Pallet rack inventory method and system with multi-sensor mutual complementary error correction function
A multi-sensor inventory system with image recognition and ultrasonic measurement, along with barcode scanning, addresses the low accuracy and high labor costs of existing methods, achieving precise and efficient pallet rack inventory.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- HANSHAN NORMAL UNIV
- Filing Date
- 2024-09-24
- Publication Date
- 2026-05-27
Smart Images
Figure 2026517033000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of physical inventory of pallet racks, and particularly to a method and system for physical inventory of cigarette pallet racks that use multiple sensors to complement each other and perform error correction.
Background Art
[0002] With the rapid development of China's economy, efficient logistics has already become an essential requirement for the country's economic development. Logistics management has become the "third profit source" after raw material savings and labor productivity improvement. Efficient warehouse storage management can reduce a company's operating costs, optimize resource allocation, and enhance the company's competitiveness.
[0003] The pallet rack is the main warehouse storage method in the cigarette logistics distribution center. According to the logistics business management standards in the cigarette industry, it is necessary to conduct physical inventories of the stocked cigarettes regularly and irregularly. Such physical inventories are spot checks of the actual items, and the purpose is to check whether the books match the actual items, that is, to check the consistency between the books and the actual items. However, the conventional method of manual inventory checking takes a very long time, is costly in terms of labor, and has low accuracy, so it has been gradually phased out.
[0004] Currently, several methods that use machines to assist manual physical inventory have emerged in the market, but there is a common problem that the accuracy of physical inventory is not high. For example, the Chinese patent application with publication number CN115649732A discloses an intelligent inventory physical inventory device and a physical inventory method, which includes two parts: an intelligent inventory physical inventory device and a physical inventory method. Here, the inventory physical inventory device adopts a method of reading item information by radio frequency. In this method, it is necessary to attach a radio frequency tag to the packaging of the item in advance. During the recognition process, the reading is easily affected by the deviation of the distance and angle between the radio frequency tag and the radio frequency reading device, so reading errors are likely to occur, affecting the accuracy of physical inventory.
[0005] Furthermore, for example, Chinese patent No. 202010528597.2 discloses an inventory counting method and vending machine that uses a photoelectric detection device attached to the bottom of the product transport path to detect whether a product is present at a specific location on the transport path, and then calculates the quantity of products on the transport path from the length of the products which has been determined in advance. This inventory counting method is unsuitable for physical inventory counting of pallet racks and therefore has low accuracy. [Overview of the Initiative]
[0006] In response to the shortcomings of the prior art, the present invention aims to provide a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function to solve the problem of low accuracy in the inventory method of the prior art, and the specific technical solution is as follows.
[0007] A pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, Step S1 involves positioning the inventory device at a specified location relative to the rack to be inventoryed, Using a camera attached to the inventory device, the positions of the pallets to be inventoryed are photographed, the captured images are recognized, and combined with pre-stored cigarette case size data, the quantity data T1 of cigarette cases on the pallet is calculated. Step S2 involves using multiple ultrasonic distance measuring devices mounted at different heights on the inventory device to irradiate ultrasonic waves horizontally onto the pallet position to be inventoryed, measuring the number of stacking layers and stacking method of cigarette cases on the pallet position, and calculating quantity data T2 of cigarette cases on the pallet position by combining this with pre-stored size and specification data of the pallet and cigarette cases. This is a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, characterized by including step S3, which involves comparing quantity data T1 and quantity data T2 with inventory quantity data T3, and if both quantity data T1 and quantity data T2 match inventory quantity data T3, the quantity detection is deemed successful; if they do not match, the quantity detection is deemed unsuccessful, and a corresponding command is output according to the comparison result.
[0008] In a preferred embodiment, in S1, the method for positioning the inventory device at a specified position relative to the pallet position to be inventoryed is to place a magnetic locator at the position of the bottom pallet of the rack to be measured, attach the inventory device to a mobile cart, provide a magnetic positioner on the mobile cart, and have the mobile cart move to the magnetic locator and stop.
[0009] By equipping the mobile cart with a magnetic positioner and moving the cart to the magnetic locator, precise positioning to a specified location is achieved, facilitating subsequent data acquisition operations and guaranteeing the accuracy of measurement results.
[0010] In a preferred embodiment, in step S2, the captured image is recognized and at the same time the product specification data A1 of the cigarette case is recognized, and the barcode of the cigarette case is scanned using a code scanning device attached to the inventory device, and the product specification data A2 of the cigarette case is read. In step S3, product specification data A1 and product specification data A2 are compared with inventory product specification data A3. If both product specification data A1 and product specification data A2 match the inventory product specification data, the product specification detection is considered successful. If they do not match, the product specification detection is considered unsuccessful, and a corresponding command is output according to the comparison result.
[0011] By using two methods—image recognition and code scanning recognition—the system inspects the product specifications of cigarette cases and compares them to the specifications of existing stock products, thereby improving inspection accuracy. Simultaneously, image recognition and code scanning recognition complement each other. Image recognition can compensate to some extent for cases where code scanning is not possible due to distance or other reasons, thereby improving the accuracy of the detection method.
[0012] In a preferred embodiment, step S2 includes the step of recognizing the captured image, detecting the palette area, dividing the cigarette case area in the image, marking the cigarette case area with a rectangular frame, calculating the aspect ratio of the rectangular frame of the cigarette case area, comparing it with a set aspect ratio, determining the type of cigarette case stacking, and calculating the quantity of cigarette cases.
[0013] By calculating the aspect ratio of the rectangular frame of the cigarette case area (including the pallet), the type of cigarette case stacking can be determined, and therefore the quantity of cigarette cases can be calculated. Due to the presence of a certain degree of distortion in the captured image, there is an error between the image and the actual size. However, because the aspect ratio is constant, a relatively accurate ratio can be calculated from the ratio of the height to the width of the cigarette case area, and the quantity of cigarette cases can be obtained.
[0014] In a preferred embodiment, the height difference between any two of the plurality of ultrasonic sensors is each half the height of a single-layer cigarette case.
[0015] By setting a constant height difference between each ultrasonic sensor, and ensuring that each sensor is half the height of a single layer of cigarette cases, two ultrasonic sensors correspond to each layer of cigarette cases. This allows even cigarette cases that are only half-stacked to be detected by the ultrasonic sensors, thus improving the accuracy of detection relative to the number of cigarette cases.
[0016] In a preferred embodiment, in S2, the ultrasonic distance measuring device is used to irradiate ultrasonic waves toward the pallet position to be inventoryed, the inventory device is driven to move horizontally in a direction parallel to the rack, and then the ultrasonic measurement process described above is repeated multiple times.
[0017] Since the inventory device moves horizontally parallel to the rack, the distance between the ultrasonic distance measuring device and the cigarette cases is always the same. By taking multiple measurements at different positions, errors can be effectively avoided. Furthermore, by taking a measurement once at regular intervals, the number of unfilled cigarette cases on the top layer can be measured, and the number of unfilled cigarette cases can be calculated from the width occupied by the top layer of cigarette cases.
[0018] In a preferred embodiment, in step S3, if quantity detection fails, and neither quantity data T1 nor quantity data T2 matches inventory quantity data T3, the operator performs a manual check. If either quantity data T1 or quantity data T2 does not match inventory quantity data T3, a re-detection is performed. If quantity detection still fails after multiple re-detections, it is determined to be a detection error, and the operator is prompted to adjust the equipment.
[0019] If neither quantity data T1 nor quantity data T2 matches inventory quantity data T3, it means that the quantity of cigarette cases on the pallet does not match the inventory data, i.e., the ledger and the actual goods may not match, requiring a check by a worker. If only one of them does not match the inventory data, it may be a detection error. If it still fails after multiple re-detections, there may be a problem with the detection equipment, and it will need to be readjusted.
[0020] In a preferred embodiment, in step S3, if product specification detection fails, and neither product specification data A1 nor product specification data A2 matches inventory product specification data A3, a manual check is performed by the operator. If either product specification data A1 or product specification data A2 does not match inventory product specification data A3, a re-detection is performed. If the quantity detection still fails after multiple re-detections, it is determined to be a detection error, and the operator is prompted to adjust the equipment.
[0021] If neither product specification data A1 nor product specification data A2 matches inventory product specification data A3, it means that the product specifications of the cigarette cases on the pallet do not match the inventory data, i.e., the ledger and the actual product may not match, requiring a check by a worker. If only one of them does not match the inventory data, it may be a detection error. If it still fails after multiple re-detections, there may be a problem with the detection equipment, and it will need to be readjusted.
[0022] In a preferred embodiment, after both quantity detection and product specification detection are successful, the mobile trolley is driven to move to the next pallet detection point.
[0023] By moving the inventory device using a mobile cart, unmanned operation can be achieved. After the detection of one pallet position is successful, the mobile cart moves to the next pallet position and is then positioned at the designated location by a magnetic positioning device, preparing for the next detection round.
[0024] The present invention further provides a pallet rack inventory system equipped with a multi-sensor mutual complementary error correction function, comprising a data acquisition module, a sensor data inspection module, and a measurement result determination module, wherein the data acquisition module is used to collect cigarette case data at the pallet location to be measured; the sensor data inspection module is used to calculate and compare the collected cigarette case data and transmit the comparison result to the measurement result determination module; and the measurement result determination module is used to output the determination result and instruct the next operation to be performed according to the determination result.
[0025] This pallet rack inventory system, equipped with a multi-sensor mutual complementary error correction function, improves inventory accuracy by comparing collected data using a sensor data inspection module, and significantly improves inventory efficiency by outputting judgment results using a result judgment module and instructing the next operation to be performed.
[0026] Compared with the prior art, the beneficial effects of the present invention are as follows. The present invention collects the quantity data of tobacco cases on the pallet by means of two-dimensional methods of image detection and ultrasonic distance measurement, obtains the quantity of tobacco cases on the pallet through logical operations, and compares the detection results by the two-dimensional methods of image and sound with the inventory data, thereby improving the accuracy of inventory counting. At the same time, the data of the two dimensions can complement each other to correct errors. In some special scenarios, even if one data collection method cannot be used, the other data collection method can be adopted to continue the inventory counting work.
Brief Description of the Drawings
[0027] [Figure 1] Figure 1 is a flowchart of the system according to the present invention. [Figure 2] Figure 2 is a two-dimensional plan view between the ultrasonic sensor inside the ultrasonic distance measurement device according to the present invention and the tobacco case. [Figure 3] Figure 3 is a stacking shape diagram of a three-layer tobacco case according to the present invention. [Figure 4] Figure 4 is a stacking shape diagram of a two-and-a-half-layer tobacco case according to the present invention. [Figure 5] Figure 5 is a stacking shape diagram of a two-layer tobacco case according to the present invention. [Figure 6] Figure 6 is a stacking shape diagram of a one-and-a-half-layer tobacco case according to the present invention. <O000108> [Figure 7] Figure 7 is a stacking shape diagram of a one-layer tobacco case according to the present invention. [Figure 8] Figure 8 is a stacking shape diagram of a half-layer tobacco case according to the present invention.
Modes for Carrying Out the Invention
[0028] To clearly and easily understand the technical means, unique features, achieved objectives, and functional effects realized by the present invention, the present invention will be further described below in combination with specific embodiments.
[0029] Furthermore, in the description of this invention, directions or positional relationships indicated by terms such as "up," "down," "inside," "outside," "front end," "rear end," "both ends," "one end," and "the other end" are based on the directions or positional relationships shown in the drawings and are merely for the purpose of facilitating and simplifying the explanation of this invention. They do not indicate or imply that the shown devices or elements must have a specific direction, or that they must be configured and operated in a specific direction, and therefore should not be understood as limitations on this invention. In addition, the terms "first" and "second" are merely for explanatory purposes and should not be understood as indicating or implying relative importance.
[0030] Example 1: In a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, first, the inventory device is attached to a mobile cart. Equipment such as an AGV (Automated Guided Vehicle) can be selected for the mobile cart to enable automatic movement. The mobile cart travels along a straight line parallel to each rack, so the distance between it and each cigarette case is always the same. The bottom of the rack is a pallet, and cigarette cases are placed on the pallet. Each bottom pallet of each rack is equipped with a magnetic locator. A magnetic positioner is provided on the mobile cart, and when the mobile cart moves to the magnetic locator, the magnetic positioner senses the change in magnetic flux and positions the mobile cart at the designated position (the magnetic positioning device is conventional technology, so a detailed explanation is omitted), thereby ensuring that the inventory device always maintains a constant angle and distance from the rack being inventoryed.
[0031] The inventory device is equipped with a camera for taking photographs of cigarette cases on the pallet. After taking the photograph, the image is recognized. Specifically, the area of the cigarette cases (including the bottom pallet) in the image is marked with a rectangular frame. The size of the cigarette cases used in this embodiment is 465 x 250 x 580 (mm). Based on this size, the heights of the cigarette cases corresponding to different stacking heights can be calculated as follows: 1740 mm for 3 layers, 1660 mm for 2.5 layers, 1160 mm for 2 layers, 1080 mm for 1.5 layers, 580 mm for 1 layer, and 500 mm for half a layer, with a width of 965 mm in all cases. During the stacking process, gaps will occur between the cigarette cases horizontally, but the error of these gaps will be within 50 mm. The height of the pallet is 150 mm.
[0032] In addition to directly comparing the stacking shape in the captured image with the stacking shape of cigarette cases for each layer in the database, it is also possible to calculate the aspect ratio of the cigarette case area. The unit of the aspect ratio of the image is pixels. As shown in Figures 3 to 8, on the pallet, the number of cigarette cases stacked in each layer is 10, and for half a layer, it is 5.
[0033] If the aspect ratio is greater than 1.95, it means that the cigarette cases are stacked in three layers and there are 30 cigarette cases in total. If the aspect ratio is between 1.71 and 1.95 (including 1.71 and 1.95), it means that the cigarette cases are stacked in two and a half layers, and the number of cigarette cases is 25. If the aspect ratio is between 1.35 and 1.70 (including 1.35 and 1.70), it means that the cigarette cases are stacked in two layers and the quantity of cigarette cases is 20 packs. If the aspect ratio is between 1.27 and 1.34 (including 1.27 and 1.34), it means that the cigarette cases are stacked in one and a half layers, and the number of cigarette cases is 15. A height-to-width ratio of 0.75 to 1.26 (including 0.75 and 1.26) means that the cigarette cases are stacked in one layer and the quantity of cigarette cases is 10 packs. When the aspect ratio is between 0.67 and 0.74 (including 0.67 and 0.74), it means that the cigarette cases are stacked in half layers, and the number of cigarette cases is 5. If the aspect ratio is between 0.16 and 0.66 (including 0.16 and 0.66), it means the pallet is empty and the number of cigarette cases is 0.
[0034] This allows us to obtain quantity data T1 of cigarette cases on the pallet.
[0035] The inventory device also has several ultrasonic distance measuring devices, including ultrasonic irradiators and receivers, mounted at different heights. In this embodiment, there are six ultrasonic distance measuring devices, and the height difference between any two adjacent devices is the same, and each is half the height of a single layer of cigarette cases. Thus, two ultrasonic distance measuring devices correspond to one layer of cigarette cases, and one ultrasonic distance measuring device corresponds to half a layer of cigarette cases. Since the distance between the cigarette case and the ultrasonic distance measuring device can be calculated from the reflection time of the sound waves, the number of stacks and the state of the cigarette cases on the pallet can be obtained. The principle of ultrasonic distance measurement can be expressed by the following equation. d = v × Δt / 2 d is the distance between the ultrasonic irradiator and the object being measured. v represents the propagation speed of ultrasound in air. Δt represents the time difference.
[0036] Here, the propagation speed of ultrasound in air is 340 m / s. The time difference is the time interval between the irradiation of ultrasound and the reception of sound waves, and its unit is microseconds (μs).
[0037] As shown in Figure 2, the distance between the ultrasonic distance measuring device and the pallet is x0, the X-axis is the distance between the ultrasonic distance measuring device and the cigarette case, and the Y-axis is the height of the ultrasonic distance measuring device. In the ultrasonic distance measuring device, ultrasonic sensor 1 is located at the intersection of the line y=300 and the y-axis, and the first intersection between the line y=300 and the cigarette case is x1. Ultrasonic sensor 2 is located at the intersection of the line y=600 and the y-axis, and the first intersection between the line y=600 and the cigarette case is x2. Ultrasonic sensor 3 is located at the intersection of the line y=900 and the y-axis, and the first intersection between the line y=900 and the cigarette case is x3. Ultrasonic sensor 4 is located at the intersection of the line y=1200 and the y-axis, and the first intersection between the line y=1200 and the cigarette case is x4. Ultrasonic sensor 5 is located at the intersection of the line y=1500 and the y-axis, and the first intersection between the line y=1500 and the cigarette case is x5. The ultrasonic sensor 6 is located at the intersection of the line y=1800 and the y-axis, and the first intersection between the line y=1800 and the cigarette case is x6.
[0038] If the number of cigarette cases exceeds 5 packs, they are all stacked vertically, with 10 packs per layer. In special cases, the top layer may be stacked horizontally, with 5 packs per layer in that direction. The maximum number of stacks for cigarette cases is 3.
[0039] When stacking cigarette cases horizontally with the top layer facing horizontally, the area occupied by the top layer of cigarette cases on the pallet decreases compared to when stacking them vertically. The reduction in area is 10,000 mm² in each case. 2 and 810,000 mm 2 It will be set to this.
[0040] If the loading position of cigarette cases on a pallet or the placement position of a pallet on a rack changes, an error in the placement position occurs. In this invention, this error is set to 150 mm.
[0041] When the values of x1, x2, x3, x4, x5, and x6 are all x0 ± 150 mm, the stack of three cigarette cases will be full, the stacked shape of the cigarette cases will be as shown in Figure 3, and the total number of cigarette cases will be 30.
[0042] If the values of x1, x2, x3, and x4 are all x0 ± 150 mm, the value of x5 is greater than x0 ± 150 mm and less than (x0 ± 150 mm) + 100 mm, and the value of x6 is greater than (x0 ± 150 mm) + 100 mm and less than (x0 ± 150 mm) + 900 mm, then the first and second layers of cigarette cases will be fully loaded, the third layer of cigarette cases will be fully loaded horizontally, and there will be one pack of cigarette cases on top of the packs in the third layer. The stacking shape of the cigarette cases will be as shown in Figure 4, and the total number of cigarette cases will be 25 packs.
[0043] If the values of x1, x2, x3, and x4 are all x0 ± 150 mm, and the values of x5 and x6 are all greater than (x0 ± 150 mm) + 900 mm, then the stacking of cigarette cases in the first and second layers will be full, the stacking shape of the cigarette cases will be as shown in Figure 5, and the total number of cigarette cases will be 20.
[0044] If the values of x1 and x2 are both x0±150mm, the value of x3 is greater than x0±150mm and less than (x0±150mm)+100mm, the value of x4 is greater than (x0±150mm)+100mm and less than (x0±150mm)+900mm, and the values of x5 and x6 are both greater than (x0±150mm)+900mm, then the first layer of cigarette cases will be full, the second layer of cigarette cases will be full horizontally, and there will be one pack of cigarette cases on top of the second layer. The stacking shape of the cigarette cases will be as shown in Figure 6, and the total number of cigarette cases will be 15 packs.
[0045] If the values of x1 and x2 are both x0 ± 150 mm, and the values of x3, x4, x5, and x6 are all greater than (x0 ± 150 mm) + 900 mm, the first layer of cigarette cases will be full, the stacking shape of the cigarette cases will be as shown in Figure 7, and the total number of cigarette cases will be 10.
[0046] If the value of x1 is greater than x0±150mm and less than (x0±150mm)+100mm, the value of x2 is greater than (x0±150mm)+100mm and less than (x0±150mm)+900mm, and the values of x3, x4, x5, and x6 are all greater than (x0±150mm)+900mm, then the horizontal stacking of cigarette cases in the first layer is full, and there is one pack of cigarette cases on top of the first layer. The stacking shape of the cigarette cases will be as shown in Figure 8, and the total number of cigarette cases will be 5 packs.
[0047] If any of the values of x1, x2, x3, x4, x5, and x6 are greater than (x0 ± 150 mm) + 900 mm, the number of cigarette cases at that pallet location will be 0.
[0048] This allows us to obtain quantity data T2 of cigarette cases on the pallet.
[0049] The obtained quantity data T1 and quantity data T2 are compared with the inventory quantity data T3. If both quantity data T1 and quantity data T2 match the inventory quantity data T3, the quantity detection is considered successful, and the mobile cart begins moving to the next pallet position. If neither quantity data T1 nor quantity data T2 matches the inventory quantity data T3, it is highly likely that the quantity of cigarette cases on the pallet does not match the inventory quantity, i.e., the ledger and the actual goods do not match, and a check by an operator is necessary. If either quantity data T1 or quantity data T2 does not match the inventory quantity data T3, the quantity of cigarette cases on the pallet is re-detected. If they still differ after three re-detections, there may be a problem with one of the detection devices, and troubleshooting and machine adjustment by an operator are necessary.
[0050] Example 2: The difference from Example 1 is the addition of product specification detection. Each cigarette case is equipped with a barcode and product specification information. After photographing the pallet and cigarette cases using a camera, the product specification information in the image is recognized to obtain product specification data A1. Next, the barcode of the cigarette case is scanned using the code scanning device of the inventory machine to obtain product specification data A2. Product specification data A1 and product specification data A2 are compared with inventory product specification data A3. If both product specification data A1 and product specification data A2 match inventory product specification data A3, the product specification detection is considered successful, and the mobile cart begins moving to the next pallet position. If neither product specification data A1 nor product specification data A2 matches inventory product specification data A3, there is a high possibility that the product specifications of the cigarette cases on that pallet do not match the inventory product specifications, i.e., the ledger and the actual product do not match, and it is necessary to prompt a check by a worker. If either product specification data A1 or product specification data A2 does not match inventory product specification data A3, the product specifications of the cigarette cases on the pallet should be re-detected. If they still differ after three re-detections, there may be a problem with one of the detection devices, and the operator should be prompted to troubleshoot and adjust the machine.
[0051] As shown in Figure 1, the pallet rack inventory system equipped with the multi-sensor mutual complementary error correction function of the present invention includes a data acquisition module, a sensor data inspection and comparison module, and a detection result determination module. In the present invention, the data acquisition module collects data such as the number of cigarette cases on the pallet and product specifications using multiple dimensions, and improves the accuracy of inventory by mutually verifying the multidimensional data. In special circumstances, if data collection in any one dimension cannot be realized, the inventory work can be continued by adopting another dimension to collect data. The sensor data inspection and comparison module calculates the number of cigarette cases on the pallet by logical operation by combining the collected data with known pallet and cigarette case size data, compares the number of cigarette cases and product specifications with inventory quantity data and product specification data, transmits the comparison result to the detection result determination module, and the detection result determination module outputs whether the detection result is acceptable or not depending on the different result, and instructs the next operation to be performed.
[0052] In addition to reducing labor costs and improving efficiency, this invention detects the number of cigarette cases and product specifications from two dimensions—image and sound—and improves detection accuracy through cross-verification of the two dimensions. Furthermore, the two dimensions complement each other, improving the accuracy of the system, making it suitable for widespread adoption and use.
[0053] The basic principles, main features, and advantages of the present invention have been described above. However, those skilled in the art will understand that the present invention is not limited to the above embodiments, that the above embodiments and descriptions in the specification are merely for the purpose of explaining the principles of the present invention, and that various modifications and improvements to the present invention are possible without departing from the spirit and scope of the invention, and that any such modifications and improvements are included within the scope of the claims of the present invention. The scope of the claims of the present invention is defined by the appended claims and equivalents.
Claims
1. A pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, Step S1 involves positioning the inventory device at a specified location relative to the rack to be inventoryed, Using a camera attached to the inventory device, the positions of the pallets to be inventoryed are photographed, the captured images are recognized, and combined with pre-stored pallet and cigarette case size data, the quantity data T1 of cigarette cases on the pallet is calculated. Step S2 involves using multiple ultrasonic distance measuring devices mounted at different heights on the inventory device to irradiate ultrasonic waves horizontally onto the pallet positions to be inventoryed, measuring the number of stacking layers and stacking method of cigarette cases on the pallet positions, and calculating quantity data T2 of cigarette cases on the pallet positions by combining this with pre-stored size and specification data of pallets and cigarette cases. A pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, characterized by including step S3, which involves comparing quantity data T1 and quantity data T2 with inventory quantity data T3, and if both quantity data T1 and quantity data T2 match inventory quantity data T3, the quantity detection is deemed successful, and if they do not match, the quantity detection is deemed unsuccessful, and a corresponding command is output according to the comparison result.
2. In S1, the method for positioning the inventory device at a specified position relative to the rack to be inventoryed is to place a magnetic locator at the position of the bottom pallet of the rack to be measured, attach the inventory device to a mobile cart, provide a magnetic positioner on the mobile cart, and move the mobile cart to the magnetic locator and stop, characterized in that the pallet rack inventory method with a multi-sensor mutual complementary error correction function as described in claim 1.
3. In step S2, the captured image is recognized, and at the same time, the product specification data A1 of the cigarette case is recognized, and the barcode of the cigarette case is scanned using the code scanning device attached to the inventory device, and the product specification data A2 of the cigarette case is read. In step S3, product specification data A1 and product specification data A2 are compared with inventory product specification data A3, and if both product specification data A1 and product specification data A2 match the inventory product specification data, the product specification detection is deemed successful; otherwise, the product specification detection is deemed unsuccessful, and a corresponding command is output according to the comparison result, characterized in that a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function is provided as described in 2.
4. The pallet rack inventory method with a multi-sensor mutual complementary error correction function, characterized in that in step S2, the step of recognizing the captured image includes detecting the pallet area, dividing the cigarette case area in the image, marking the cigarette case area with a rectangular frame, calculating the aspect ratio of the rectangular frame of the cigarette case area, comparing it with a set aspect ratio, determining the stacking type of cigarette cases, and calculating the quantity of cigarette cases.
5. The pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, characterized in that the height difference between any two of the plurality of ultrasonic sensors is each half the height of a single-layer cigarette case.
6. The method for taking physical inventory of pallet racks equipped with a multi-sensor mutual complementary error correction function, characterized in that in S2, ultrasonic waves are emitted towards the racks to be inventoryed using the ultrasonic distance measuring device, the inventory device is driven to move horizontally in a direction parallel to the racks, and then the ultrasonic measurement process described above is repeated multiple times.
7. In step S3, if quantity detection fails, if neither quantity data T1 nor quantity data T2 matches inventory quantity data T3, the operator performs a manual check, if either quantity data T1 or quantity data T2 does not match inventory quantity data T3, a re-detection is performed, and if quantity detection still fails after multiple re-detections, it is determined to be a detection error, and the operator is prompted to adjust the equipment, characterized in that a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function as described in claim 1.
8. In step S3, if product specification detection fails, if neither product specification data A1 nor product specification data A2 matches inventory product specification data A3, the operator performs a manual check, if either product specification data A1 or product specification data A2 does not match inventory product specification data A3, a re-detection is performed, and if the quantity detection still fails after multiple re-detections, it is determined to be a detection error, and the operator is prompted to adjust the equipment, characterized in that a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function as described in 3.
9. The pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function, characterized in that after both quantity detection and product specification detection have passed, the mobile trolley is driven to move to the next pallet detection point.
10. A system used in a pallet rack inventory method equipped with a multi-sensor mutual complementary error correction function as described in any one of claims 1 to 9, comprising a data acquisition module, a sensor data inspection module, and a measurement result determination module, wherein the data acquisition module is used to collect cigarette case data at the pallet location to be measured; the sensor data inspection module is used to calculate and compare the collected cigarette case data and transmit the comparison result to the measurement result determination module; and the measurement result determination module is used to output the determination result and to instruct the next operation to be performed according to the determination result.