Physical stock visualization system and method

Abstract

The invention discloses a physical stock visualization system and method, and relates to the technical field of inspection robots, and the system comprises a first guide rail which is arranged above a to-be-detected target and surrounds the to-be-detected target; the inspection robot is arranged on one side of the first guide rail in a sliding mode, and an acquisition module is arranged on the side, close to the to-be-detected target, of the inspection robot so as to obtain target information of the to-be-detected target; wherein the first guide rail is provided with a plurality of measurement point positions, a processing module is arranged in the inspection robot, and the processing module is used for processing target information obtained by the inspection robot at the plurality of measurement point positions so as to obtain volume information of the to-be-measured target according to the target information. The technical problem that in the prior art, a visual blind area often exists in the mode that measurement is conducted through a fixed camera or a laser scanner, goods cannot be scanned in an all-around mode, and consequently the size measurement result is not accurate is solved.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and in particular to a physical inventory visualization system and method. Background Technology

[0002] In sectors such as warehousing, logistics, mining, and ports, which involve large quantities of physically stored goods (such as ores, coal, grain, and containers), obtaining inventory volume information quickly, accurately, and non-contactly is crucial for inventory management, trade settlement, production scheduling, and cost control. Traditional manual measurement methods are inefficient, dangerous, and prone to error.

[0003] However, the relevant technologies have at least one of the following problems: In the existing technologies, the measurement methods using fixed cameras or laser scanners often have blind spots, making it impossible to scan the goods from all angles, resulting in inaccurate volume measurement results. Summary of the Invention

[0004] To address the above shortcomings, this invention provides a physical inventory visualization system and method, which solves the problem that measurement methods using fixed cameras or laser scanners often have blind spots, making it impossible to scan goods from all angles and resulting in inaccurate volume measurement results.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A physical inventory visualization system includes: a first guide rail positioned above and around a target to be measured; and an inspection robot slidably mounted on one side of the first guide rail, with a data acquisition module on the side of the inspection robot closest to the target to obtain target information. The first guide rail has multiple measurement points, and the inspection robot contains a processing module that processes the target information obtained by the inspection robot at the multiple measurement points to obtain the volume information of the target.

[0006] The above scheme, by setting a first guide rail and multiple measurement points on the first guide rail, enables the inspection robot to acquire target information of the target to be measured at multiple measurement points. Through the cooperation of the surrounding guide rail and the mobile robot, the all-round and automated three-dimensional information acquisition of the material stack is realized, laying the foundation for high-precision volume calculation.

[0007] Furthermore, the physical inventory visualization system also includes: a second guide rail, which is movably connected to the first guide rail; a transmission device, which is connected to the second guide rail; and a third guide rail, which is vertically set at the position corresponding to the second guide rail and connected to the second guide rail; wherein, the transmission device is slidably connected to the third guide rail, and when the second guide rail moves to the position corresponding to the first guide rail, the inspection robot can slide on the first guide rail or the second guide rail.

[0008] The above-mentioned further solution involves setting a second guide rail that slides on a third guide rail, allowing users to install the inspection robot onto the second guide rail on the ground. The second guide rail is then connected to the first guide rail via a transmission device, enabling the inspection robot to be transported to the first guide rail, facilitating installation and maintenance.

[0009] Furthermore, the first and second guide rails are I-shaped steel, and the transmission device includes: a mounting part connected to the side of the second guide rail away from the inspection robot; and a transmission part with multiple first drive wheels that abut against the third guide rail, so that the transmission device is slidably connected to the third guide rail; wherein, the multiple first drive wheels abut against at least two non-parallel surfaces of the third guide rail.

[0010] Through the above-mentioned further solutions, by setting the first and second guide rails as I-shaped steel, the inspection robot can be installed on one side of the I-shaped steel, and the mounting part can be installed on the other side of the I-shaped steel, so that the mounting part does not affect the sliding of the inspection robot; on the other hand, by having multiple different surfaces of the third guide rail abut against the first drive wheel, the transmission part can slide stably on the third guide rail.

[0011] Furthermore, the first guide rail is also equipped with maintenance points, and the physical inventory visualization system is equipped with maintenance devices at the corresponding maintenance points. The maintenance devices include: a frame with a first channel for the first guide rail to pass through; a cleaning section located on the inner wall of the frame; and a fan that passes through the frame with its outlet facing the inside of the frame.

[0012] Through the above-mentioned further solutions, the maintenance points are integrated with automated cleaning functions, enabling the cleaning robot to automatically clean and dry during the inspection process, effectively preventing dust pollution from affecting the accuracy of data collection, reducing maintenance costs and improving the system's intelligence level.

[0013] Furthermore, the physical inventory visualization system also includes a maintenance platform, which is located at the corresponding maintenance point and below the maintenance device; wherein, the maintenance platform has a maintenance channel extending downward.

[0014] The above-mentioned further solutions provide a dedicated maintenance platform and access, creating a safe and convenient high-altitude working environment for maintenance personnel, ensuring the operability of system maintenance work and personnel safety.

[0015] Furthermore, the physical inventory visualization system also includes: a fixing device, one end of which is connected to either the side of the first guide rail away from the inspection robot or the side of the second guide rail away from the inspection robot.

[0016] The above-mentioned further solutions enable the first and second guide rails to be effectively installed on the factory wall or steel bars using a fixing device, facilitating fixation.

[0017] Furthermore, the physical inventory visualization system also includes a fault traction device, which is slidably mounted on a first guide rail or a second guide rail, with a first traction component at one end; wherein, the bottom end of the inspection robot is provided with a second traction component that cooperates with the first traction component, so that the inspection robot and the fault traction device can be detachably connected; when the inspection robot malfunctions, the first traction component and the second traction component cooperate to connect, and the fault traction device guides the inspection robot to the position of the corresponding maintenance point.

[0018] The above-mentioned further solutions, by setting up a fault-towing device, provide a fault emergency response mechanism that can automatically tow the faulty inspection robot to the maintenance point, avoiding safety risks and improving the maintainability of the system.

[0019] On the other hand, the present invention also provides a physical inventory visualization method, which is applied to the physical inventory visualization system in any of the above examples. The physical inventory visualization method includes: installing an inspection robot onto a second guide rail, controlling a transmission device to slide on a third guide rail, determining whether the second guide rail is aligned with the first guide rail; if so, fixing the second guide rail with a fixing device, controlling the inspection robot to slide onto the first guide rail, and controlling the acquisition module to acquire target information of the object to be measured at multiple measurement points; transmitting the target information to a processing module, and controlling the processing module to process the target information to obtain the volume information of the target to be measured.

[0020] Through the above-mentioned further solutions, by enabling the inspection robot to detect the target information of the target at multiple measurement points, the target can be measured from multiple directions, making the volume information obtained more accurate.

[0021] Furthermore, the acquisition module is a lidar, the target information is point cloud data, and the control and processing module processes the target information to obtain the volume information of the target under test, including: achieving high-precision time synchronization using PTP4L technology, followed by reconstruction and format standardization of the point cloud data to meet the input requirements of the mapping algorithm; in the ground calibration stage, using CloudCompare's plane fitting function and performing ground correction based on the least squares method; mapping and positioning adopt the LIO-SAM algorithm, combined with sliding window optimization and IMU pre-integration, and simultaneously constructing a dense 3D map; performing DBSCAN clustering on the point cloud data to remove noise, and using the A-shape algorithm to complete the surface reconstruction of the material accumulation area, using the method of slicing along the y-axis, applying linear or piecewise linear fitting to each cross-section, calculating the area and accumulating it to obtain the volume information of the target under test.

[0022] Through the above-mentioned further solutions, the overall algorithm process integrates point cloud reconstruction, fitting calculation and multi-source sensor fusion technology, realizing automated 3D scanning and volume analysis.

[0023] Furthermore, the processing module is remotely connected to the network cloud to control the inspection robot to slide on the first guide rail, including: determining whether the inspection robot has malfunctioned; if so, controlling the fault traction device to guide the inspection robot to the maintenance point, and sending a warning message to the network cloud to remind maintenance personnel to enter the maintenance platform from the maintenance channel to perform maintenance on the inspection robot.

[0024] Through the above-mentioned further solutions, remote monitoring and early warning functions with cloud interconnection were realized. It can automatically notify faults and guide maintenance, forming a complete intelligent operation and maintenance closed loop, and further improving the unmanned level of the system.

[0025] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up a first guide rail and multiple measurement points on the first guide rail, the inspection robot can acquire target information of the target to be measured at multiple measurement points. Through the cooperation of the surrounding guide rail and the mobile robot, the all-round and automated three-dimensional information acquisition of the material stack is realized, laying the foundation for high-precision volume calculation. 2. By setting a second guide rail to slide on the third guide rail, the user can install the inspection robot on the second guide rail on the ground, and then connect the second guide rail to the first guide rail through the transmission device, so that the inspection robot can be transported to the first guide rail, which is convenient for installation and maintenance. 3. By setting up a fault-towing device, a fault emergency response mechanism is provided, which can automatically tow the faulty inspection robot to the maintenance point, avoiding safety risks and improving the maintainability of the system. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0027] Figure 1 This is a schematic diagram of the structure of a physical inventory visualization system according to the present invention; Figure 2 For the present invention Figure 1 A partial structural diagram of the physical inventory visualization system; Figure 3 For the present invention Figure 2 A magnified view of the structure at point A in the middle; Figure 4 For the present invention Figure 2 A magnified schematic diagram of the structure at point B in the middle; Figure 5 This is a schematic diagram of the cooperative structure of an inspection robot and a fault traction device in this invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of the structure at point C in the middle; Figure 7 For the present invention Figure 5 A magnified schematic diagram of the structure at point D in the middle; Figure 8 For the present invention Figure 5 A partial structural schematic diagram of the fault-tolerant traction device; Figure 9 For the present invention Figure 5 A partial structural diagram of the inspection robot; Figure 10 This is a flowchart illustrating a physical inventory visualization method provided in an embodiment of the present invention.

[0028] In the diagram: 100, Physical inventory visualization system; 10, First guide rail; 20, Inspection robot; 21, Data acquisition module; 22, Second traction component; 23, Second drive wheel; 24, Auxiliary wheel; 25, Adjustment component; 30, Second guide rail; 40, Transmission device; 41, Mounting part; 42, Transmission part; 421, First drive wheel; 50, Third guide rail; 60, Maintenance device; 61, Frame; 611, First panel; 612, First channel; 62, Fan; 70, Maintenance platform; 71, Maintenance channel; 80, Fixing device; 90, Fault traction device; 91, First traction component; 911, First fastener; 9111, First groove; 9112, Second groove; 912, Second fastener; 92, Third drive wheel. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0032] Example 1: Reference Figures 1-10 As shown, a physical inventory visualization system 100 includes a first guide rail 10 and an inspection robot 20. The first guide rail 10 is positioned above and around the target to be measured. The inspection robot 20 is slidably positioned on one side of the first guide rail 10. A data acquisition module 21 is provided on the side of the inspection robot 20 closest to the target to obtain target information. The first guide rail 10 has multiple measurement points. The inspection robot 20 has a processing module that processes the target information obtained by the inspection robot 20 at the multiple measurement points to obtain the volume information of the target to be measured.

[0033] Specifically, this physical inventory visualization system 100 is typically applied to warehousing, logistics, mining, ports and other fields. For example, an embodiment of the present invention provides an example of its application in a warehouse, where a first guide rail 10 is fixed on a steel frame and pillars in the warehouse, and an inspection robot 20 slides along the lower end of the first guide rail 10.

[0034] For example, in an embodiment of the present invention, the first guide rail 10 is set in mid-air, and the specific shape and setting height of the rail are adapted to the target to be measured.

[0035] Preferably, the acquisition module 21 includes, but is not limited to, a lidar and a camera, and the target information can be point cloud data and image data. The processing module is connected to the acquisition module 21 of the inspection robot 20. After the acquisition module 21 has completed the acquisition of target information at multiple measurement points, the acquisition module 21 will transmit all target information to the processing module for processing.

[0036] Preferably, the inspection robot 20 is also equipped with a second drive wheel 23. Through the cooperation of the second drive wheel 23 with the first guide rail 10, the inspection robot 20 can slide on the first guide rail 10 and then collect information around the target to be tested.

[0037] For example, in this embodiment of the invention, the target to be tested is placed on the ground in the factory, and the lidar and camera are set at the lower end of the inspection robot 20 in order to collect information about the target to be tested.

[0038] By setting up a first guide rail 10 and multiple measurement points on the first guide rail 10, the inspection robot 20 can acquire target information of the target to be measured at multiple measurement points. Through the cooperation of the surrounding guide rail and the mobile robot, the robot can realize the all-round and automated three-dimensional information acquisition of the material stack, laying the foundation for high-precision volume calculation.

[0039] Furthermore, the physical inventory visualization system 100 also includes a second guide rail 30, a transmission device 40, and a third guide rail 50. The second guide rail 30 is movably connected to the first guide rail 10; the transmission device 40 is connected to the second guide rail 30; the third guide rail 50 is vertically arranged at a position corresponding to the second guide rail 30, and the third guide rail 50 is connected to the second guide rail 30; wherein, the transmission device 40 and the third guide rail 50 are slidably connected, and when the second guide rail 30 moves to a position corresponding to the first guide rail 10, the inspection robot 20 can slide on the first guide rail 10 or the second guide rail 30.

[0040] For example, in this embodiment of the invention, the third guide rail 50 is vertically installed on the side wall of the pier, and the second guide rail 30 is driven to slide up and down by the transmission device 40. When installing the inspection robot 20, the inspection robot 20 is first installed on the second guide rail 30. When the second guide rail 30 is aligned with the first guide rail 10, the second guide rail 30 is fixed, and the inspection robot 20 can be transferred from the second guide rail 30 to the first guide rail 10.

[0041] Preferably, after the second guide rail 30 is fixed, the measurement point can also be set at the second guide rail 30, and the second guide rail 30 and the first guide rail 10 can be combined to form a closed shape, or the target to be measured can be adaptively set to an irregular shape that is not closed.

[0042] By setting the second guide rail 30 to slide on the third guide rail 50, the user can install the inspection robot 20 on the second guide rail 30 on the ground, and then connect the second guide rail 30 to the first guide rail 10 through the transmission device 40, so that the inspection robot 20 can be transported to the first guide rail 10, which facilitates installation and maintenance.

[0043] The first guide rail 10 and the second guide rail 30 are I-shaped steels. The transmission device 40 includes: a mounting part 41, which is connected to the side of the second guide rail 30 away from the inspection robot 20; and a transmission part 42, which is provided with a plurality of first drive wheels 421 that abut against the third guide rail 50, so that the transmission device 40 is slidably connected to the third guide rail 50; wherein the plurality of first drive wheels 421 abut against at least two non-parallel surfaces of the third guide rail 50.

[0044] Preferably, when fixing the first guide rail 10 and the second guide rail 30, the upper end face of the I-beam is fixed, while the inspection robot 20 slides and moves on the lower end face of the I-beam.

[0045] Specifically, in this embodiment of the invention, the third guide rail 50 consists of two rectangular long steel bars, and two pairs of first drive wheels 421 respectively cooperate with the two steel bars.

[0046] Preferably, the inspection robot 20 further includes an auxiliary wheel 24, the second drive wheel 23 is perpendicularly abutted against the lower end face of the I-beam, the auxiliary wheel 24 is abutted against the middle steel plate of the I-beam, the auxiliary wheel 24 is mounted on the adjusting member 25, and the adjusting member 25 is rotatably connected to the inspection robot 20 to adjust the distance between the auxiliary wheel 24 and the I-beam.

[0047] By setting the first guide rail 10 and the second guide rail 30 as I-shaped steel, the inspection robot 20 can be installed on one side of the I-shaped steel, and the mounting part 41 can be installed on the other side of the I-shaped steel, so that the mounting part 41 does not affect the sliding of the inspection robot 20; on the other hand, by abutting multiple different surfaces of the third guide rail 50 with the first drive wheel 421, the transmission part 42 can slide stably on the third guide rail 50.

[0048] The first guide rail 10 is also provided with maintenance points. The physical inventory visualization system 100 is also provided with maintenance devices 60 at the corresponding maintenance points. The maintenance device 60 includes: a frame 61, which is provided with a first channel 612 for the first guide rail 10 to pass through; a cleaning section, which is located on the inner wall of the frame 61; and a fan 62, which is installed through the frame 61 and has its air outlet facing the inside of the frame 61.

[0049] Specifically, in this embodiment of the invention, the frame 61 is a combination of four first panels 611 connected together, the cleaning part is a plurality of cleaning nozzles, the cleaning nozzles are disposed on the inner wall of the first panel 611, the main body of the fan 62 is disposed outside the first panel 611, and the air outlet passes through the first panel 611 and enters the first channel 612 so as to clean and dry the inspection robot 20.

[0050] The maintenance points are equipped with automated cleaning functions, enabling the cleaning robot to automatically clean and dry itself during the inspection process. This effectively prevents dust pollution from affecting the accuracy of data collection, reduces maintenance costs, and improves the system's intelligence level.

[0051] The physical inventory visualization system 100 also includes a maintenance platform 70, which is located at the corresponding maintenance point and below the maintenance device 60; wherein the maintenance platform 70 has a downwardly extending maintenance channel 71.

[0052] Preferably, the maintenance channel 71 and the maintenance platform 70 are configured for personnel to pass through and use. When needed, the inspection robot 20 is controlled to move to the maintenance point, and the personnel can manually clean and maintain the inspection robot 20 on the maintenance platform 70.

[0053] A dedicated maintenance platform and access point were provided, creating a safe and convenient high-altitude working environment for maintenance personnel, ensuring the operability of system maintenance work and personnel safety.

[0054] The physical inventory visualization system 100 also includes a fixing device 80, one end of which is connected to the side of the first guide rail 10 away from the inspection robot 20 or the side of the second guide rail 30 away from the inspection robot 20.

[0055] Preferably, the fixing device 80 includes multiple devices, and the lower end of the fixing device 80 is provided with a limiting groove adapted to the I-beam, so that the fixing device 80 can securely fix the first guide rail 10 and the second guide rail 30 in a suitable location.

[0056] The fixing device 80 can effectively install the first guide rail 10 and the second guide rail 30 onto the factory wall or steel bar, making it easy to fix.

[0057] The physical inventory visualization system 100 also includes a fault traction device 90, which is slidably mounted on the first guide rail 10 or the second guide rail 30. One end of the fault traction device 90 is provided with a first traction member 91. The bottom end of the inspection robot 20 is provided with a second traction member 22 that cooperates with the first traction member 91, so that the inspection robot 20 and the fault traction device 90 can be detachably connected. When the inspection robot 20 malfunctions, the first traction member 91 and the second traction member 22 cooperate to connect, and the fault traction device 90 guides the inspection robot 20 to the position of the corresponding maintenance point.

[0058] Preferably, the fault traction device 90 slides on the first guide rail 10 via the third drive wheel 92, the second traction member 22 is a pull ring, and the first traction member 91 is a latch that engages with the pull ring. When the fault traction device 90 moves toward the inspection robot 20, the pull ring and the latch automatically engage.

[0059] Specifically, the latch includes a first fastener 911 and a second fastener 912. The first fastener 911 has an alternating first groove 9111 and a second groove 9112. The second fastener 912 is elastically connected to the first fastener 911 through the first groove 9111. When the second fastener 912 is pressed by the pull ring, the second fastener 912 bounces upward, and the pull ring enters the second groove 9112. At this time, the second fastener 912 rebounds under the action of elastic force, so that the pull ring and the latch are fastened.

[0060] By setting up a fault traction device 90, a fault emergency response mechanism is provided, which can automatically traction the faulty inspection robot 20 to the maintenance point, avoiding safety risks and improving the maintainability of the system.

[0061] On the other hand, the present invention also provides a method for visualizing physical inventory, which is applied to the physical inventory visualization system 100 as described in any of the above examples. The physical inventory visualization method includes: Step S100: Install the inspection robot 20 onto the second guide rail 30, control the transmission device 40 to slide on the third guide rail 50, and determine whether the second guide rail 30 is aligned with the first guide rail 10. Step S200: If so, fix the second guide rail 30 by fixing the fixing device 80, control the inspection robot 20 to slide to the first guide rail 10, and control the acquisition module 21 to collect the target information of the object to be measured at multiple measurement points; Step S300: Transmit the target information to the processing module and control the processing module to process the target information to obtain the volume information of the target to be measured.

[0062] By enabling the inspection robot 20 to detect the target information of the target at multiple measurement points, the target can be measured from multiple angles, making the volume information obtained from the measurement more accurate.

[0063] Furthermore, the acquisition module 21 is a lidar, and the target information is point cloud data. Step S300 includes: Step S310: High-precision time synchronization is achieved using PTP4L (PTP for Linux) technology, followed by reconstruction and format standardization of the point cloud data to meet the input requirements of the mapping algorithm; For example, Step S320: In the ground calibration stage, use CloudCompare's plane fitting function and perform ground correction based on the least squares method; Step S330: Mapping and localization adopt the LIO-SAM algorithm, combined with sliding window optimization and IMU pre-integration, and simultaneously construct a dense 3D map; Step S340: Perform DBSCAN clustering algorithm on the point cloud data to remove noise, and use A-shape algorithm to complete the surface reconstruction of the material stacking area. Use the method of slicing along the y-axis to apply linear or piecewise linear fitting to each cross-section, calculate the area and accumulate to obtain the volume information of the target to be measured.

[0064] The overall algorithm integrates point cloud reconstruction, fitting calculation and multi-source sensor fusion technology, realizing automated 3D scanning and volume analysis.

[0065] Furthermore, the processing module is remotely connected to the network cloud via a signal, and step S200 includes: Step S210: Determine whether the inspection robot 20 has malfunctioned; Step S220: If yes, control the fault traction device 90 to guide the inspection robot 20 to the maintenance point and send an early warning message to the network cloud to remind maintenance personnel to enter the maintenance platform 70 from the maintenance channel 71 to perform maintenance on the inspection robot 20.

[0066] Furthermore, step S200 also includes: Step S230: Detect the surface grayscale of the inspection robot 20, and determine whether the inspection robot 20 is dirty based on the surface grayscale; Step S240: If yes, control the inspection robot 20 to move to the maintenance point and control the maintenance device 60 to clean the inspection robot 20.

[0067] Through automatic fault detection, remote monitoring and early warning functions with cloud interconnection are realized. It can automatically notify faults and guide maintenance, forming a complete intelligent operation and maintenance closed loop, and further improving the unmanned level of the system.

[0068] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A physical inventory visualization system, characterized in that, The physical inventory visualization system includes: The first guide rail (10) is positioned above the target to be measured and surrounds the target to be measured. Inspection robot (20), the inspection robot (20) is slidably disposed on one side of the first guide rail (10), and the inspection robot (20) is provided with a data acquisition module (21) on the side close to the target to be tested, so as to obtain the target information of the target to be tested; The first guide rail (10) is provided with multiple measurement points, and the inspection robot (20) is provided with a processing module. The processing module is used to process the target information obtained by the inspection robot (20) at the multiple measurement points, so as to obtain the volume information of the target to be measured based on the target information.

2. The physical inventory visualization system according to claim 1, characterized in that, The physical inventory visualization system also includes: The second guide rail (30) is movably connected to the first guide rail (10); A transmission device (40) is connected to the second guide rail (30); The third guide rail (50) is vertically disposed at a position corresponding to the second guide rail (30), and the third guide rail (50) is connected to the second guide rail (30); The transmission device (40) is slidably connected to the third guide rail (50). When the second guide rail (30) moves to the position corresponding to the first guide rail (10), the inspection robot (20) can slide on the first guide rail (10) or the second guide rail (30).

3. The physical inventory visualization system according to claim 2, wherein the first guide rail (10) and the second guide rail (30) are I-beams, characterized in that, The transmission device (40) includes; Mounting part (41), which is connected to the side of the second guide rail (30) away from the inspection robot (20); The transmission part (42) is provided with a plurality of first drive wheels (421) that abut against the third guide rail (50) so that the transmission device (40) and the third guide rail (50) are slidably connected; In this case, multiple first drive wheels (421) abut against at least two non-parallel surfaces of the third guide rail (50).

4. The physical inventory visualization system according to claim 2, wherein the first guide rail (10) is further provided with maintenance points, and the physical inventory visualization system is further provided with maintenance devices (60) corresponding to the maintenance points, characterized in that, The maintenance device (60) includes: A frame (61) having a first channel (612) through which the first guide rail (10) passes; A cleaning section is provided on the inner wall of the frame (61); A fan (62) is installed through the frame (61), and the air outlet of the fan (62) is arranged facing the inside of the frame (61).

5. The physical inventory visualization system according to claim 4, characterized in that, The physical inventory visualization system also includes; A maintenance platform (70) is provided at a position corresponding to the inspection point, and the maintenance platform (70) is provided below the inspection device (60); The maintenance platform (70) has a downward-extending maintenance passage (71).

6. The physical inventory visualization system according to claim 2, characterized in that, The physical inventory visualization system also includes: A fixing device (80) is provided, one end of which is connected to the side of the first guide rail (10) away from the inspection robot (20) or the side of the second guide rail (30) away from the inspection robot (20).

7. The physical inventory visualization system according to claim 4, characterized in that, The physical inventory visualization system also includes; A fault traction device (90) is slidably disposed on the first guide rail (10) or the second guide rail (30), and a first traction member (91) is provided at one end of the fault traction device (90). The bottom end of the inspection robot (20) is provided with a second traction member (22) that cooperates with the first traction member (91), so that the inspection robot (20) and the fault traction device (90) can be detachably connected. When the inspection robot (20) malfunctions, the first traction component (91) and the second traction component (22) are connected in cooperation, and the fault traction device (90) guides the inspection robot (20) to move to the position corresponding to the maintenance point.

8. A method for visualizing physical inventory, wherein the method is applied to the physical inventory visualization system as described in any one of claims 1-7, characterized in that, The physical inventory visualization method includes: Install the inspection robot onto the second guide rail, control the transmission device to slide on the third guide rail, and determine whether the second guide rail is aligned with the first guide rail; If so, the second guide rail is fixed by a fixing device, the inspection robot is controlled to slide to the first guide rail, and the acquisition module is controlled to collect target information of the object to be measured at multiple measurement points; The target information is transmitted to the processing module, and the processing module is controlled to process the target information to obtain the volume information of the target to be tested.

9. The physical inventory visualization method according to claim 8, wherein the acquisition module is a lidar, and the target information is point cloud data, characterized in that, The process of controlling the processing module to process the target information to obtain the volume information of the target to be measured includes: High-precision time synchronization is achieved using PTP4L technology, followed by reconstruction and format standardization of point cloud data to meet the input requirements of mapping algorithms. During the ground calibration phase, the plane fitting function of CloudCompare was used and ground correction was performed based on the least squares method; Mapping and localization employ the LIO-SAM algorithm, combined with sliding window optimization and IMU pre-integration, and simultaneously construct a dense 3D map; The point cloud data is subjected to DBSCAN clustering algorithm to remove noise, and the surface of the material accumulation area is reconstructed using the A-shape algorithm. The method of slicing along the y-axis is adopted, and linear or piecewise linear fitting is applied to each cross-section to calculate the area and accumulate to obtain the volume information of the target under test.

10. The physical inventory visualization method according to claim 8, wherein the processing module is remotely connected to a network cloud, characterized in that, The control of the inspection robot to slide on the first guide rail includes: Determine whether the inspection robot has malfunctioned; If so, the fault traction device is controlled to guide the inspection robot to the maintenance point, and an early warning message is sent to the network cloud to remind maintenance personnel to enter the maintenance platform from the maintenance channel to perform maintenance on the inspection robot.

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