment: The environmental perception module uses highly sensitive temperature and humidity sensors, light sensors, and air quality sensors to monitor the storage environment in real time and trigger alarms and environmental adjustment mechanisms in abnormal situations to ensure the quality and safety of down jackets during storage. This active perception and adjustment capability effectively reduces the potential impact of environmental factors on the quality of down jackets.

[0028] Flexible grasping and item protection: The hanging robot module adopts a flexible device that can intelligently adjust the grasping force. It can automatically adjust the operating parameters according to the volume, weight and material of the down jacket, avoiding the squeezing and damage of items by traditional mechanical grasping, and improving the safety of stored items and the applicability of the storage system.

[0029] Modular design and collaborative control: The system adopts modular design, with clear functions and division of labor in each module. Task allocation, status monitoring and collaborative control are achieved through the control center module to ensure efficient collaboration among modules. This design not only improves the stability and efficiency of system operation, but also facilitates subsequent system expansion and function upgrades.

[0030] Improved convenience of human-computer interaction: Through the touch screen and voice interaction module, the system provides users with a variety of ways of graphical interface operation and natural language interaction, allowing users to easily complete shipping instruction input, inventory query and real-time feedback on task execution status, significantly improving the system's ease of use and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the identification module flow of a hanging storage system and method; Figure 2 It is a flow chart of a dynamic inventory management module of a hanging storage system and method; Figure 3 A schematic diagram of the flow of an environmental perception module of a hanging storage system and method; Figure 4 A schematic diagram of the flow of a hanging manipulator module of a hanging storage system and method; Figure 5 It is a schematic diagram of the path planning module flow of a hanging storage system and method; Figure 6 A schematic diagram of a control center module flow chart of a hanging storage system and method; Figure 7 A schematic diagram of a human-computer interaction module flow chart of a hanging storage system and method; Figure 8 The figure is a schematic diagram of the overall process of a hanging storage system and method. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0034] A hanging storage system includes the following modules: A recognition module is used to identify the specific location of the down jacket through computer vision technology; Dynamic inventory management module, used to record and update the storage status of down jackets; Environmental perception module, used to monitor storage environment parameters and generate environmental adjustment instructions; A hanging manipulator module is used to grab and transport the down jacket according to the position information provided by the recognition module; Path planning module, used to dynamically generate the optimal transportation path based on warehouse layout and task requirements; The control center module is used to coordinate the operation of the above modules and realize the intelligent control of the grabbing and shipping processes; The human-computer interaction module is used to receive user shipping instructions and display the storage status and task execution progress.

[0035] 1. In the recognition module, it is mainly composed of a visual recognition unit and a data processing unit: The visual recognition unit is equipped with a high-definition camera and a depth camera to collect image data of the storage area in real time, ensuring that the storage location of the down jackets and the status of the storage track can be fully and accurately obtained. The visual recognition unit uses a convolutional neural network algorithm (CNN) to accurately mark the location of the down jackets by extracting the feature information of the image layer by layer, and at the same time detect the distribution of obstacles on the storage track. The algorithm uses the following feature extraction function formula: ; in, represents the feature extraction function, is the activation function, and are the weight matrix and bias term respectively. Through this process, the visual recognition unit realizes a comprehensive scan of the down jacket storage environment and obstacle recognition, providing reliable data support for subsequent path planning and task scheduling.

[0036] The data processing unit combines the feature information provided by the visual recognition unit with the existing location data in the warehousing system to optimize the selection of storage points and pickup points. In order to improve the accuracy of location matching, the data processing unit introduces the weighted cosine similarity formula to calculate the matching degree of candidate storage points. The formula is as follows: ; in, and are the components of the eigenvectors, It represents the location matching score, which is used to determine the priority of the actual storage point location. By matching and sorting the feature data with the storage location information, the data processing unit can dynamically optimize the priority of down jacket storage and pickup, significantly improving the efficiency and accuracy of warehousing operations.

[0037] 2. In the dynamic inventory management module, it is mainly composed of database unit and update unit: The database unit uses a hash structure to store and manage the dynamic inventory information of down jackets. The recorded information includes the unique identification code of each down jacket (used to accurately locate the individual), storage location (indicating the storage area where the down jacket is currently located), and delivery time (used to track the logistics process and cycle of the item). Through the hash structure, the database unit achieves efficient storage and fast retrieval of data. For example, when the system needs to find the storage location of a specific down jacket, it can directly locate it through the identification code to avoid traversing all records, thereby greatly improving the response speed. In addition, the database unit also supports dynamic update of batch data to ensure that inventory information is always accurate and synchronized.

[0038] The update unit is responsible for receiving data input from the identification module and making real-time modifications to inventory records. The specific steps include: After the down jacket is grabbed by the hanging robot, its status is updated from "in stock" to "out stock", and the changes are synchronized to the database unit in real time; Collect and analyze inventory change data, and generate daily or periodic inventory change statistical reports for management personnel’s reference; After the inventory is updated, feedback information is sent to the control center module to confirm the task completion and update the task status for subsequent scheduling operations.

[0039] 3. In the environmental perception module, it is mainly composed of sensor units and alarm units: The sensor unit is composed of a variety of environmental monitoring devices, including temperature and humidity sensors (real-time collection of temperature and humidity data in the storage area to ensure that the storage environment of down jackets is suitable and to prevent damage or mold to down jacket materials due to excessively high or low temperature and humidity), light sensors (monitoring the light intensity in the storage area to avoid fading or aging of materials due to excessive light, while providing suitable lighting conditions to support operations) and air quality sensors (detecting the concentration of particles in the air and identifying harmful substances that may affect the quality of down jackets (such as dust or volatile organic compounds)). The sensor unit collects data at fixed time intervals (every minute), aggregates it into an environmental parameter data stream, and sends it to the alarm unit for further analysis.

[0040] The alarm unit receives the real-time environmental data transmitted by the sensor unit and compares it with the preset standard threshold. Through rapid calculation, it compares the temperature, humidity, light intensity and particle concentration with the set range one by one. If a parameter exceeds the preset threshold (temperature is higher than 25°C or particle concentration exceeds 50μg / m³), an alarm signal is generated. The alarm unit immediately sends an alarm to the control center module and triggers the corresponding environmental adjustment mechanism. For example: When the temperature exceeds the standard, start the air conditioning equipment to cool down; When the air quality deteriorates, start the air purifier or turn on the exhaust system.

[0041] Through the linkage between the sensor unit and the alarm unit, the environmental perception module realizes real-time monitoring and dynamic adjustment of the storage environment, providing safe and reliable storage conditions for down jackets.

[0042] 4. In the hanging manipulator module, it is mainly composed of a grabbing unit and a moving unit: The gripping unit is responsible for completing the safe gripping operation of the down jacket. Its core design is an intelligent adjustment device and a flexible terminal device. Before the gripping operation, the system dynamically adjusts the gripping force according to the volume, material and weight of the down jacket to ensure that the object can be firmly grasped without squeezing or damaging the down jacket. For example, a lighter down jacket requires a smaller gripping force, while a heavier down jacket requires a corresponding increase in force. The end of the gripping unit is made of flexible material (silicone or soft rubber) to reduce direct pressure on the surface of the down jacket, avoid scratches or deformation, and thus protect the appearance and quality of the down jacket.

[0043] The mobile unit ensures that the hanging robot can move accurately and operate flexibly within the storage track, including: The drive motor provides power for the hanging manipulator. By adjusting the motor speed, its moving speed and acceleration are precisely controlled to ensure smooth and correct operation. The track travel device is combined with the track layout design, and the mobile unit supports free movement in three directions, including horizontal, longitudinal and vertical directions, so as to adapt to the multi-level and complex storage structure in the storage area.

[0044] During the navigation process, the mobile unit collaborates with the path planning module to adjust the motion path in real time, avoid obstacles on the storage track, and ensure the efficient execution of the grasping task.

[0045] 5. In the path planning module, it is mainly composed of a path calculation unit and an obstacle avoidance planning unit: The path calculation unit is responsible for generating the optimal path from the starting point to the target point of the hanging manipulator according to the current warehouse layout. The shortest path is determined by recursive calculation using the dynamic programming algorithm. The formula is as follows: ; in, For slave nodes To Node The minimum path cost, Representation Node With Node The warehouse layout may change at any time due to the entry and exit of items. The path calculation unit obtains updated warehouse status information in real time and dynamically adjusts the path planning results to ensure that the path calculation is always consistent with the actual layout.

[0046] The obstacle avoidance planning unit optimizes the generated path in combination with the obstacle data provided by the recognition module to ensure that the suspended manipulator will not collide with obstacles when performing tasks. The obstacle avoidance planning unit uses the A* algorithm to dynamically adjust the moving direction and node priority based on the heuristic evaluation function of the path. Taking into account the location of obstacles, a safe path from the starting point to the target point is generated. During the execution of the task, the obstacle avoidance planning unit works together with the recognition module to perceive the distribution of obstacles on the track in real time. If a new obstacle appears, the obstacle avoidance planning unit will immediately re-plan the path to avoid task interruption or collision.

[0047] 6. In the control center module, it is mainly composed of task allocation unit, status monitoring unit and collaborative control unit: The task allocation unit is responsible for coordinating the work of various modules of the warehousing system according to the user's shipping instructions to ensure efficient execution of tasks. The task allocation unit first receives the shipping instructions input by the user and decomposes the instructions into specific operation requirements, such as the location of the target down jacket, shipping time and other information. Then, combined with the inventory information provided by the dynamic inventory management module and the task status of the hanging manipulator module, the most suitable hanging manipulator is selected to perform the current shipping task, and the path planning module is called to calculate the optimal path to ensure task execution efficiency and system resource utilization.

[0048] The status monitoring unit collects system operation data in real time, including task completion progress, parameter changes (temperature and humidity) of the environmental perception module, and the operating status of the hanging manipulator. During the monitoring process, if an abnormal situation is detected (such as task delay, equipment failure, or environmental indicators exceeding the standard), an alarm is immediately generated and the relevant modules or users are notified.

[0049] The collaborative control unit uses a distributed control algorithm to coordinate task allocation and path selection between multiple hanging manipulators and path planning modules to avoid resource conflicts and task blocking. In complex task scenarios (such as multi-point grasping), this unit dynamically adjusts the task execution strategy according to the current task priority and equipment operating status to ensure the overall efficiency of the system is optimized.

[0050] 7. In the human-computer interaction module, it is mainly composed of a touch screen unit and a voice interaction unit: The touch screen unit provides users with a graphical interface and supports a variety of interactive functions: Interface design and operation: Through intuitive icons and menus, users can easily browse inventory information, select items to be shipped, set shipping time, and view the real-time status of task execution; Dynamic feedback display: The touch screen updates the task execution progress in real time, such as the grasping status, the position of the hanging manipulator, the delivery time and other information, and graphically displays the changes in storage parameters detected by the environmental perception module; Manual control assistance: In special circumstances, users can manually control the movements of the hanging manipulator or adjust task allocation through the touch screen interface.

[0051] The voice interaction unit provides users with a convenient way to input natural language commands and provide feedback, including the following: Instruction recognition and processing: Users input shipping instructions or inventory query requirements through voice, and the system uses natural language processing technology to semantically analyze the instructions and transmit the analysis results to the task allocation unit; Voice feedback: The system generates voice feedback information based on the task execution progress, inventory status or abnormal conditions, such as "task completed", "inadequate inventory" or "ambient temperature exceeds the standard", etc., to ensure that users understand the system operation status in real time; Multi-language support: The voice interaction unit supports multiple languages ​​to meet the needs of different user groups and improve the applicability of the system.

[0052] A hanging storage method comprises the following steps: Step 1: The recognition module collects real-time image data of the storage location of the down jackets through the high-definition camera and depth camera configured in the visual recognition unit, and processes the image using the convolutional neural network algorithm. By extracting the feature information of the down jackets, the accurate location coordinates are calculated, and the distribution of obstacles on the storage track is identified to ensure accurate input data for subsequent path planning. Step 2: The dynamic inventory management module updates the inventory status of down jackets in the database in real time according to the location information provided by the identification module, including the unique identification code, storage location, outbound status and task execution record of the item, to ensure that the inventory information is consistent with the actual storage status, and supports the generation of dynamic inventory reports and feedback of update results to the control center module; Step 3: The environment perception module detects the temperature, humidity, light intensity and air quality parameters in the storage environment through the sensor unit, and compares the detected data with the preset threshold value. If a parameter exceeds the standard range, the module will generate an alarm signal and send an adjustment instruction to the control center module to maintain the stability of the storage environment, thereby avoiding damage to the storage quality of the down jackets; Step 4: The hanging manipulator module controls the hanging manipulator to move to the target storage position along the preset path according to the instructions assigned by the control center, and uses the flexible grasping device to automatically adjust the grasping force according to the characteristics of the down jacket to achieve precise grasping operation of the down jacket, ensuring that the down jacket will not be squeezed or damaged during the grasping process; Step 5: The path planning module calculates the shortest path from the current storage point to the delivery point through a dynamic programming algorithm based on the storage location and storage layout diagram of the down jackets provided by the recognition module, and dynamically adjusts the path using the A* algorithm in combination with the obstacle distribution data to ensure that the hanging manipulator can efficiently avoid obstacles and complete the grasping task; Step 6: The control center module receives the outbound instruction input by the user, and assigns the grabbing task to the specific hanging manipulator and path planning module in combination with the dynamic inventory information and task allocation rules. At the same time, it monitors the operating status of each module in real time, including the task completion progress, environmental parameter changes and hardware equipment status, to ensure the efficiency and stability of the system operation; Step 7. The human-computer interaction module receives the user's operation instructions through the touch screen unit and the voice interaction unit. The touch screen provides users with functions such as inventory query, task configuration and status display. The voice unit supports users to issue instructions through natural language and provide voice feedback on the real-time progress and results of task execution, further improving the convenience of user operation and the intelligent interactivity of the system.

[0053] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A hanging storage system, characterized in that: Includes the following modules: A recognition module is used to identify the specific location of the down jacket through computer vision technology; Dynamic inventory management module, used to record and update the storage status of down jackets; Environmental perception module, used to monitor storage environment parameters and generate environmental adjustment instructions; A hanging manipulator module is used to grab and transport the down jacket according to the position information provided by the recognition module; Path planning module, used to dynamically generate the optimal transportation path based on warehouse layout and task requirements; The control center module is used to coordinate the operation of the above modules and realize the intelligent control of the grabbing and shipping processes; The human-computer interaction module is used to receive user shipping instructions and display the storage status and task execution progress.

2. A hanging storage system according to claim 1, characterized in that: The identification module comprises: The visual recognition unit is equipped with a high-definition camera and a depth camera to collect real-time image data of down jackets in the storage area, and extract feature information in the image through a convolutional neural network algorithm to mark the exact storage location of the down jackets. At the same time, it identifies the distribution of other obstacles on the storage track. The formula is as follows: ； in, represents the feature extraction function, is the activation function, and are the weight matrix and bias term respectively; The data processing unit, based on the feature data generated by the visual recognition unit and the existing location information of the warehousing system, sorts the matching degree of the candidate storage points and optimizes the item location selection through the weighted cosine similarity formula: ； in, and are the components of the eigenvectors, Indicates the location matching score, which is used to determine the priority of the actual storage point location.

3. A hanging storage system according to claim 1, characterized in that: The dynamic inventory management module includes: The database unit is configured as a hash structure to store dynamic inventory information of down jackets, including data such as the unique identification code, storage location, and delivery time of the item, while supporting rapid retrieval and update of data; The update unit receives data input from the identification module and modifies the inventory record in real time. After the down jacket is grabbed, its status is updated from "in stock" to "out of stock". At the same time, this unit supports the generation of statistical reports on inventory changes and sends feedback information to the control center module.

4. A hanging storage system according to claim 1, characterized in that: The environment perception module comprises: The sensor unit includes a temperature and humidity sensor, a light sensor, and an air quality sensor, which are used to detect in real time the temperature and humidity changes, light intensity, and particle concentration in the air that may affect the quality of down jackets in the storage environment; The alarm unit, based on the data provided by the sensor unit, compares the current environmental parameters with the preset standard thresholds. If an indicator exceeds the set range, the unit generates an alarm signal, notifies the control center module and triggers the environmental adjustment mechanism.

5. The hanging storage system according to claim 1, characterized in that: The hanging manipulator module comprises: The grabbing unit is equipped with an intelligent adjustment device, which automatically adjusts the grabbing force according to the volume, material and weight of the down jacket. The end device of the grabbing unit uses flexible materials to avoid squeezing and damage to the down jacket. The mobile unit, including a drive motor and a track travel device, is used to ensure the precise movement of the hanging robot along the storage track. The unit supports three-dimensional movement to adapt to the complex storage structure in the storage space.

6. A hanging storage system according to claim 1, characterized in that: The path planning module includes: The path calculation unit uses a dynamic programming algorithm to generate the shortest path from the starting point to the target point based on the current warehouse layout diagram. The formula is as follows: ； in, For slave nodes To Node The minimum path cost, Representation Node With Node The path calculation unit will dynamically update the path graph to adapt to the changes in storage status; The obstacle avoidance planning unit, combined with the obstacle position data provided by the recognition module, uses the A* algorithm to adjust the path to ensure that the hanging manipulator avoids all obstacles when performing the grasping task.

7. A hanging storage system according to claim 1, characterized in that: The control center module includes: The task allocation unit allocates tasks to specific hanging manipulators and path planning modules based on user shipping instructions, combined with dynamic inventory information and current task status; The status monitoring unit collects the operating status data of each module to monitor the operation of the storage system in real time, including the progress of task completion, changes in environmental parameters, and the working status of hardware equipment; The collaborative control unit uses distributed control algorithms to achieve collaboration among multiple modules and optimize resource utilization efficiency.

8. The hanging storage system according to claim 1, characterized in that: The human-computer interaction module comprises: The touch screen unit is integrated into the warehouse terminal equipment, which supports users to input shipping instructions, query inventory information and display the real-time status of task execution through a graphical interface; The voice interaction unit supports natural language recognition technology, allowing users to issue commands through voice, and the system provides feedback on task execution status through voice.

9. A hanging storage method, characterized in that: The following steps are involved: Step 1: The recognition module collects real-time image data of the storage location of the down jacket through the visual recognition unit, and calculates the accurate location coordinates of the down jacket using a deep learning algorithm; Step 2: Dynamic inventory management: based on the location information provided by the recognition module, the status of down jackets in the inventory database is updated in real time, including storage location and task execution records; Step 3: Environmental perception: detect the temperature, humidity and light of the storage environment, and send an alarm signal to the control center module when it exceeds the set threshold; Step 4: The hanging manipulator is controlled to move to the target position, and the flexible grasping device is started to complete the precise grasping operation of the down jacket; Step 5: Path planning: Based on the warehouse layout of storage locations and outbound points, the optimal path is generated using dynamic programming and obstacle avoidance algorithms to ensure efficient completion of the grasping task. Step 6: The control center receives the user's outbound instructions, assigns tasks to each module, coordinates system operation and monitors the task execution status to ensure the efficiency and accuracy of warehousing operations; Step 7: Human-computer interaction: receiving user instructions through the touch screen and voice interface, and providing real-time feedback on task execution progress and results.

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