Radar 3D scanning intelligent inventory checking system

Abstract

The invention relates to a radar 3D scanning intelligent stocktaking system, and relates to the field of automatic stocktaking, the system comprises a control terminal, a three-dimensional modeling server, a second communication module, a track arranged around a to-be-stocktaking area, and a track type inspection device arranged on the track; according to the invention, the rail-mounted inspection device is combined with the laser radar scanner and the camera, so that the three-dimensional point cloud data and the image data of the to-be-stocktaking area can be automatically and quickly acquired, and the efficiency and the accuracy of inventory stocktaking are greatly improved, and meanwhile, the rail-mounted inspection device advances along the preset rail; the radar scanner can flexibly adapt to warehouse environments of different shapes and sizes, and the problem that the scanning range of a fixed radar scanner is limited is solved. The distance between the inspection device and the sensor and the ground is adjusted according to a control signal sent by the control terminal, and the adaptability and flexibility of the system are enhanced. The infrared thermal imager can monitor the temperature of the to-be-stocktaking area in real time, and safety guarantee is provided for warehouse management.

Description

Technical Field

[0001] The present invention relates to the field of automatic inventory checking, and particularly to a radar 3D scanning intelligent inventory checking system. Background Art

[0002] In the warehousing management and logistics industries, accurate inventory checking is a key link to ensure the efficiency and accuracy of the supply chain. Traditional inventory checking methods mainly rely on manual operations, such as using a handheld scanner or barcode reader to scan and record the materials in the warehouse one by one. However, with the continuous expansion of the warehousing scale and the increasing variety of materials, this manual checking method is not only time-consuming and laborious, but also prone to errors, and it is difficult to meet the requirements of modern warehousing management for high efficiency, accuracy, and automation. 3D scanning inventory checking came into being.

[0003] However, most of the existing radar 3D scanning inventory checking systems adopt fixed radar scanners, which have a limited scanning range and cannot flexibly adapt to warehouse environments of different shapes and sizes. In addition, these systems can often only provide the position and shape information of the materials, and cannot perform real-time monitoring on flammable materials or materials with high environmental temperature requirements. Summary of the Invention

[0004] In view of this, the present invention aims to provide a radar 3D scanning intelligent inventory checking system to solve the problems of poor flexibility, strong limitations, and inability to perform real-time monitoring on materials in the existing 3D scanning intelligent inventory checking technology.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] The present invention provides a radar 3D scanning intelligent inventory checking system, including:

[0007] A control terminal, a three-dimensional modeling server, a second communication module, a track arranged around the area to be inventoried, and a rail-mounted inspection device arranged on the track;

[0008] The rail-mounted inspection device is provided at the bottom with an infrared thermal imager for collecting temperature data of the area to be inventoried, a lidar scanner for collecting three-dimensional point cloud data of the area to be inventoried, and a camera for collecting image data of the area to be inventoried;

[0009] The control terminal is used to sequentially obtain the temperature data of the area to be inventoried collected by the infrared thermal imager and the image data of the area to be inventoried collected by the camera through the second communication module and the rail-mounted inspection device; and send a first control signal and a second control signal to the rail-mounted inspection device through the second communication module;

[0010] The described rail-type inspection device travels a preset distance along the rail in response to the first control signal; and also controls the distances between the infrared thermal imager, the lidar scanner, and the camera and the ground in response to the second control signal.

[0011] The three-dimensional modeling server is used to sequentially obtain the three-dimensional point cloud data of the area to be inventoried collected by the lidar scanner through the second communication module and the rail-type inspection device to construct a three-dimensional model of the materials in the area to be inventoried; and send the three-dimensional model to the control terminal through the second communication module.

[0012] The control terminal is further used to calculate the volume of the materials in the area to be inventoried according to the three-dimensional model.

[0013] Further, the rail-type inspection device includes a programmable logic controller, a first communication module, a lifting mechanism, and a displacement mechanism installed on the rail.

[0014] The lifting mechanism is longitudinally arranged, and the displacement mechanism is fixedly connected to one end of the lifting mechanism at the bottom; the infrared thermal imager, the lidar scanner, and the camera are fixed to the other end of the lifting mechanism.

[0015] The first communication module is used to receive the first control signal and the second control signal and send them to the programmable logic controller.

[0016] The programmable logic controller controls the displacement mechanism to travel a preset distance along the rail in response to the first control signal; and also controls the lifting mechanism to move longitudinally a preset distance in response to the second control signal to control the distances between the infrared thermal imager, the lidar scanner, and the camera and the ground.

[0017] The control terminal is used to sequentially obtain the temperature data of the area to be inventoried collected by the infrared thermal imager and the image data of the area to be inventoried collected by the camera through the second communication module and the first communication module.

[0018] The three-dimensional modeling server is used to sequentially obtain the three-dimensional point cloud data of the area to be inventoried collected by the lidar scanner through the second communication module and the first communication module to construct a three-dimensional model of the materials in the area to be inventoried; and send the three-dimensional model to the control terminal through the second communication module.

[0019] Further, a rotating platform is fixed to the other end of the lifting mechanism, and the infrared thermal imager, the lidar scanner, and the camera are fixed to the rotating table surface on the side far from the lifting mechanism; the rotating table surface is parallel to the ground.

[0020] The control terminal is further configured to send a third control signal to the first communication module through the second communication module and transmit the signal to the programmable logic controller through the first communication module;

[0021] The programmable logic controller, in response to the third control signal, controls the rotating table to rotate a preset angle, so as to control the infrared thermal imager, the lidar scanner, and the camera to rotate around the central axis of the rotating platform.

[0022] Further, the first communication module includes a switch and a wireless communication module. The first end of the first switch is connected to the programmable logic controller, the second end is connected to the wireless communication module, the third end is connected to the infrared thermal imager, the fourth end is connected to the lidar scanner, and the fifth end is connected to the camera;

[0023] The wireless communication module is connected to the second communication module.

[0024] Further, the second communication module includes a router and a second switch;

[0025] The first end of the switch is connected to the control terminal, the second end is connected to the 3D modeling server, and the third end is connected to the wired communication end of the router;

[0026] The wireless communication end of the router is connected to the wireless communication module.

[0027] Further, the displacement mechanism includes a servo driver, a servo motor, and a monorail trolley;

[0028] The monorail trolley is installed on the track, and the driving end of the servo motor is drivingly connected to the monorail trolley;

[0029] The programmable logic controller, in response to the first control signal, controls the servo driver to control the servo motor to drive the monorail trolley to move along the track.

[0030] Further, the lifting mechanism is selected from a DC electric push rod.

[0031] Further, the control terminal is further configured to generate and output an alarm signal when the regional temperature data is greater than the preset temperature upper limit and / or less than the preset temperature lower limit.

[0032] Further, the 3D modeling server is configured to obtain the 3D point cloud data of the area to be warehoused collected by the lidar scanner, splice the 3D point cloud data, and reconstruct a 3D model of the materials in the area to be warehoused.

[0033] Further, the track is a monorail track.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] In the present invention, an orbital inspection device is combined with a lidar scanner and a camera, which can automatically and quickly collect three-dimensional point cloud data and image data of the area to be inventoried. When modeling, the three-dimensional point cloud data can be verified with the image data after modeling to determine that all parts in the three-dimensional model are materials. If non-material parts are found in the three-dimensional model in combination with the image, the model is reconstructed, thus greatly improving the efficiency and accuracy of inventory counting.

[0036] The orbital inspection device travels along a preset track, can flexibly adapt to warehouse environments of different shapes and sizes, expands the scanning range, and solves the problem of limited scanning range of fixed radar scanners. In addition, the system can adjust the distance between the inspection device and the sensor and the ground according to the control signal sent by the control terminal, further enhancing the adaptability and flexibility of the system.

[0037] The infrared thermal imager can real-time monitor the temperature data of the area to be inventoried. For flammable materials or materials with high environmental temperature requirements, the system can issue warnings in a timely manner, improving the safety of the warehouse and the reliability of material storage. The image data collected by the camera can be used to assist in monitoring abnormal situations in the warehouse, such as irregular stacking of materials, equipment failures, etc., providing additional safety guarantees for warehouse management.

[0038] The three-dimensional modeling server constructs a three-dimensional model of the materials in the area to be inventoried using the three-dimensional point cloud data collected by the lidar scanner, making warehouse management more intuitive and visual. The control terminal calculates the volume of the materials based on the three-dimensional model, providing accurate data support for inventory management, material allocation, and warehousing planning.

[0039] Through automated inventory counting, this system reduces labor costs and time costs, and improves the efficiency of warehousing management. At the same time, accurate inventory data and real-time material monitoring help enterprises optimize inventory management strategies, reducing inventory backlogs and out-of-stock phenomena. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0041] Figure 1 is a schematic structural diagram of the whole of the present invention;

[0042] Figure 2 is a schematic structural diagram of the radar 3D scanning intelligent inventory system of the present invention;

[0043] Figure 3Schematic diagram of the cooperation among the turntable, lifting mechanism and displacement mechanism of the orbital inspection device of the present invention;

[0044] Figure 4 The first communication module of the present invention;

[0045] Figure 5 The second communication module of the present invention;

[0046] Figure 6 Schematic diagram of the connection between the first communication module and the second communication module of the present invention.

[0047] Explanation of reference numerals:

[0048] 1. Orbital inspection device; 11. Infrared thermal imager; 12. LiDAR scanner; 13. Camera; 14. Monorail trolley; 15. Lifting mechanism; 16. Turntable. Detailed implementation manners

[0049] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0050] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "back", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0051] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "connection", "connecting member" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention may be understood in combination with the specific circumstances.

[0052] Next, reference will be made to the attached Figures 1 to 6 and the embodiments will be used to describe the present invention in detail.

[0053] Generally speaking, as Figure 1 and Figure 2 shown, the present invention provides a radar 3D scanning intelligent inventory system, including:

[0054] A control terminal, a 3D modeling server, a second communication module, an orbit set around the area to be inventoried, and an orbital inspection device 1 arranged on the orbit;

[0055] The orbital inspection device 1 is provided at the bottom with an infrared thermal imager 11 for collecting temperature data of the area to be inventoried, a lidar scanner 12 for collecting 3D point cloud data of the area to be inventoried, and a camera 13 for collecting image data of the area to be inventoried;

[0056] The control terminal is used to sequentially obtain, via the second communication module and the orbital inspection device 1, the temperature data of the area to be inventoried collected by the infrared thermal imager 11 and the image data of the area to be inventoried collected by the camera 13; and send a first control signal and a second control signal to the orbital inspection device 1 through the second communication module;

[0057] The orbital inspection device 1 travels a preset distance along the orbit in response to the first control signal; and also controls the distances between the infrared thermal imager 11, the lidar scanner 12, and the camera 13 and the ground in response to the second control signal;

[0058] The 3D modeling server is used to sequentially obtain, through the second communication module and the orbital inspection device 1, the 3D point cloud data of the area to be inventoried collected by the lidar scanner 12 to construct a 3D model of the materials in the area to be inventoried; and send the 3D model to the control terminal through the second communication module;

[0059] The control terminal is also used to calculate the volume of the materials in the area to be inventoried according to the 3D model.

[0060] The orbital inspection device 1 of the present invention combines a lidar scanner 12 and a camera 13, and can automatically and quickly collect 3D point cloud data and image data of the area to be inventoried. During modeling, the 3D point cloud data can be verified with the image data after modeling to determine that all parts in the 3D model are materials. If it is found that there are non-material parts in the 3D model in combination with the image, the model will be reconstructed, thus greatly improving the efficiency and accuracy of inventory counting.

[0061] The orbital inspection device 1 travels along a preset orbit, can flexibly adapt to warehouse environments of different shapes and sizes, expands the scanning range, and solves the problem of limited scanning range of a fixed radar scanner. In addition, the system can adjust the distances between the inspection device and the sensors and the ground according to the control signal sent by the control terminal, further enhancing the adaptability and flexibility of the system.

[0062] The infrared thermal imager 11 can monitor the temperature data of the area to be inventoried in real time. For flammable materials or materials with high environmental temperature requirements, the system can issue early warnings in a timely manner, improving the safety of the warehouse and the reliability of material storage. The image data collected by the camera 13 can be used to assist in monitoring abnormal situations in the warehouse, such as irregular material stacking, equipment failures, etc., providing additional safety guarantees for warehouse management.

[0063] The 3D modeling server uses the 3D point cloud data collected by the lidar scanner 12 to construct a 3D model of the materials in the area to be inventoried, making warehouse management more intuitive and visual. The control terminal calculates the volume of the materials based on the 3D model, providing accurate data support for inventory management, material allocation, and warehousing planning.

[0064] This system reduces labor costs and time costs through automated inventory taking, improving the efficiency of warehousing management. At the same time, accurate inventory data and real-time material monitoring help enterprises optimize their inventory management strategies, reducing inventory backlogs and out-of-stock phenomena.

[0065] More specifically, as Figure 3 shown, the rail-mounted inspection device 1 includes a programmable logic controller, a first communication module, a lifting mechanism 15, and a displacement mechanism installed on the rail;

[0066] The lifting mechanism 15 is longitudinally arranged, and the displacement mechanism is fixedly connected to one end of the lifting mechanism 15 at the bottom; the infrared thermal imager 11, the lidar scanner 12, and the camera 13 are fixed to the other end of the lifting mechanism 15; in this embodiment, the lifting mechanism 15 can drive the infrared thermal imager 11, the lidar scanner 12, and the camera 13 to move longitudinally. Since there will inevitably be observation blind spots at a fixed height, the lifting mechanism 15 can be used to observe the stacked materials at different heights.

[0067] The first communication module is used to receive the first control signal and the second control signal and send them to the programmable logic controller;

[0068] The programmable logic controller, in response to the first control signal, controls the displacement mechanism to travel a preset distance along the rail; and also in response to the second control signal, controls the lifting mechanism 15 to move longitudinally a preset distance to control the distance between the infrared thermal imager 11, the lidar scanner 12, and the camera 13 and the ground;

[0069] The control terminal is used to sequentially obtain the temperature data of the area to be inventoried collected by the infrared thermal imager 11 and the image data of the area to be inventoried collected by the camera 13 via the second communication module and the first communication module;

[0070] A 3D modeling server is used to sequentially obtain 3D point cloud data of the area to be racked collected by the lidar scanner 12 through the second communication module and the first communication module to construct a 3D model of the materials in the area to be racked; and send the 3D model to the control terminal through the second communication module.

[0071] More specifically, a rotating platform 16 is fixed at the other end of the lifting mechanism 15, and the infrared thermal imager 11, the lidar scanner 12, and the camera 13 are fixed on the rotating table surface on the side far from the lifting mechanism 15; the rotating table surface is parallel to the ground;

[0072] The control terminal is further configured to send a third control signal to the first communication module through the second communication module and send it to the programmable logic controller through the first communication module;

[0073] The programmable logic controller responds to the third control signal and controls the rotating platform 16 to rotate a preset angle to control the infrared thermal imager 11, the lidar scanner 12, and the camera 13 to rotate around the central axis of the rotating platform.

[0074] In the present invention, the programmable logic controller controls the rotating platform 16 to rotate a preset angle, and the infrared thermal imager 11, the lidar scanner 12, and the camera 13 can rotate around the central axis of the rotating platform, so that the present invention is not only limited to the observation of materials, but also can realize the omnidirectional scanning and monitoring of the area to be racked. This design breaks the limitation of the fixed viewing angle and ensures that all corners and positions in the warehouse can be accurately and comprehensively recorded and monitored.

[0075] The introduction of the rotating platform 16 enables the sensor to more flexibly adjust the scanning angle, thereby more effectively capturing the detailed information of the materials in the warehouse. This not only improves the efficiency of data collection, but also ensures the accuracy and integrity of the data, providing a reliable basis for subsequent inventory management and material analysis.

[0076] The omnidirectional scanning is realized through the rotating platform 16, reducing the system's dependence on multiple fixedly installed sensors, thereby reducing the hardware cost and maintenance cost. At the same time, the efficient scanning strategy also reduces the scanning time and improves the resource utilization efficiency.

[0077] More specifically, as Figure 4 shown, the first communication module includes a switch and a wireless communication module. The first end of the first switch is connected to the programmable logic controller, the second end is connected to the wireless communication module, the third end is connected to the infrared thermal imager 11, the fourth end is connected to the lidar scanner 12, and the fifth end is connected to the camera 13;

[0078] The wireless communication module is connected to the second communication module.

[0079] More specifically, as Figure 5and Figure 6 As shown, the second communication module includes a router and a second switch;

[0080] The first end of the switch is connected to the control terminal, the second end is connected to the 3D modeling server, and the third end is connected to the wired communication end of the router;

[0081] The wireless communication end of the router is connected to the wireless communication module.

[0082] More specifically, the displacement mechanism includes a servo drive, a servo motor, and a monorail trolley 14;

[0083] The monorail trolley 14 is installed on the track, and the driving end of the servo motor is connected to the monorail trolley 14 in a transmission manner;

[0084] The programmable logic controller controls the servo driver in response to the first control signal to control the servo motor to drive the monorail trolley 14 to move along the track.

[0085] In the present invention, since the inspection device is equipped with an infrared thermal imager 11, a laser radar scanner 12, and a camera 13 at the bottom, and in order to allow the track-type inspection device 1 to mount more equipment for more monitoring and increase the flexibility of the system, the present invention uses a monorail trolley 14. The monorail trolley 14 has a good load-bearing capacity. It can accommodate cargo of different weights and sizes to meet various transportation needs. This load capacity makes the monorail trolley 14 perform well when lifting heavy objects, ensuring the safety and stability of transportation. In addition, the monorail trolley 14 is low-cost and compact, reducing the cost of the system.

[0086] More specifically, the lifting mechanism 15 is selected from a DC electric push rod.

[0087] More specifically, the control terminal is further configured to generate an output alarm signal when the regional temperature data is greater than a preset upper temperature limit and / or less than a preset lower temperature limit.

[0088] More specifically, the three-dimensional modeling server is used to obtain the three-dimensional point cloud data of the area to be inspected collected by the laser radar scanner 12, splice the three-dimensional point cloud data and reconstruct a three-dimensional model of the materials in the area to be inspected.

[0089] More specifically, the track is a monorail track. More specifically, in this embodiment, the monorail track is preferably made of I-beam, which has strong versatility.

[0090] The working principle of the present invention is a process of three-dimensional modeling to identify materials. The programmable logic controller controls the lifting mechanism 15 to adjust the height to a preset height and fix it, adjusts the rotating table 16 to make the lidar scanner 12, the camera 13, and the lens of the lidar scanner 12 face the materials in the area to be stocked, and finely adjusts the shooting angle. Then, the lidar scanner 12, the camera 13, and the infrared thermal imager 11 are respectively turned on, and the displacement mechanism is controlled to move uniformly along the first direction on the track at the first speed to obtain the three-dimensional point cloud data and image data of the materials, so as to construct a three-dimensional model. After the three-dimensional model is constructed, the image data and temperature data are obtained. The staff makes mutual verification based on the three-dimensional model and the image data to determine whether there are non-material parts in the three-dimensional model, so as to more accurately estimate the remaining material quantity. The temperature data can assist in checking the temperature of the materials (for some materials, the volume change is more obvious due to temperature). When only the camera 13 and the infrared thermal imager 11 are turned on, it is used for real-time monitoring of the materials. By rotating the rotating table 16, the area to be stocked can be monitored omnidirectionally, and through the lifting mechanism 15, the area to be stocked can be detected at different heights. Details are not described herein again.

[0091] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A radar 3D scanning intelligent inventory system, characterized in that, Including: A control terminal, a 3D modeling server, a second communication module, an orbit arranged around the area to be inventoried, and an orbital inspection device arranged on the orbit; The orbital inspection device is provided with an infrared thermal imager for collecting temperature data of the area to be inventoried at the bottom, a lidar scanner for collecting 3D point cloud data of the area to be inventoried, and a camera for collecting image data of the area to be inventoried; The control terminal is used to sequentially obtain the temperature data of the area to be inventoried collected by the infrared thermal imager and the image data of the area to be inventoried collected by the camera through the second communication module and the orbital inspection device; And send a first control signal and a second control signal to the orbital inspection device through the second communication module; The orbital inspection device travels a preset distance along the orbit in response to the first control signal; and also in response to the second control signal, controls the distances between the infrared thermal imager, the lidar scanner, and the camera and the ground; The 3D modeling server is used to sequentially obtain the 3D point cloud data of the area to be inventoried collected by the lidar scanner through the second communication module and the orbital inspection device to construct a 3D model of the materials in the area to be inventoried; and send the 3D model to the control terminal through the second communication module; The control terminal is further used to calculate the volume of the materials in the area to be inventoried according to the 3D model.

2. The radar 3D scanning intelligent inventory system according to claim 1, characterized in that: The orbital inspection device includes a programmable logic controller, a first communication module, a lifting mechanism, and a displacement mechanism installed on the orbit; The lifting mechanism is arranged longitudinally; The displacement mechanism is fixedly connected to one end of the lifting mechanism at the bottom; the infrared thermal imager, the lidar scanner, and the camera are fixed to the other end of the lifting mechanism; The first communication module is used to receive the first control signal and the second control signal and send them to the programmable logic controller; The programmable logic controller controls the displacement mechanism to travel a preset distance along the orbit in response to the first control signal; and also in response to the second control signal, controls the lifting mechanism to move longitudinally a preset distance to control the distances between the infrared thermal imager, the lidar scanner, and the camera and the ground; The control terminal is used to sequentially obtain the temperature data of the area to be inventoried collected by the infrared thermal imager and the image data of the area to be inventoried collected by the camera through the second communication module and the first communication module; The 3D modeling server is used to sequentially obtain the 3D point cloud data of the area to be inventoried collected by the lidar scanner through the second communication module and the first communication module to construct a 3D model of the materials in the area to be inventoried; and send the 3D model to the control terminal through the second communication module.

3. The radar 3D scanning intelligent inventory system according to claim 2, characterized in that: A rotating table is fixed to the other end of the lifting mechanism, and the infrared thermal imager, the laser radar scanner, and the camera are fixed on the rotating table surface on the side away from the lifting mechanism; The rotating table is parallel to the ground; The control terminal is further configured to send a third control signal to the first communication module via the second communication module and send the third control signal to the programmable logic controller via the first communication module; The programmable logic controller, in response to the third control signal, controls the rotating table to rotate a preset angle to control the infrared thermal imager, the lidar scanner, and the camera to rotate around the central axis of the rotating platform.

4. The radar 3D scanning intelligent disk storage system according to claim 3 is characterized by: The first communication module includes a switch and a wireless communication module, wherein a first end of the first switch is connected to a programmable logic controller, a second end is connected to the wireless communication module, a third end is connected to an infrared thermal imager, a fourth end is connected to a lidar scanner, and a fifth end is connected to a camera; The wireless communication module is connected to the second communication module.

5. The radar 3D scanning intelligent disk library system according to claim 4, characterized in that: The second communication module includes a router and a second switch; The first end of the switch is connected to the control terminal, the second end is connected to the 3D modeling server, and the third end is connected to the wired communication end of the router; The wireless communication end of the router is connected to the wireless communication module.

6. The radar 3D scanning intelligent disk storage system according to claim 2, characterized in that: The displacement mechanism includes a servo drive, a servo motor, and a monorail trolley; The monorail trolley is installed on the track, and the driving end of the servo motor is transmission-connected to the monorail trolley; The programmable logic controller controls the servo driver in response to the first control signal to control the servo motor to drive the monorail trolley to move along the track.

7. The radar 3D scanning intelligent disk library system according to claim 2, characterized in that: The lifting mechanism is selected from a DC electric push rod.

8. The radar 3D scanning intelligent disk library system according to claim 1, characterized in that: The control terminal is further configured to generate an output alarm signal when the temperature data of the area is greater than a preset upper temperature limit and / or less than a preset lower temperature limit.

9. The radar 3D scanning intelligent disk library system according to claim 1, characterized in that: The three-dimensional modeling server is used to obtain three-dimensional point cloud data of the warehouse area to be inventoried collected by the laser radar scanner, splice the three-dimensional point cloud data and reconstruct a three-dimensional model of the materials in the warehouse area to be inventoried.

10. The radar 3D scanning intelligent disk library system according to claim 1, characterized in that: The track is a monorail track.

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