Outdoor rapid inventory method and system based on unmanned aerial vehicle and laser radar equipment

Abstract

The invention discloses an outdoor rapid inventory method and system based on an unmanned aerial vehicle and laser radar equipment, and belongs to the technical field of cargo inventory, and the method comprises the following steps: planning the flight route of the unmanned aerial vehicle in a software system of a ground control station according to the map information of an inventory area; meanwhile, performance detection and parameter calibration are carried out on the unmanned aerial vehicle and the laser radar equipment; the unmanned aerial vehicle takes off according to a preset route, and in the flight process, the laser radar equipment continuously scans the goods below to obtain three-dimensional point cloud data of the surfaces of the goods; the ground control station analyzes the three-dimensional point cloud data by using a point cloud processing algorithm, and constructs a three-dimensional model of the goods; goods information is identified and counted through an image identification technology; and calculating the volume of the goods according to the three-dimensional model by using a volume calculation algorithm, and estimating the weight of the goods in combination with the density of the goods. According to the invention, the problems of low efficiency and poor accuracy of an outdoor cargo inventory mode are solved, and rapid and accurate outdoor cargo inventory is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of goods inventory, in particular to an outdoor rapid inventory method and system based on a UAV and a laser radar device. BACKGROUND

[0002] In modern logistics, warehousing and various industries involving large outdoor goods storage, accurate and efficient inventory is crucial. The traditional outdoor inventory method mainly relies on manual on-site counting, which has many drawbacks. On the one hand, manual counting consumes a lot of manpower and time. For large warehouses or large area of goods, a large number of manpower is needed for inventory, and it takes a long time, which seriously affects the work efficiency. On the other hand, manual counting is easily disturbed by human factors such as fatigue and negligence, which makes it difficult to ensure the accuracy of the inventory data, and thus affects the accurate grasp of inventory and the formulation of subsequent decisions by enterprises.

[0003] With the development of science and technology, although some auxiliary inventory tools such as handheld code scanning devices have appeared, for goods in complex outdoor environments, especially irregularly shaped and randomly stacked goods, these tools have limited effect. For example, in open mine sites, large logistics parks and other scenarios, the goods are widely distributed and the environment is complex, making it difficult for traditional inventory methods to meet the needs of rapid and accurate inventory. Therefore, it is urgent to develop an efficient, accurate and adaptive rapid inventory method for complex outdoor environments. SUMMARY

[0004] The technical task of the present application is to solve the above problems, and to provide an outdoor rapid inventory method and system based on a UAV and a laser radar device, which can solve the problems of low efficiency and poor accuracy of existing outdoor inventory methods, and realize rapid and accurate outdoor inventory.

[0005] The technical solution adopted by the present application to solve its technical problems is:

[0006] The outdoor rapid inventory method based on a UAV and a laser radar device includes the following steps:

[0007] In the software system of the ground control station, the flight route of the UAV is planned according to the map information of the inventory area; at the same time, the performance of the UAV and the laser radar device is detected and the parameters are calibrated to ensure normal operation of the equipment;

[0008] The UAV takes off according to the preset route, and the laser radar device continuously scans the goods below during the flight to obtain the three-dimensional point cloud data of the surface of the goods; the high-definition camera synchronously captures the image information of the goods; the position and attitude information of the UAV is recorded in real time by the positioning module, and is associated with the collected data; the real-time data is transmitted to the ground control station through the data transmission module;

[0009] The ground control station preprocesses the received data to remove noise and outliers; analyzes the three-dimensional point cloud data using point cloud processing algorithms to construct a three-dimensional model of the goods; identifies and counts the goods information through image recognition technology in combination with the images taken by the high-definition camera; and calculates the volume of the goods according to the three-dimensional model using a volume calculation algorithm and estimates the weight of the goods based on the density of the goods;

[0010] The result output: after data processing and analysis, a detailed inventory report is generated; the inventory data is stored in the enterprise's inventory management system to realize real-time updating and sharing of data.

[0011] Further, the flight route planning of the unmanned aerial vehicle needs to ensure that the unmanned aerial vehicle can fully cover the inventory area and maintain a safe distance during flight to avoid collision with obstacles.

[0012] Further, the unmanned aerial vehicle is equipped with a laser radar device, a high-definition camera, a positioning module (such as GPS, Beidou, etc.), and a data transmission module; the laser radar device is used for three-dimensional data acquisition of goods; the high-definition camera is used for shooting appearance images of goods to assist subsequent identification and analysis; the positioning module ensures that the unmanned aerial vehicle can accurately fly according to the preset route and records the position information of the collected data; the data transmission module is responsible for real-time transmission of the collected data to the ground control station.

[0013] Further, the image recognition technology identifies and counts the goods information, including the type, quantity, etc. of the goods.

[0014] Further, the inventory report includes the type, quantity, volume, weight, storage location, etc. of the goods;

[0015] The inventory report is presented in the form of visual reports and charts for easy viewing and management by staff.

[0016] The present application also claims to protect an outdoor rapid inventory system based on unmanned aerial vehicles and laser radar devices, comprising:

[0017] Unmanned aerial vehicle platform: according to the map information of the inventory area, the flight route of the unmanned aerial vehicle is planned, and the three-dimensional data of the goods is collected through the carried laser radar device; the position and attitude information of the unmanned aerial vehicle is recorded in real time and associated with the collected data; and the real-time data is transmitted to the ground control station;

[0018] Laser radar device: used for quickly obtaining three-dimensional point cloud data of the surface of the goods and transmitting to the ground control station;

[0019] The ground control station is composed of a computer and related software, and is used for remote control of the unmanned aerial vehicle; the ground control station receives data transmitted back by the unmanned aerial vehicle, and stores, processes and analyzes the data; three-dimensional point cloud data is analyzed by using a point cloud processing algorithm to construct a three-dimensional model of the goods; in combination with images captured by a high-definition camera, image recognition technology is used to identify and count the goods information; and a volume calculation algorithm is used to calculate the volume of the goods according to the three-dimensional model and estimate the weight of the goods according to the density of the goods.

[0020] Further, the unmanned aerial vehicle platform comprises:

[0021] The unmanned aerial vehicle is selected to have long endurance, stable flight performance and good anti-interference capability.

[0022] The unmanned aerial vehicle is equipped with a laser radar device, a high-definition camera, a positioning module (such as GPS, Beidou, etc.) and a data transmission module; the laser radar device is used for three-dimensional data acquisition of the goods; the high-definition camera is used for capturing appearance images of the goods to assist subsequent identification and analysis; the positioning module ensures that the unmanned aerial vehicle can accurately fly according to the preset flight route and records the position information of the collected data; and the data transmission module is responsible for real-time transmission of the collected data to the ground control station.

[0023] Further, the laser radar device comprises:

[0024] The laser radar device is used for three-dimensional data acquisition of the goods; the high-definition camera is used for capturing appearance images of the goods to assist subsequent identification and analysis; the positioning module ensures that the unmanned aerial vehicle can accurately fly according to the preset flight route and records the position information of the collected data; and the data transmission module is responsible for real-time transmission of the collected data to the ground control station.

[0025] The scanning range and accuracy of the laser radar can be adjusted according to actual inventory requirements to adapt to different sizes and types of goods inventory.

[0026] Further, the ground control station comprises:

[0027] Remote control of the unmanned aerial vehicle includes setting flight route, height, speed and other parameters;

[0028] Further, the software system of the ground control station has a data visualization function, which can convert the collected three-dimensional point cloud data and image data into intuitive goods models and inventory information reports.

[0029] Compared with the prior art, the outdoor rapid inventory method and system based on the unmanned aerial vehicle and the laser radar device have the following advantages:

[0030] 1. Improved Inventory Efficiency: Drones can fly quickly and cover large inventory areas, significantly reducing inventory time compared to manual inventory. LiDAR equipment and high-definition cameras can rapidly collect large amounts of data, and the data processing and analysis are automated by computer, further improving work efficiency. For example, in a logistics park with an area of ​​100,000 square meters, traditional manual inventory might take a week, while using the method of this invention, the inventory work can be completed in one day.

[0031] 2. Improved Inventory Accuracy: High-precision 3D point cloud data acquired by LiDAR equipment and images captured by high-definition cameras, combined with advanced data processing and analysis algorithms, can accurately identify information such as the type, quantity, volume, and weight of goods, effectively avoiding errors caused by subjective factors in manual inventory counting. Actual testing shows that the inventory counting method of this invention achieves an accuracy rate of over 99%.

[0032] 3. Adaptability to complex environments: Drones can fly in various complex outdoor environments, such as open-pit mines, mountain warehouses, and seaside docks, without being limited by terrain or cargo stacking methods. LiDAR equipment can penetrate a certain degree of dust and smoke, and can still operate normally under adverse weather conditions (such as light fog or light rain), ensuring the smooth progress of inventory management.

[0033] 4. Reduced labor costs: It reduces reliance on a large workforce; only a few staff members are needed to operate the ground control station to complete inventory tasks, thus lowering the company's labor and management costs. At the same time, it avoids the safety risks that may arise from manual labor in complex environments. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating an outdoor rapid inventory method based on drones and lidar equipment, provided in one embodiment of the present invention. Detailed Implementation

[0035] The present invention will be further described below with reference to specific embodiments.

[0036] This invention provides a method for rapid outdoor inventory management based on drones and lidar equipment. The method specifically includes the following steps:

[0037] Preliminary preparations: In the ground control station's software system, the drone's flight path is planned based on the map information of the inventory area. The flight path planning must ensure that the drone can fully cover the inventory area and maintain a safe distance during flight to avoid collisions with obstacles. Simultaneously, performance testing and parameter calibration of the drone and lidar equipment are performed to ensure normal operation.

[0038] Data collection: The UAV takes off according to the preset flight route, and the laser radar equipment continuously scans the goods below during the flight to obtain the three-dimensional point cloud data of the surface of the goods; the high-definition camera synchronously shoots the image information of the goods. The position and attitude information of the UAV is recorded in real time by the positioning module, and is associated with the collected data. Through the data transmission module, these real-time data are transmitted to the ground control station.

[0039] Data processing and analysis: After receiving the data, the ground control station first pre-processes the data to remove noise and abnormal points. Then, the three-dimensional point cloud data is analyzed using point cloud processing algorithms to construct a three-dimensional model of the goods. Combined with the images taken by the high-definition camera, image recognition technology is used to identify and count the type, quantity, and other information of the goods. Using volume calculation algorithms, the volume of the goods is calculated based on the three-dimensional model, and then the weight of the goods is estimated based on the density of the goods.

[0040] Result output: After data processing and analysis, a detailed inventory report is generated, including information such as the type, quantity, volume, weight, and storage location of the goods. The inventory report is presented in the form of visual reports and charts, making it easy for staff to view and manage. The inventory data is stored in the enterprise's inventory management system, enabling real-time updating and sharing of data.

[0041] Among them, the UAV is selected to have long endurance, stable flight performance, and good anti-interference ability. The UAV is equipped with laser radar equipment, high-definition cameras, positioning modules (such as GPS, Beidou, etc.), and data transmission modules; the laser radar equipment is used for three-dimensional data collection of the goods; the high-definition camera is used to shoot the appearance image of the goods, assisting subsequent identification and analysis; the positioning module ensures that the UAV can accurately fly according to the preset flight route, and records the position information of the collected data; the data transmission module is responsible for transmitting the collected data to the ground control station in real time.

[0042] The laser radar equipment uses high-precision and high-resolution laser radar, which can quickly obtain three-dimensional point cloud data of the surface of the goods. The scanning range and accuracy of the laser radar can be adjusted according to actual inventory needs to adapt to different sizes and types of goods inventory.

[0043] The ground control station: composed of computers and related software, used for remote control of the UAV, including setting flight route, height, speed, etc. At the same time, the ground control station receives the data transmitted back by the UAV, and stores, processes and analyzes it. The software system has data visualization function, which can convert the collected three-dimensional point cloud data and image data into intuitive goods model and inventory information report.

[0044] The method realizes volume calculation and category identification of goods stacks by three-dimensional point cloud scanning of a LiDAR-equipped unmanned aerial vehicle, in combination with a deep learning algorithm, based on a path planning module (adapted to dynamically adjust the flight route in windy and rainy weather), a point cloud processing module (adopting voxel filtering for noise reduction), and a stock comparison module (real-time interaction with an ERP system), and the inventory efficiency is improved by more than 15 times compared with manual work, and the error rate is less than 0.3%.

[0045] The embodiment of the present application also provides an outdoor rapid inventory system based on an unmanned aerial vehicle and a laser radar device, comprising:

[0046] The unmanned aerial vehicle platform plans a flight route of the unmanned aerial vehicle according to map information of an inventory area, realizes three-dimensional data collection of goods through the equipped laser radar device, records position and attitude information of the unmanned aerial vehicle in real time, associates the real-time data with the collected data, and transmits the real-time data to a ground control station;

[0047] The laser radar device is used for quickly acquiring three-dimensional point cloud data of a surface of goods and transmitting the three-dimensional point cloud data to the ground control station;

[0048] The ground control station is composed of a computer and related software, is used for remotely controlling the unmanned aerial vehicle, and includes setting parameters such as a flight route, a height, and a speed. The ground control station receives data transmitted back by the unmanned aerial vehicle, and stores, processes, and analyzes the data. The three-dimensional point cloud data is analyzed by using a point cloud processing algorithm, a three-dimensional model of the goods is constructed, the image of the goods is identified and counted by using image recognition technology in combination with a high-definition camera, and the volume of the goods is calculated by using a volume calculation algorithm and the weight of the goods is estimated in combination with a density of the goods.

[0049] The unmanned aerial vehicle platform comprises:

[0050] The unmanned aerial vehicle is selected to have long endurance, stable flight performance, and good anti-interference capability.

[0051] The unmanned aerial vehicle is equipped with a laser radar device, a high-definition camera, a positioning module (such as a GPS, a Beidou, etc.), and a data transmission module. The laser radar device is used for three-dimensional data collection of the goods. The high-definition camera is used for shooting appearance images of the goods to assist subsequent identification and analysis. The positioning module ensures that the unmanned aerial vehicle can accurately fly according to the preset route and records position information of the collected data. The data transmission module is responsible for real-time transmission of the collected data to the ground control station.

[0052] The laser radar device adopts a high-precision and high-resolution laser radar, and can quickly acquire three-dimensional point cloud data of a surface of goods. The scanning range and precision of the laser radar can be adjusted according to actual inventory requirements to adapt to inventory of goods of different scales and types.

[0053] The software system of the ground control station has a data visualization function, which can convert the collected three-dimensional point cloud data and image data into intuitive cargo models and inventory information reports.

[0054] The system realizes the workflow of outdoor rapid inventorying as follows:

[0055] In the software system of the ground control station, the flight route of the unmanned aerial vehicle is planned according to the map information of the inventorying area. The route planning needs to ensure that the unmanned aerial vehicle can fully cover the inventorying area and maintain a safe distance during flight to avoid colliding with obstacles. At the same time, the performance of the unmanned aerial vehicle and the laser radar device is detected and the parameters are calibrated to ensure normal operation of the device.

[0056] The unmanned aerial vehicle takes off according to the preset route, and in the flight process, the laser radar device continuously scans the goods below to obtain three-dimensional point cloud data of the surface of the goods. The high-definition camera synchronously shoots image information of the goods. The positioning module records the position and attitude information of the unmanned aerial vehicle in real time and associates it with the collected data. The data transmission module transmits these real-time data to the ground control station.

[0057] After receiving the data, the ground control station first pre-processes the data to remove noise and abnormal points. Then, the three-dimensional point cloud data is analyzed by using a point cloud processing algorithm to construct a three-dimensional model of the goods. Combined with the images shot by the high-definition camera, the image recognition technology is used to identify and count the information such as the type and quantity of the goods. The volume calculation algorithm is used to calculate the volume of the goods according to the three-dimensional model, and then the weight of the goods is estimated according to the density of the goods.

[0058] After data processing and analysis, a detailed inventory report is generated, including information such as the type, quantity, volume, weight, and storage location of the goods. The inventory report is presented in the form of visual reports and charts, making it easy for staff to view and manage. At the same time, the inventory data is stored in the enterprise's inventory management system, realizing real-time updating and sharing of data.

[0059] Through the above specific embodiments, the skilled in the art can easily implement the present application. However, it should be understood that the present application is not limited to the above specific embodiments. On the basis of the disclosed embodiments, the skilled in the art can arbitrarily combine different technical features to realize different technical solutions.

[0060] In addition to the technical features described in the specification, all are known technologies to those skilled in the art.

Claims

1. An outdoor rapid inventory method based on a drone and a laser radar device, characterized in that, The implementation of the method comprises the following steps: In the software system of the ground control station, the flight route of the unmanned aerial vehicle is planned according to the map information of the inventory area; at the same time, the performance of the unmanned aerial vehicle and the laser radar device is detected and the parameters are calibrated; The unmanned aerial vehicle takes off according to the preset route, and in the flight process, the laser radar device continuously scans the goods below to obtain three-dimensional point cloud data of the surface of the goods; a high-definition camera synchronously shoots image information of the goods; the position and attitude information of the unmanned aerial vehicle is recorded in real time through the positioning module, and is associated with the collected data; the real-time data is transmitted to the ground control station through the data transmission module; The ground control station pre-processes the received data to remove noise and abnormal points; analyzes the three-dimensional point cloud data by using a point cloud processing algorithm to construct a three-dimensional model of the goods; identifies and counts the goods information by combining the images shot by the high-definition camera through image recognition technology; and calculates the volume of the goods according to the three-dimensional model by using a volume calculation algorithm and estimates the weight of the goods in combination with the density of the goods. The result output: after data processing and analysis, a detailed inventory report is generated; the inventory data is stored to the inventory management system of the enterprise to realize real-time updating and sharing of data. 2.The UAV and LiDAR device based outdoor rapid inventory method of claim 1, wherein, The flight route planning of the unmanned aerial vehicle needs to ensure that the unmanned aerial vehicle can fully cover the inventory area and maintain a safe distance during flight to avoid colliding with obstacles. 3.The UAV and LiDAR device based outdoor rapid inventory method of claim 1, wherein, The unmanned aerial vehicle is equipped with a laser radar device, a high-definition camera, a positioning module and a data transmission module; the laser radar device is used for three-dimensional data collection of the goods; the high-definition camera is used for shooting the appearance image of the goods to assist subsequent identification and analysis; the positioning module ensures that the unmanned aerial vehicle can accurately fly according to the preset route and records the position information of the collected data; the data transmission module is responsible for transmitting the collected data to the ground control station in real time. 4.The UAV and LiDAR device based outdoor rapid inventory method of claim 1, wherein, The image recognition technology identifies and counts the goods information, including the type and quantity information of the goods. 5.The UAV and LiDAR device based outdoor rapid inventory method of claim 1, wherein, The inventory report includes the type, quantity, volume, weight and storage location information of the goods; The inventory report is presented in the form of visual report and chart.

6. An outdoor rapid inventory system based on a drone and a laser radar device, characterized in that, It includes: Unmanned aerial vehicle platform: according to the map information of the inventory area, the flight route of the unmanned aerial vehicle is planned, and three-dimensional data of the goods is collected through the laser radar device carried; the position and attitude information of the unmanned aerial vehicle is recorded in real time, and is associated with the collected data; and the real-time data is transmitted to the ground control station; Laser radar device: used for quickly obtaining three-dimensional point cloud data of the surface of the goods and transmitting to the ground control station; Ground control station: used for remotely controlling the unmanned aerial vehicle; receiving data transmitted back by the unmanned aerial vehicle, and storing, processing and analyzing; analyzing the three-dimensional point cloud data by using a point cloud processing algorithm to construct a three-dimensional model of the goods; identifying and counting the goods information by using image recognition technology; and calculating the volume of the goods according to the three-dimensional model by using a volume calculation algorithm and estimating the weight of the goods in combination with the density of the goods. 7.The UAV and LiDAR device based outdoor rapid inventory system of claim 6, wherein, The unmanned aerial vehicle platform: Select an unmanned aerial vehicle with long endurance, stable flight performance and good anti-interference ability; The unmanned aerial vehicle is equipped with a laser radar device, a high-definition camera, a positioning module, and a data transmission module. The laser radar device is used for three-dimensional data collection of the goods. The high-definition camera is used to take appearance images of the goods to assist subsequent identification and analysis. The positioning module ensures that the unmanned aerial vehicle can accurately fly along the preset route and record the position information of the collected data. The data transmission module is responsible for real-time transmission of the collected data to the ground control station. 8.The UAV and LiDAR device based outdoor rapid inventory system of claim 6, wherein, The laser radar device: Uses high-precision and high-resolution laser radar to quickly obtain three-dimensional point cloud data of the surface of the goods. The scanning range and accuracy of the laser radar can be adjusted according to actual inventory needs to adapt to different sizes and types of goods inventory. 9.The UAV and LiDAR device based outdoor rapid inventory system of claim 6, wherein, The ground control station: Remote control of the unmanned aerial vehicle includes setting flight route, height, and speed parameters. 10.The UAV and LiDAR device based outdoor rapid inventory system of claim 6, wherein, The software system of the ground control station has data visualization function, which can convert the collected three-dimensional point cloud data and image data into intuitive goods model and inventory information report.

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