CN115860642B - Visual identification-based warehouse-in and warehouse-out management method and system - Google Patents
Visual identification-based warehouse-in and warehouse-out management method and system Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 49
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- 238000012545 processing Methods 0.000 claims description 20
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Abstract
The invention provides a warehouse-in and warehouse-out management method and system based on visual identification, wherein the method comprises the following steps: marking a cache region at a warehouse entrance and exit position in an image frame, marking each warehouse position in the warehouse, numbering and acquiring position data, and acquiring the position data in the image frame where each cache region is located; giving each library initial first state value according to the occupation condition of the library; recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
The method comprises the steps of carrying out a first treatment on the surface of the Counting the first state value of each bin, screening out a bin set E capable of receiving cargoes, and calculating
And the KIou value K1 of each library bit in E, the KIou value K2 of the position data of each library bit and the outlet buffer area in E is calculated, then the library bit corresponding to the minimum number in the K1 and K2 set is distributed to cargoes, and the first state value of the library bit is updated. Therefore, the automatic management of warehouse in and out under the warehouse scene is realized based on the computer vision technology.
Description
Technical Field
The invention relates to application of computer vision technology in the field of automatic storage, in particular to a warehouse-in and warehouse-out management method and system based on vision identification.
Background
Along with the development of internet economy, the rapid increase of freight express delivery causes automatic reform of storage, but the complex and diverse storage environment is required to realize automatic management, and a certain technical threshold exists at present. Particularly, in a transfer area in a warehouse, goods are frequently moved in and out, the state of a warehouse is frequently changed, the position of a non-single entrance and exit is not required, and the high efficiency requirement is achieved, so that great challenges are brought to automatic management. Where the warehouse is located, whether the warehouse is to be taken out or put in warehouse is very basic and important information for automatic management, and plays a very important guiding role for path planning of the subsequent AGV.
At present, the prior art generally adopts a photoelectric sensor to reflect whether goods exist in a warehouse, but the method is used in a warehouse scene of heavy freight, and the photoelectric sensor has large loss and needs to be replaced frequently, so that the efficient operation management of the warehouse is not facilitated, and on the other hand, a large amount of maintenance cost of an electric line is also required for setting the photoelectric sensor.
In another prior art, a mode of adding a two-dimension code is adopted for management, such as the information of the current library position is obtained by scanning the two-dimension code, but the method firstly needs manual operation, and if the library position is installed on the ground and is extremely easy to wear, in addition, if things to be placed on the library position are changed, new two-dimension codes are frequently pasted, and the labor cost is high.
Therefore, in the prior art, the state of goods entering and exiting the warehouse cannot be obtained efficiently and accurately, so that automatic management of warehouse storage is performed. Therefore, the inventor tries to solve the management problem of warehouse-in and warehouse-out in the warehouse automation field through the target detection technology and the image processing technology of computer vision.
Disclosure of Invention
The invention mainly aims to provide a warehouse-in and warehouse-out management method and system based on visual identification, so as to realize automatic warehouse-in and warehouse-out management under a warehouse scene based on a computer visual technology.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a method for managing access to a warehouse, comprising the steps of:
step S100, marking a cache area at the warehouse outlet and inlet positions in the image frame, and marking all the warehouse positions in the warehouse; for each library position number, acquiring position data in an image frame where each library position is located, and acquiring position data in the image frame where each buffer is located;
step S200, giving an initial first state value to each library bit according to the occupation condition of the library bit;
step S300, recording goods entering the entrance buffer area and acquiring position data in the image frame where the goods enter
；
Step S400, counting the first state value of each bin, screening out a bin set E capable of receiving goods to calculate
And the KIou value K1 of each library bit in E, the KIou value K2 of the position data of each library bit and the outlet buffer area in E is calculated, then the library bit corresponding to the minimum number in the K1 and K2 set is distributed to cargoes, and the first state value of the library bit is updated.
In a possibly preferred embodiment, the step of calculating the KIou value K1 comprises:
step S410, setting the area represented by the position data of the goods as A and setting the area represented by the position data of each bin capable of receiving the goods as B;
step S420 calculates
，
Wherein the upper left corner coordinate of the mark A is
The lower right corner coordinate is->
The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B is recorded as
The lower right corner coordinate is->
；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
) - max(
,
) |) ;
Parameters (parameters)
。
In a possibly preferred embodiment, the step of calculating the KIou value K2 comprises:
step S430, setting the area represented by the position data of each bin capable of receiving goods as B; setting the area represented by the position data of the outlet buffer area as B';
step S440 calculation
- 10*α*
，
Wherein the upper left corner coordinate of B is%
) The lower right corner is (+)>
) The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner of B' is marked as (+)>
) The lower right corner is (+)>
)；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
)- max(
,
)|) ;
Parameters (parameters)
= max(0 , -(min(
,
) - max(
,
)))。
In order to further reasonably schedule the warehouse entry location based on the first aspect of the present invention, the second aspect of the present invention further provides a warehouse entry management method based on visual recognition, which includes the steps of:
step S100, marking a cache area at the warehouse outlet and inlet positions in the image frame, and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; acquiring position data in an image frame where each buffer area is located;
step S200, giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bin;
step S300, recording goods entering the entrance buffer area and acquiring position data in the image frame where the goods enter
；
Step S400, counting the first state value of each bin, screening out a bin set E capable of receiving goods to calculate
The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, distributing library bits corresponding to the minimum number in a set of K1 and K2 to cargoes, and updating a first state value of the library bits;
step S500 selects the corresponding auxiliary area to enter the warehouse for unloading according to the first rule according to the second state value of the auxiliary area of the allocated warehouse.
In a possibly preferred embodiment, the step of calculating the KIou value K1 comprises:
step S410, setting the area represented by the position data of the goods as A and setting the area represented by the position data of each bin capable of receiving the goods as B;
step S420 calculates
，
Wherein the upper left corner coordinate of the mark A is
The lower right corner coordinate is->
The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B is recorded as
The lower right corner coordinate is->
；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
) - max(
,
) |) ;
Parameters (parameters)
。
In a possibly preferred embodiment, the step of calculating the KIou value K2 comprises:
step S430, setting the area represented by the position data of each bin capable of receiving goods as B; setting the area represented by the position data of the outlet buffer area as B';
step S440 calculation
- 10*α*
，
Wherein the upper left corner coordinate of B is%
) The lower right corner is (+)>
) The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B' is marked as%
) The lower right corner is (+)>
)；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
)- max(
,
)|);
Parameters (parameters)
= max(0 , -(min(
,
) - max(
,
)))。
In a possibly preferred embodiment, the first rule includes:
the library bit is provided with 4 auxiliary areas from top to bottom, left and right, and the second state value comprises: an on state, an allowed on state, an off state;
s1, if one of 4 auxiliary areas of the library bit is in an on state, the other 3 areas are in an allowed on state;
s2, if an auxiliary area opposite to a certain auxiliary area is in an on state, the auxiliary area is in an off state;
s3, only allocating a warehouse-in task to the auxiliary area in the allowed on state, changing the allowed on state into the on state after allocation, and changing the allowed on state into the allowed on state after warehouse-in is completed;
s4, if the state of the auxiliary area in the same direction in the same row/column is on, the same auxiliary area in the same row/column is not allowed to be on, and the opposite auxiliary area in the opposite row/column is not allowed to be on.
In a third aspect of the present invention, in response to the above method, there is further provided a visual identification-based in-out management system, including:
the storage unit is used for storing a program comprising any of the steps of the visual identification-based warehouse entry management method, so that the camera, the visual identification unit, the processing unit and the scheduling unit can timely call and execute the program;
a camera for acquiring warehouse area image frames to transmit to a visual recognition unit;
the visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; for each library position number, acquiring position data in an image frame where each library position is located, and acquiring position data in the image frame where each buffer is located;
the visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
；
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating
The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, and then calculating a library bit corresponding to the minimum number in a K1 and K2 set so as to send the library bit to a scheduling unit;
and the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes and updating the first state value of the library bits.
In a fourth aspect of the present invention, in response to the above method, there is further provided a visual identification-based in-out management system, including:
the storage unit is used for storing a program comprising the steps of the warehouse-in and warehouse-out management method based on visual identification, so that the camera, the visual identification unit, the processing unit and the scheduling unit can timely call and execute the program;
a camera for acquiring warehouse area image frames to transmit to a visual recognition unit;
the visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; acquiring position data in an image frame where each buffer area is located;
the visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bank bitThe method comprises the steps of carrying out a first treatment on the surface of the Recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
；
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating
The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, and then calculating a library bit corresponding to the minimum number in a K1 and K2 set so as to send the library bit to a scheduling unit;
and the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes, updating the first state value of the library bits, and simultaneously indicating the corresponding auxiliary areas to enter the library bits for unloading according to the first rule according to the second state value of the auxiliary areas of the distributed library bits.
In a possible preferred embodiment, the visual recognition unit sets 4 auxiliary areas on the top, bottom, left and right of the library, and sets the second state value to include: an on state, an allowed on state, an off state;
the first rule according to which the scheduling unit is based comprises: s1, if one of 4 auxiliary areas of the library bit is in an on state, the other 3 areas are in an allowed on state; s2, if an auxiliary area opposite to a certain auxiliary area is in an on state, the auxiliary area is in an off state; s3, only allocating a warehouse-in task to the auxiliary area in the allowed on state, changing the allowed on state into the on state after allocation, and changing the allowed on state into the allowed on state after warehouse-in is completed; s4, if the state of the auxiliary area in the same direction in the same row/column is on, the same auxiliary area in the same row/column is not allowed to be on, and the opposite auxiliary area in the opposite row/column is not allowed to be on.
In a fifth aspect of the present invention, there is also provided a computer device of a visual identification based access management system, comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method when executing the computer program.
In a sixth aspect of the present invention, there is also provided a computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the steps of the method described above.
The warehouse-in and warehouse-out management method and system based on visual identification provided by the invention can accurately and efficiently acquire the warehouse-in and warehouse-out state of goods in a warehouse in real time based on the visual identification technology, is convenient for managing the warehouse-in of the goods, and is convenient for the warehouse-in planning, loading and unloading planning and allocation, so that the dynamic use condition of the warehouse site can be more clearly known, such as the state that the warehouse site is occupied, the warehouse site is unoccupied, the warehouse site planning is occupied and the like, and the computer visual technology is used for realizing the purpose of providing information with finer granularity for warehouse automation management.
On the other hand, in some embodiments, the present disclosure also designs a state management scheme of an affiliated area for the warehouse location, provides more various information for the freight path planning of the freight robot, and more scheduling rationality, and improves the efficiency of freight circulation and the reliability of overall freight scheduling management.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of warehouse, warehouse entrance/exit buffer and warehouse location layout in a first and second embodiment of a visual recognition-based warehouse entrance/exit management method according to the present invention;
FIG. 2 is a conceptual diagram of KIou measurement in the first and second embodiments of the present invention based on visual recognition;
FIG. 3 is a schematic diagram showing steps of a method for managing access to a warehouse based on visual recognition according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram showing the effect comparison of KIou and other Iou in the first and second embodiments of the present invention based on visual recognition;
FIG. 5 is a schematic diagram showing the effect of KIou and other Iou in comparison with the first and second embodiments of the present invention, wherein the enlarged representation of the other four Iou is mainly shown;
FIG. 6 is a schematic diagram of a visual identification-based warehouse entry and exit management system according to the present invention;
FIG. 7 is a schematic diagram showing steps of a method for managing access to a warehouse based on visual recognition according to a second embodiment of the present invention;
fig. 8 is a schematic diagram of each bin attachment area in a second embodiment of a visual recognition-based method for managing access to a bin according to the present invention.
Description of the embodiments
In order that those skilled in the art can better understand the technical solutions of the present invention, the following description will clearly and completely describe the specific technical solutions of the present invention in conjunction with the embodiments to help those skilled in the art to further understand the present invention. It will be apparent that the embodiments described herein are merely some, but not all embodiments of the invention. It should be noted that embodiments and features of embodiments in this application may be combined with each other by those of ordinary skill in the art without departing from the inventive concept and conflict. All other embodiments, which are derived from the embodiments herein without creative effort for a person skilled in the art, shall fall within the disclosure and the protection scope of the present invention.
Furthermore, the terms first, second, S1, S2 and the like in the description and in the claims and drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those described herein. Also, the terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. Unless specifically stated or limited otherwise, the terms "disposed," "configured," "mounted," "connected," "coupled" and "connected" are to be construed broadly, e.g., as being either permanently connected, removably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this case will be understood by those skilled in the art in view of the specific circumstances and in combination with the prior art.
Referring to fig. 1 to 5, the method for managing access to a warehouse based on visual recognition provided by the present invention includes the steps of:
step S100: marking a cache region at the warehouse outlet and inlet positions in the image frame, and marking all warehouse positions in the warehouse; for each library position number, acquiring position data in an image frame where each library position is located, and acquiring position data in the image frame where each buffer is located;
specifically, assuming that the warehouse is a rectangular area, installing a camera with a downward lens at a certain height above the warehouse enables the camera to take a complete and clear picture of the whole warehouse, thereby obtaining a continuously output video stream, the video stream is essentially a frame image, for example, the video stream of a camera with a frame rate of 25 is essentially a frame image output within one second, because the camera is fixed, the size of the site of the warehouse is also fixed, a fixed size and site image frame can be obtained, and the subsequent operation can take the Zhang Zhangtu frame as the recognition and processing basis.
As shown in fig. 1, assuming that the west and the South of the warehouse are the entrances and the East and the North are the exits, the present solution will set an area called a Buffer (Buffer) at the exits and the entrances, and the combined orientations are defined as North Buffer, south Buffer, westBuffer and East Buffer. In combination with the above, the inlets correspond to North Buffer and South Buffer, and the outlets correspond to West Buffer and East Buffer.
Thereafter, m rows and n columns of rectangular bins are planned for the region according to the bin size, each binBits are given a number
If i is more than or equal to 1 and less than or equal to m, j is more than or equal to 1 and less than or equal to n.
Then, drawing rectangular stock positions in the warehouse area on the image by using the above-mentioned method
Indicating that each +.>
Is used in the image>
（（
，
），（
，
) In this way, the positions of the corresponding four Buffer areas can be expressed as: north Buffer is used->
（（
，
），（
，
) (ii) indicates that South Buffer is used +.>
（（
，
），（
，
) (ii) West Buffer is used +.>
（（
，
），（
，
) Indicated by East Buffer +.>
（（
，
），（
，
) A) representation.
Step S200: and giving each library an initial first state value according to the occupation condition of the library.
For example, to represent
For subsequent scheduling assignments, a state value, i.e., a first state value, is set that indicates whether the current bin is occupied, e.g.: the initial state value is 0, indicating that it is unoccupied, 1 indicating that it is occupied, 1/2 indicating that it is currently unoccupied but it is scheduled to be occupied (i.e., to be put in warehouse). Further, based on this example, those skilled in the art will appreciate that these conditions may be adjusted or changed according to the actual shipping requirements, which is not limited in this case.
Step S300: recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
。
Specifically, the present example uses q= {
All warehouses are represented by +.>
Representing a certain cargo therein; for example, a small AGV load enters the warehouse from the entrance and will first appear in the buffer, where +.>
An initial state, e.g., an initial value of 0, indicates that the good is not in a bin and is not assigned a bin, 1/2 indicates that the good has been assigned but not yet entered a bin, and 1 indicates that the good is in a bin. Assume that West Buffer and South Buffer are the entrances to the staging area and East Buffer and North Buffer are the exits to the warehouse.
At this time, the camera above the warehouse always transmits the image to the visual recognition unit, and the visual recognition unit can detect the position of the goods in the image, so that
（（
，
），（
，
) A) representation.
Step S400: counting the first state value of each bin, screening out a bin set E capable of receiving cargoes, and calculating
KIou value for each bin in E, recorded as +.>
Calculating the KIou value of each library position and the position data of the outlet buffer region in E as +.>
，
Will be->
+
Gather and->
+
And allocating the library bit corresponding to the serial number of the smallest value in the aggregate set to the goods, and updating the first state value of the library bit.
Specifically, as shown in fig. 2, it is noted that the largest rectangular area is assumed to be E, the rectangular area a intersects with the rectangular area B, the intersection is a rectangular area C, and the remaining area is denoted as D;
it can be seen that: e=a+b-c+d,
，
whereas the conventional Iou judgment method has the following defects in the present invention, if A, B does not intersect
In the present invention, assuming that the frame of the goods is identified as A and the library position is identified as B, in the process that A is close to B, if the two are not intersected, the box is +.>
Always 0, and the position relation of the two is not reflected; to compensate for this disadvantage, a KIou judgment method is proposed.
Statistics of each
Put the state unoccupied into the set, denoted E, e.g. E = -j =>
Calculate->
The value of KIou for each bin in E is recorded as +.>
Examples of the calculation steps include:
step S410, setting the area represented by the position data of the goods as A and setting the area represented by the position data of each bin capable of receiving the goods as B;
step S420 calculates
，
Wherein the upper left corner coordinate of the mark A is
The lower right corner coordinate is->
The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B is recorded as
The lower right corner coordinate is->
；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
) - max(
,
) |) ；/>
Parameters (parameters)
。
Then calculate the value of KIou of each bin and two outlet Buffer areas East Buffer and North Buffer in E, record as
，
The calculation steps comprise:
step S430, setting the area represented by the position data of each bin capable of receiving goods as B; setting the area represented by the position data of the outlet buffer area as B';
step S440 calculates as in step S420
- 10*α*
Thereby respectively obtaining->
，
。
Finally, calculate
+
Gather and->
+
The minimum value in the aggregate set, the ij corresponding to the minimum value is not only the library bit allocated to the goods +.>
At the same time add this->
The status value of (2) is updated to be unoccupied but planned to be occupied, so that the allocation of the warehouse entry goods is completed.
Compared with other Iou judging methods, only KIou meets the requirements of the scheme and the scene, and the KIou has the advantages of other Iou, and can reflect the relationship between the goods and the storage position at all times, for example, and other Iou fails when the goods and the storage position are not coincident.
As shown in fig. 4, where all four other Iou schemes except KIou are visually superimposed, for the coordinate system, the representation of each Iou at a pixel value of 2000 x 2000 is shown on one graph, but the values of the four Iou regions fall between (-1~0), so that the above situation arises; as shown in fig. 5, the four Iou enlarged representations show that the KIou scheme provided in the present invention better meets the scene requirement of the scheme, and can better reflect the position relationship between the two.
Corresponding to the above method, as shown in fig. 6, the visual recognition-based warehouse entry management system provided by the present invention includes:
and the storage unit is used for storing a program comprising the steps of the warehouse-in and warehouse-out management method based on visual identification, so that the camera, the visual identification unit, the processing unit and the scheduling unit can timely call and execute the program.
And a camera for acquiring warehouse area image frames to transmit to the visual recognition unit.
The visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; and (3) for each library bit number, acquiring position data in the image frame where each library bit is located, and acquiring position data in the image frame where each buffer is located.
The visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
。
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating
KIou value for each bin in E, recorded as +.>
Calculating the KIou value of each library position and the position data of the outlet buffer region in E as +.>
，
Then calculate +.>
+
Gather and->
+
And the library bit corresponding to the minimum value number in the aggregate set is sent to the scheduling unit.
And the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes and updating the first state value of the library bits.
As shown in fig. 1, 2, 4, 5, and 7 to fig. 8, in order to further reasonably schedule the warehouse-in position based on the first embodiment of the present invention, the second embodiment of the present invention further provides a warehouse-in management method based on visual recognition, which includes the steps of:
step S100, marking a cache area at the warehouse outlet and inlet positions in the image frame, and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; and acquiring position data in the image frames of the buffer areas.
Step S200, giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bin;
step S300, recording goods entering the entrance buffer area and acquiring position data in the image frame where the goods enter
；
Step S400, counting the first state value of each bin, screening out a bin set E capable of receiving goods to calculate
The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, distributing library bits corresponding to the minimum number in a set of K1 and K2 to cargoes, and updating a first state value of the library bits;
step S500 selects the corresponding auxiliary area to enter the warehouse for unloading according to the first rule according to the second state value of the auxiliary area of the allocated warehouse.
Specifically, on the basis of the method of the first embodiment, in step S100, an auxiliary area is further set around each library bit, and position data in an image frame where each auxiliary area is located is acquired. Therefore, a judgment basis is provided for judging from which position of the warehouse entry of the warehoused goods is proper in the follow-up dispatching, and the reliability and dispatching rationality of warehouse entry are further improved.
For example, let the width of the bin be w and the height be h. The upper and lower sides of the garage position are vertically shifted outwards by a distance of 1/5h, and the left and right sides are horizontally shifted outwards by a distance of 1/5w, wherein it should be noted that the distance can be set according to practical situations, and the distance is only an exemplary possibility and is not limited.
After obtaining four additional rectangular areas, defined as NorthZone, southZone, westZone and EastZone, respectively, and abbreviated as NZ, SZ, WZ and EZ, respectively, according to directions, so the library position
May be referred to as:
. As shown in fig. 8.
Further, the method comprises the steps of,
four auxiliary areas->
Each has a second state value, which indicates whether the region is in an on state, an allowed on state, or an off state, an initial value of 0, an off state, an allowed on state if the state value is 1/2, and an on state if the state value is 1.
When receiving calculation goods
From->
When it is appropriate to enter the library in which direction, i.e. judge from +.>
Four auxiliary areas of (2)
Which auxiliary area is entered->
Because the distance between cargoes can not hold two AGV dollies side by side or move in opposite directions in many times, in addition to steering operation or the arm safety working range of compound robot etc., so avoid appearing two AGV dollies on a path as far as possible.
For this purpose, a first rule is set, such as:
1. if it is
One of the 4 auxiliary areas of (2) is in an on state, and the remaining 3 areas are in an allowed on state.
2. If an auxiliary area opposite to a certain auxiliary area is in an on state, the area itself must be in an off state.
3. And only the auxiliary area in the allowed on state can be allocated with a warehouse-in task, after allocation, the allowed on state is changed into the on state, and after warehouse-in is completed, the auxiliary area in the allowed on state is changed into the allowed on state.
4. If the state of the auxiliary area in the same direction in the same row/column is on, the same auxiliary area in the same row/column is not allowed to be in an allowed on state, and the opposite auxiliary area in the opposite row/column is not allowed to be in an allowed on state.
According to the rule program, the states of all the library bits in a complete warehouse and the states of four affiliated areas of each library bit can be obtained. The goods distributed to the buffer area according to the state are put into storage according to the appointed auxiliary area of the storage position, thus completing a complete cycle and ensuring the rationality and reliability of dispatching.
Corresponding to the above method, as shown in fig. 6, the visual recognition-based warehouse entry management system provided by the present invention includes:
and the storage unit is used for storing a program comprising the steps of the warehouse-in and warehouse-out management method based on visual identification, so that the camera, the visual identification unit, the processing unit and the scheduling unit can timely call and execute the program.
And a camera for acquiring warehouse area image frames to transmit to the visual recognition unit.
The visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; and acquiring position data in the image frames of the buffer areas.
The visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bin; recording goods entering the entrance buffer area and acquiring position data in an image frame where the goods enter the entrance buffer area
。
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating
KIou value for each bin in E, recorded as +.>
Calculating the KIou value of each library position and the position data of the outlet buffer region in E as +.>
，
Then calculate +.>
+
Gather and->
+
And the library bit corresponding to the minimum value number in the aggregate set is sent to the scheduling unit.
And the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes, updating the first state value of the library bits, and simultaneously indicating the corresponding auxiliary areas to enter the library bits for unloading according to the first rule according to the second state value of the auxiliary areas of the distributed library bits.
The invention also provides a computer device corresponding to the method of the first and second embodiments, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method.
The present invention also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor performs the steps of the method described above.
In summary, the warehouse-in and warehouse-out management method and system based on visual identification provided by the invention can accurately and efficiently acquire the warehouse-in and warehouse-out state of goods in a warehouse in real time based on the visual identification technology, is convenient for managing the warehouse-in of goods, and planning and allocation of goods areas, and can be used for knowing the dynamic use condition of the warehouse, such as the state that the warehouse is occupied, the warehouse is unoccupied, the warehouse plan is occupied and the like, so that the computer visual technology is used for realizing the automatic management of the warehouse to provide finer granularity information.
On the other hand, the scheme designs a state management scheme of an affiliated area for the warehouse location, provides more various information for the freight path planning of the freight robot, and more scheduling rationality, and improves the efficiency of freight circulation and the reliability of overall freight scheduling management.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
It will be appreciated by those skilled in the art that the system, apparatus and their respective modules provided by the present invention may be implemented entirely by logic programming method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except for implementing the system, apparatus and their respective modules provided by the present invention in a purely computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
Furthermore, all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program, where the program is stored in a storage medium and includes several instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps in the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (8)
1. The warehouse-in and warehouse-out management method based on visual recognition is characterized by comprising the following steps:
step S100, marking a cache area at the warehouse outlet and inlet positions in the image frame, and marking all the warehouse positions in the warehouse; for each library position number, acquiring position data in an image frame where each library position is located, and acquiring position data in the image frame where each buffer is located;
step S200, giving an initial first state value to each library bit according to the occupation condition of the library bit;
step S300, recording the goods entering the entrance buffer area and obtaining the position data C in the image frame where the goods are located qh ；
Step S400, counting the first state value of each bin, screening out a bin set E capable of receiving goods to calculate C qh The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, distributing library bits corresponding to the minimum number in a set of K1 and K2 to cargoes, and updating a first state value of the library bits;
the calculating step of the KIou value K1 comprises the following steps:
step S410, setting the area represented by the position data of the goods as A and setting the area represented by the position data of each bin capable of receiving the goods as B;
step S420 calculates
，
Wherein the upper left corner coordinate of the mark A is
The lower right corner coordinate is->
The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B is marked as +.>
The lower right corner coordinate is->
；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
) - max(
,
) |)；
Parameters (parameters)
；
The calculating step of the KIou value K2 comprises the following steps:
step S430, setting the area represented by the position data of each bin capable of receiving goods as B; setting the area represented by the position data of the outlet buffer area as B';
step S440 calculation
- 10*α*
，
Wherein the upper left corner coordinate of B is%
) The lower right corner is (+)>
) The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner of B' is marked as (+)>
) The lower right corner is (+)>
)；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
)- max(
,
)|);
Parameters (parameters)
= max(0 , -(min(
,
) - max(
,
)))。
2. The warehouse-in and warehouse-out management method based on visual recognition is characterized by comprising the following steps:
step S100, marking a cache area at the warehouse outlet and inlet positions in the image frame, and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; acquiring position data in an image frame where each buffer area is located;
step S200, giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bin;
step S300, recording the goods entering the entrance buffer area and obtaining the position data C in the image frame where the goods are located qh ；
Step S400, counting the first state value of each bin, screening out a bin set E capable of receiving goods to calculate C qh The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, distributing library bits corresponding to the minimum number in a set of K1 and K2 to cargoes, and updating a first state value of the library bits;
step S500, selecting a corresponding auxiliary area to enter a warehouse for unloading according to a first rule according to a second state value of the auxiliary area of the allocated warehouse;
the calculating step of the KIou value K1 comprises the following steps:
step S410, setting the area represented by the position data of the goods as A and setting the area represented by the position data of each bin capable of receiving the goods as B;
step S420 calculates
，
Wherein the upper left corner coordinate of the mark A is
The lower right corner coordinate is->
The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner coordinate of B is marked as +.>
The lower right corner coordinate is->
；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
) - max(
,
) |) ;
Parameters (parameters)
；
The calculating step of the KIou value K2 comprises the following steps:
step S430, setting the area represented by the position data of each bin capable of receiving goods as B; setting the area represented by the position data of the outlet buffer area as B';
step S440 calculation
- 10*α*
，
Wherein the upper left corner coordinate of B is%
) The lower right corner is (+)>
) The method comprises the steps of carrying out a first treatment on the surface of the The upper left corner of B' is marked as (+)>
) The lower right corner is (+)>
)；
Parameters (parameters)
;
Parameters (parameters)
= min(|min(
,
) - max(
,
)| , |min(
,
)- max(
,
)|) ;
Parameters (parameters)
= max(0 , -(min(
,
) - max(
,
)))。
3. The visual identification-based warehouse entry management method of claim 2, wherein the first rule comprises:
the library bit is provided with 4 auxiliary areas from top to bottom, left and right, and the second state value comprises: an on state, an allowed on state, an off state;
s1, if one of 4 auxiliary areas of the library bit is in an on state, the other 3 areas are in an allowed on state;
s2, if an auxiliary area opposite to a certain auxiliary area is in an on state, the auxiliary area is in an off state;
s3, only allocating a warehouse-in task to the auxiliary area in the allowed on state, changing the allowed on state into the on state after allocation, and changing the allowed on state into the allowed on state after warehouse-in is completed;
s4, if the state of the auxiliary area in the same direction in the same row/column is on, the same auxiliary area in the same row/column is not allowed to be on, and the opposite auxiliary area in the opposite row/column is not allowed to be on.
4. A visual identification-based warehouse entry management system, comprising:
a storage unit, configured to store a program including the steps of the visual identification-based garage entering and exiting management method according to claim 1, so that the camera, the visual identification unit, the processing unit, and the scheduling unit can timely perform scheduling;
a camera for acquiring warehouse area image frames to transmit to a visual recognition unit;
the visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; for each library position number, acquiring position data in an image frame where each library position is located, and acquiring position data in the image frame where each buffer is located;
the visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; recording goods entering the entrance buffer area, and acquiring position data C in the image frame where the goods enter qh ；
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating C qh The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, and then calculating a library bit corresponding to the minimum number in a K1 and K2 set so as to send the library bit to a scheduling unit;
and the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes and updating the first state value of the library bits.
5. A visual identification-based warehouse entry management system, comprising:
a storage unit, configured to store a program including the steps of the visual identification-based garage entering and exiting management method according to claim 2, so that the camera, the visual identification unit, the processing unit, and the scheduling unit can timely perform scheduling;
a camera for acquiring warehouse area image frames to transmit to a visual recognition unit;
the visual identification unit is used for marking a cache area at the warehouse outlet and inlet positions in the image frame and marking all the warehouse positions in the warehouse; numbering each library bit, and acquiring position data in an image frame where each library bit is located; setting auxiliary areas around each library position, and acquiring position data in an image frame where each auxiliary area is located; acquiring position data in an image frame where each buffer area is located;
the visual identification unit is further used for giving an initial first state value to each library bit according to the occupation condition of the library bit; assigning a second state value to the auxiliary area of each bin; recording goods entering the entrance buffer area, and acquiring position data C in the image frame where the goods enter qh ；
The processing unit is used for counting the first state value of each bin, screening out a bin set E capable of accommodating cargoes and calculating C qh The method comprises the steps of calculating a KIou value K1 of each library bit in E, calculating a KIou value K2 of position data of each library bit and an outlet buffer area in E, and then calculating a library bit corresponding to the minimum number in a K1 and K2 set so as to send the library bit to a scheduling unit;
and the scheduling unit is used for distributing the library bits calculated by the processing unit to cargoes, updating the first state value of the library bits, and simultaneously indicating the corresponding auxiliary areas to enter the library bits for unloading according to the first rule according to the second state value of the auxiliary areas of the distributed library bits.
6. The visual recognition-based warehouse entry and exit management system of claim 5, wherein the visual recognition unit sets 4 auxiliary areas on the top, bottom, left and right sides of the warehouse location, and sets the second status value comprises: an on state, an allowed on state, an off state;
the first rule according to which the scheduling unit is based comprises: s1, if one of 4 auxiliary areas of the library bit is in an on state, the other 3 areas are in an allowed on state; s2, if an auxiliary area opposite to a certain auxiliary area is in an on state, the auxiliary area is in an off state; s3, only allocating a warehouse-in task to the auxiliary area in the allowed on state, changing the allowed on state into the on state after allocation, and changing the allowed on state into the allowed on state after warehouse-in is completed; s4, if the state of the auxiliary area in the same direction in the same row/column is on, the same auxiliary area in the same row/column is not allowed to be on, and the opposite auxiliary area in the opposite row/column is not allowed to be on.
7. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 3 when the computer program is executed.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 3.
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