CN116362657A - Library management method and device, electronic equipment and storage medium - Google Patents
Library management method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a library position management method, a library position management device, electronic equipment and a storage medium, wherein the library position management method comprises the following steps: acquiring a library image acquired by a camera, wherein the library image comprises actual library positions; determining a planning library position corresponding to the actual library position; planning the library bits is determined based on the size information of the actual library bits in the library bit image; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargos placed in an actual warehouse; and determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position. By implementing the embodiment of the application, the placement condition of the goods in the actual warehouse location can be accurately determined, so that the accuracy of warehouse location management is improved.
Description
Technical Field
The application relates to the technical field of automation, in particular to a library position management method, a library position management device, electronic equipment and a storage medium.
Background
In industrial processes, storage is a very important link, usually as a starting point or end point of an industrial stream. The warehouse can store goods in the warehouse positions, and the existing management method for the warehouse positions usually identifies whether goods exist in each warehouse position, then feeds back the empty and full states of each warehouse position, and the fed back information is too single, so that accurate management of the warehouse positions is not facilitated, and the accuracy of warehouse position management is reduced.
Disclosure of Invention
The embodiment of the application discloses a library position management method, a library position management device, electronic equipment and a storage medium, which can accurately determine the placement condition of goods in an actual library position, realize the accurate management of the library position and improve the accuracy of library position management.
The embodiment of the application discloses a library management method, which comprises the following steps:
acquiring a library image acquired by the camera, wherein the library image comprises actual library positions;
determining a planning library position corresponding to the actual library position; the planned bin is determined based on size information of the actual bin in the bin image;
acquiring a cargo image acquired by the camera, wherein the cargo image comprises cargoes placed in the actual storage position;
and determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
As an optional implementation manner, the determining, based on the cargo image and the planned storage location corresponding to the actual storage location, the placement condition of the cargo in the actual storage location includes:
acquiring a shielding result corresponding to the goods, wherein the shielding result is used for indicating whether the goods shield a library bit line of a planning library bit corresponding to the actual library bit; the shielding result is determined according to the cargo position in the cargo image and the planning library position corresponding to the actual library position;
If the shielding result indicates that the goods shield the library bit line of the planning library bit, determining that the goods are not correctly placed in the actual library bit;
and if the shielding result indicates that the goods do not shield the library bit line of the planning library bit, determining that the goods are correctly placed in the actual library bit.
As an alternative embodiment, after determining that the goods are not properly placed in the actual storage location, the method further comprises:
determining the position information of the goods relative to the central position of the planning storage position according to the target storage position line of the planning storage position shielded by the goods;
and generating a carrying instruction according to the position information, and sending the carrying instruction to the unmanned carrying vehicle so that the unmanned carrying vehicle can accurately place the goods in the actual storage position according to the carrying instruction.
As an optional implementation manner, the generating a carrying instruction according to the position information includes:
determining the offset direction of the goods relative to the central position of the planning library position and the offset of the goods beyond the target library bit line according to the position information;
and generating a carrying instruction based on the offset direction and the offset amount.
As an alternative embodiment, before the generating the carrying instruction according to the location information, the method further includes:
identifying the type of the goods in the actual stock position according to the goods image;
determining a standard placement posture corresponding to the goods according to the types of the goods;
according to the goods image, identifying the actual placing gesture of the goods in the actual warehouse position;
and if the actual placing posture of the goods accords with the standard placing posture, executing the step of generating a carrying instruction according to the position information.
As an alternative embodiment, after said identifying the actual placement gesture of the good in the actual storage location, the method further comprises:
if the actual placing posture of the goods does not accord with the standard placing posture, generating a posture adjustment instruction, and sending the posture adjustment instruction to the unmanned carrier, so that the unmanned carrier adjusts the goods to the standard placing posture according to the posture adjustment instruction.
As an optional implementation manner, after the determining the planned library bit corresponding to the actual library bit, the method further includes:
Acquiring size information of the planning library bits;
and generating a configuration file according to the size information of the planning library position, and displaying the planning library position in the library position image according to the configuration file.
The embodiment of the application discloses a library position management device which is applied to central control equipment in a library position management system, wherein the library position management system also comprises a camera; the library management device comprises:
the image acquisition module is used for acquiring a library position image acquired by the camera, wherein the library position image comprises actual library positions;
the planning library position determining module is used for determining the planning library position corresponding to the actual library position; the planned bin is determined based on size information of the actual bin in the bin image;
the image acquisition module is further used for acquiring a cargo image acquired by the camera, wherein the cargo image comprises cargos placed in the actual library position;
and the goods placement determining module is used for determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
The embodiment of the application discloses electronic equipment, which comprises:
A memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of any of the embodiments described above.
The application discloses a computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the method of any of the above embodiments.
Compared with the related art, the embodiment of the application has the following beneficial effects:
acquiring a library position image comprising an actual library position acquired by a camera; determining a planning library position corresponding to the actual library position, wherein the planning library position is determined according to the size information of the actual library position in the library position image; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargoes in an actual warehouse; and determining the placement condition of the goods in the actual storage position according to the goods image and the planning storage position corresponding to the actual storage position. According to the method and the device for the cargo management, the planning library positions corresponding to the actual library positions are determined, so that the cargo images are combined with the planning library positions, the placement condition of cargoes in the actual library positions is accurately determined, the library positions are accurately managed, and the accuracy of library position management is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of a library management method disclosed in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for managing a library according to an embodiment of the present application;
FIG. 3 is a flow chart of another method for managing library bits according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of yet another method for managing library bits according to an embodiment of the present disclosure;
FIG. 5 is a user interface diagram of a display of a planning library in a library image in accordance with an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a configuration of a library management device according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments and figures herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the application discloses a library position management method, a library position management device, electronic equipment and a storage medium, which can accurately determine the placement condition of goods in an actual library position, realize the accurate management of the library position and improve the accuracy of library position management.
The following detailed description will be given with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario of a library management method according to an embodiment of the present application, where the application scenario may include a central control device 10 and a camera 20.
The central control device 10 may include, but is not limited to, a cell phone, tablet computer, wearable device, notebook computer, PC (Personal Computer ), etc. The communication manner between the central control device 10 and the camera 20 may include, but is not limited to, wireless fidelity communication technology, bluetooth communication technology, zigBee (ZigBee) communication technology, RS485 wireless transmission technology, cellular communication technology, and the like, and is not particularly limited.
The camera 20 may be a stand-alone camera or a camera module composed of a plurality of cameras; the camera 20 may include, but is not limited to, a two-dimensional camera, a three-dimensional camera, a hyperspectral camera, etc., for example, the camera 20 may be a monocular camera, a binocular camera, a laser line scan camera, etc., without limitation. The shooting range of the camera 20 may cover each actual bin in the warehouse. Alternatively, the camera 20 may be positioned at the top of the warehouse.
The camera 20 may be used to acquire a library bit image and transmit the library bit image to the central control apparatus 10, wherein the library bit image includes actual library bits; and, the camera 20 may be used to capture and transmit cargo images to the central control device 10, wherein the cargo images include cargo placed in actual stock locations.
The central control device 10 may be configured to receive the library image sent by the camera 20; determining a planning library position corresponding to the actual library position; receiving the cargo image transmitted by the camera 20; and determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
According to the embodiment of the application, the placement condition of the goods in the actual library position is accurately determined through the planning library position corresponding to the actual library position determined by the central control equipment 10 and the goods image acquired by the camera 20, so that the accuracy rate of library position management is improved.
With further reference to fig. 2, fig. 2 is a schematic flow chart of a library management method disclosed in an embodiment of the present application, where the library management method may be applied to an application scenario shown in fig. 1, and the library management method is applied to a central control device in a library management system, and the library management system further includes a camera; the library bit management method may include the steps of:
201. a library image acquired by a camera is acquired.
The central control device acquires a library image acquired by a camera, wherein the library image comprises actual library bits.
The bin image may be an image acquired by the camera with the actual bin in an empty bin state, where the empty bin state is a state where no cargo is placed on the actual bin.
The actual storage location may be a truly existing storage location in a warehouse for storing goods.
The actual bank bit is usually a certain specification area surrounded by the bank bit lines; the library bit line may be a line manually painted with yellow paint, and the specification of the actual library bit may be determined based on the size of the goods or the pallet, which is not particularly limited.
202. And determining the planning library positions corresponding to the actual library positions.
The central control equipment determines a planning library position corresponding to the actual library position, wherein the planning library position is determined based on the size information of the actual library position in the library position image.
The planned library bits may be virtually set library bits corresponding to the actual library bits output by the central control device. The size of the planned library bits may be identical to the actual library bits, or may be slightly smaller or slightly larger than the actual library bits, which is not particularly limited.
As an optional implementation manner, the manner in which the central control device determines the planned library bit corresponding to the actual library bit may be to perform target recognition on the actual library bit in the library bit image based on the size and shape of the actual library bit and the features such as color, line width and the like of the library bit line of the actual library bit, so as to obtain a target detection frame corresponding to the actual library bit, where the target detection frame may be a rectangular frame including the actual library bit; determining a planning library position corresponding to the actual library position based on a target detection frame corresponding to the actual library position; the planning library position may be consistent with the target detection frame, or may be slightly larger or slightly smaller than the target detection frame, which is not limited in detail.
As another optional implementation manner, the central control device determines the planned library position corresponding to the actual library position, and may also generate the planned library position corresponding to the actual library position according to the size information of the planned library position input manually; specifically, the size information of the planned library bit input manually may be the coordinate values of four corner points of the actual library bit in the library bit image read manually, and the length and width of the library bit obtained by calculation through the coordinate values of the four corner points, or may be the length and width of the actual library bit in the library bit image read directly manually.
203. An image of cargo acquired by a camera is acquired.
The central control equipment acquires a cargo image acquired by a camera; wherein the cargo image includes cargo placed in the actual stock location.
The cargo image may be an image acquired by a camera with cargo placed in an actual storage location.
204. And determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
And the central control equipment determines the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
The placement of the cargo in the actual storage location may include whether the cargo is placed in the actual storage location, for example, whether the cargo exceeds a storage bit line of the actual storage location; or whether to place according to the standard placement posture, for example, whether the placement angle is correct, whether to place horizontally, vertically, etc. according to the standard placement posture, and the specific is not limited.
Specifically, the central control device may determine a planned storage location corresponding to each actual storage location in the warehouse, and number the planned storage location corresponding to each actual storage location, so as to generate a planned storage location number corresponding to each actual storage location. Therefore, the central control equipment can determine the planning library position number corresponding to the actual library position based on the position information of the actual library position where the goods are placed in the goods image; and generating a planning library position corresponding to the actual library position in the cargo image according to the planning library position number.
Optionally, the manner of determining the placement condition of the goods in the actual storage location by the central control device based on the goods image and the planned storage location corresponding to the actual storage location may be to determine whether the goods exceed the storage location line of the actual storage location by determining whether the goods exceed the boundary line of the planned storage location, thereby determining whether the goods are correctly placed in the actual storage location; or, the central control device can determine whether the placement angle of the goods is correct by determining whether the long side and the short side of the goods are parallel to the long side and the short side of the planned storage position respectively, which is not particularly limited.
According to the embodiment of the application, a library position image which is acquired by a camera and comprises an actual library position is acquired; determining a planning library position corresponding to the actual library position, wherein the planning library position is determined according to the size information of the actual library position in the library position image; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargoes in an actual warehouse; and determining the placement condition of the goods in the actual storage position according to the goods image and the planning storage position corresponding to the actual storage position. According to the method and the device for the cargo management, the planning library positions corresponding to the actual library positions are determined, so that the cargo images are combined with the planning library positions, the placement condition of cargoes in the actual library positions is accurately determined, the library positions are accurately managed, and the accuracy of library position management is improved.
With further reference to fig. 3, fig. 3 is a schematic flow chart of another method for managing a library, where the method is applied to a central control device in a library management system, and the library management system further includes a camera; the library bit management method may include the steps of:
301. a library image acquired by a camera is acquired.
Wherein the library image comprises the actual library bits.
302. And determining the planning library positions corresponding to the actual library positions.
303. An image of cargo acquired by a camera is acquired.
Wherein the cargo image includes cargo placed in the actual stock location.
The specific implementation of steps 301 to 303 may refer to the above embodiments, and are not described in detail.
304. And obtaining a shielding result corresponding to the goods.
The central control equipment acquires a shielding result corresponding to the goods, wherein the shielding result is used for indicating whether the goods shield a library bit line of a planning library bit corresponding to the actual library bit; the shielding result is determined according to the cargo position in the cargo image and the planning library position corresponding to the actual library position.
Optionally, the shielding result may be information manually input to the central control device, specifically, whether the cargo placed in the actual storage position in the cargo image shields the planned storage position corresponding to the actual storage position may be observed manually, and a corresponding shielding result may be input to the central control device.
Optionally, the shielding result may be that after the central control device generates the planned storage bit corresponding to the actual storage bit in the cargo image, the central control device identifies whether the storage bit line of the planned storage bit is shielded by the cargo through a deep learning algorithm, and generates the shielding result corresponding to the cargo, for example, whether an area with abnormal color or brightness exists on the storage bit line of the planned storage bit is identified, and generates the shielding result corresponding to the cargo; if an area with abnormal color or brightness exists, determining a library bit line of a planning library bit corresponding to the cargo shielding actual library bit; otherwise, determining that the goods do not shade the library bit line of the planning library bit corresponding to the actual library bit.
Optionally, the shielding result may be that the central control device generates coordinates of each pixel point on the boundary line of the cargo in the cargo image as the first coordinates according to the cargo position in the cargo image; after generating a planning library position corresponding to the actual library position in the cargo image, generating coordinates of each pixel point on a library bit line of the planning library position in the cargo image as second coordinates; calculating whether an intersection exists between the first coordinate and the second coordinate, and generating a shielding result corresponding to the goods according to the intersection condition; if the intersection exists, determining a library bit line of a planning library bit corresponding to the cargo shielding actual library bit; otherwise, determining that the goods do not shade the library bit line of the planning library bit corresponding to the actual library bit.
305. Judging whether the shielding result indicates that goods shield a library bit line of a planned library bit; if the shielding result indicates that the goods shield the library bit line of the planned library bit, executing step 306; if the result indicates that the cargo does not block the library bit line of the planned library bit, step 307 is performed.
The central control equipment judges whether the shielding result indicates that goods shield a library bit line of a planned library bit; the shielding result can comprise two situations that goods shield the library bit line of the planning library bit and goods do not shield the library bit line of the planning library bit.
If the shielding result indicates that the goods shield the library bit line of the planned library position, determining that the goods are not correctly placed in the actual library position; and if the shielding result indicates that the goods do not shield the library bit line of the planned library position, determining that the goods are correctly placed in the actual library position. The shielding result is used for determining whether the goods are correctly placed in the actual storage position, so that the efficiency of determining the placement condition of the goods in the actual storage position can be improved.
306. It is determined that the good was not properly placed in the actual stock location and step 308 is performed.
The central control device may perform step 308 upon determining that the good was not properly placed in the actual stock location.
307. And determining that the goods are correctly placed in the actual warehouse.
The central control equipment determines that the goods are correctly placed in the actual warehouse location.
Optionally, if the shielding result indicates that the cargo does not shield the storage bit line of the planned storage bit, the central control device may further detect whether the actual placement posture of the cargo meets the standard placement posture and whether the placement angle of the cargo is correct before determining that the cargo is correctly placed in the actual storage bit, and may determine that the cargo is correctly placed in the actual storage bit if the above conditions are met.
308. And determining the position information of the goods relative to the central position of the planning storage position according to the target storage position line of the planning storage position shielded by the goods.
And the central control equipment determines the position information of the goods relative to the central position of the planning storage according to the target storage bit line of the planning storage shielded by the goods.
The location information may include, among other things, an offset and an offset direction of the good relative to a center location of the planned library location.
The target bank bit line is a bank bit line which is shielded by goods in a plurality of bank bit lines of the planning bank bit. The planned storage location may be a rectangle, and the storage bit lines of the planned storage location are four sides of the rectangle, including upper, lower, left and right sides, if the goods cover the storage bit line on the upper side of the planned storage location, the central position of the goods relative to the planned storage location is indicated to be offset upwards; if the goods shelter from the left library bit line of the planning library bit, indicating that the goods are offset leftwards relative to the central position of the planning library bit; therefore, the central control equipment can determine the offset direction of the goods relative to the central position of the planning storage according to the target storage bit line of the planning storage blocked by the goods.
The central control equipment can also identify the central position of the planning library position and determine the position information of the central position of the planning library position in the cargo image; and identifying the central position of the goods, and determining the position information of the central position of the goods in the goods image; and calculating the offset of the goods relative to the central position of the planning storage position based on the central position of the planning storage position and the central position of the goods.
309. And generating a conveying instruction according to the position information, and sending the conveying instruction to the unmanned conveying vehicle so that the unmanned conveying vehicle can accurately place the goods in the actual storage position according to the conveying instruction.
The central control equipment generates a carrying instruction according to the position information and sends the carrying instruction to the unmanned carrying vehicle so that the unmanned carrying vehicle can accurately place cargoes in an actual warehouse according to the carrying instruction.
The automated guided vehicle may be an automated guided forklift, a transfer robot, or the like, and is not particularly limited. The unmanned forklift is provided with a pair of forks, and when receiving a conveying instruction, the unmanned forklift can fork and take goods according to the conveying instruction, translate and convey the goods to an actual warehouse location and place the goods in the actual warehouse location.
According to the embodiment of the application, the position information of the goods is determined efficiently by combining the goods image with the planned library position, so that the pose of the goods can be adjusted quickly, the goods can be placed in the actual library position correctly, and the efficiency of library position management is improved; meanwhile, the unmanned carrier is flexibly scheduled to adjust the pose of the goods, so that the intelligent degree of warehouse position management is improved.
As an optional implementation manner, the central control device generates a carrying instruction according to the position information, and the method may include the following steps: the central control equipment determines the offset direction of the goods relative to the central position of the planning library position and the offset of the goods exceeding the target library bit line according to the position information; a carry instruction is generated based on the offset direction and the offset amount. Specifically, the central control device may use the central position of the planned storage position as the origin of the two-dimensional coordinate system, calculate the offset direction of the cargo relative to the central position of the planned storage position, where the offset direction may be determined according to the included angle between the line connecting the central position of the planned storage position and the central position of the cargo and the x-axis of the two-dimensional coordinate system; the central control equipment can identify the farthest point of the goods exceeding the target library bit line, calculate the distance between the farthest point and the target library bit line and obtain the offset of the goods exceeding the target library bit line; a carry instruction is generated based on the offset direction and the offset amount.
As another alternative embodiment, the central control device may generate the carrying instruction according to the location information, and the method may include the following steps:
the central control equipment acquires the position of the goods mark, determines the offset direction and the offset of the position of the goods mark relative to the central position of the planning library position, and generates a carrying instruction based on the offset direction and the offset; wherein the cargo mark is a mark made by the user at the edge of the cargo furthest beyond the target library bitline based on the location information of the cargo.
According to the embodiment of the application, a library position image which is acquired by a camera and comprises an actual library position is acquired; determining a planning library position corresponding to the actual library position, wherein the planning library position is determined according to the size information of the actual library position in the library position image; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargoes in an actual warehouse; according to the obtained shielding result corresponding to the goods, whether the goods are correctly placed in the actual storage position is determined, wherein the shielding result is used for indicating whether the goods shield the storage bit line of the planning storage position corresponding to the actual storage position, so that the placement condition of the goods in the actual storage position can be determined efficiently and accurately, the accurate management of the storage position is realized, and the accuracy and the efficiency of the storage position management are improved; meanwhile, the position information of the goods is determined efficiently by combining the goods image with the planned library position, so that the pose of the goods can be adjusted quickly, the goods can be placed in the actual library position correctly, and the efficiency of library position management is improved; meanwhile, the unmanned carrier is flexibly scheduled to adjust the pose of the goods, so that the intelligent degree of warehouse position management is improved.
With further reference to fig. 4, fig. 4 is a schematic flow chart of another library management method disclosed in an embodiment of the present application, where the library management method is applied to a central control device in a library management system, and the library management system further includes a camera; the library bit management method may include the steps of:
401. A library image acquired by a camera is acquired.
Wherein the library image comprises the actual library bits.
402. And determining the planning library positions corresponding to the actual library positions.
403. An image of the cargo acquired by the camera is acquired,
wherein the cargo image includes cargo placed in the actual stock location.
404. And obtaining a shielding result corresponding to the goods.
The shielding result is used for indicating whether goods shield the library bit line of the planning library bit corresponding to the actual library bit; the shielding result is determined according to the cargo position in the cargo image and the planning library position corresponding to the actual library position.
405. Judging whether the shielding result indicates that goods shield a library bit line of a planned library bit; if the shielding result indicates that the goods shield the library bit line of the planned library bit, executing step 306; if the result indicates that the cargo does not block the library bit line of the planned library bit, step 307 is performed.
406. It is determined that the good was not properly placed in the actual stock location and step 308 is performed.
407. And determining that the goods are correctly placed in the actual warehouse.
408. And determining the position information of the goods relative to the central position of the planning storage position according to the target storage position line of the planning storage position shielded by the goods.
The specific implementation of steps 401 to 408 may refer to the above embodiments, and are not described in detail.
409. And identifying the type of the goods in the actual stock position according to the goods image.
And the central control equipment identifies the type of the goods in the actual warehouse according to the goods image. The method for identifying the cargo type may be a K nearest neighbor classification algorithm, a naive bayes algorithm, a decision tree, a random forest, a support vector machine and other deep learning algorithms, which is not particularly limited.
The goods can be paper roll goods such as roll paper and roll steel, packaging goods such as cotton and face cloth, barreled goods such as oil and liquid, etc. The volume of the paper roll goods is large, and the goods easily exceed the library bit line of the actual library bit, so that the planned library bit is introduced, and whether the goods are correctly placed in the actual library bit can be accurately judged by identifying whether the goods block the library bit line of the planned library bit corresponding to the actual library bit.
410. And determining the standard placement posture corresponding to the goods according to the types of the goods.
And the central control equipment determines the standard placement gesture corresponding to the goods according to the types of the goods.
The central control device may store the correspondence between the kinds of goods and the standard placement attitudes. For example, when the goods are paper roll goods such as roll paper, roll steel and the like, the standard placing posture can be vertical; for bales such as cotton, cloth and the like, the standard placing posture can be horizontally placed; further, the standard placement posture may be that a projection line obtained by projecting an edge of the goods on a plane of an actual storage position is parallel to a storage bit line of a corresponding planned storage position, which is not particularly limited.
411. And identifying the actual placing gesture of the goods in the actual warehouse according to the goods image.
And the central control equipment identifies the actual placing gesture of the goods in the actual storage position according to the goods image.
As an alternative implementation manner, the central control device may store the corresponding sizes of various cargoes projected on the plane of the actual storage position under different placing postures, for example, the cargoes are roll paper, and the central control device may store the corresponding sizes and/or shapes of the roll paper projected on the plane of the actual storage position under the horizontal posture, the vertical posture and the horizontal posture. The central control equipment can recognize the actual placing gesture of the goods in the actual warehouse according to the type of the goods in the goods image and the size and/or shape of the goods. The pose recognition algorithm may be a K nearest neighbor classification algorithm, a naive bayes algorithm, a decision tree, a random forest, a support vector machine and other deep learning algorithms, which is not particularly limited.
As another optional implementation manner, the central control device can directly identify the gesture of the goods according to the goods image, so as to obtain the actual placing gesture of the goods in the actual storage position; the gesture recognition algorithm can be a convolutional neural network-based gesture recognition algorithm.
As another optional implementation manner, the central control device can perform orientation rotation calculation on the goods according to the goods image to obtain the rotation angle of the goods; specifically, one projection line obtained by projecting the edge of the goods on the plane of the actual storage position is taken as a change line, one storage position line of the planned storage position is taken as a reference line, and the angle between the change line and the reference line is calculated to obtain the rotation angle of the goods relative to the reference line; according to the rotation angle of the goods relative to the reference line, the actual placing posture of the goods in the actual warehouse position can be obtained.
412. Judging whether the actual placing gesture of the goods in the actual library position accords with the standard placing gesture, if so, executing step 414; if not, step 413 is performed.
For example, if the goods are roll paper, the standard placement posture of the roll paper is vertical, and if the central control equipment recognizes that the actual placement posture of the roll paper is flat, the actual placement posture of the goods in the actual warehouse position is judged to be not in accordance with the standard placement posture.
For example, if the standard placement posture of the cargo is that the rotation angle of the cargo relative to the reference line is a, and if the central control device recognizes that the rotation angle of the cargo relative to the reference line is B and the difference between B and a exceeds the deviation threshold, then the actual placement posture of the cargo in the actual storage position is judged to be not in accordance with the standard placement posture.
413. Generating an attitude adjustment instruction, and sending the attitude adjustment instruction to the unmanned carrier so that the unmanned carrier adjusts the goods to the standard placement attitude according to the attitude adjustment instruction.
The central control equipment generates an attitude adjustment instruction and sends the attitude adjustment instruction to the unmanned carrier so that the unmanned carrier adjusts the goods to the standard placement attitude according to the attitude adjustment instruction.
It should be noted that the posture adjustment instruction may be generated by the central control device according to a difference between an actual placement posture of the cargo and a standard placement posture.
For example, if the goods are roll paper, the standard placement posture of the roll paper is vertical, and the central control equipment recognizes that the actual placement posture of the roll paper is horizontal; when the central control equipment judges that the actual placing posture of the goods in the actual storage position does not accord with the standard placing posture, the central control equipment can generate a posture adjustment instruction for turning over the goods according to the action track from flat to vertical.
For example, if the standard placement posture of the cargo is that the rotation angle of the cargo relative to the reference line is a, the central control device recognizes that the rotation angle of the cargo relative to the reference line is B, the difference between B and a exceeds the deviation threshold, and when the central control device determines that the actual placement posture of the cargo in the actual storage position does not conform to the standard placement posture, the central control device generates a posture adjustment instruction for rotating the cargo according to the interpolation value between B and a.
Under the condition that goods need to be overturned, the unmanned carrier can be a carrying robot provided with a mechanical arm, and the carrying robot can overturned the goods from an actual placing posture to a standard placing posture through the mechanical arm according to a posture adjustment instruction and carries the goods to be placed in an actual warehouse; under the condition that the goods need to be rotated, the unmanned carrier can be an unmanned forklift provided with a pair of forks or a carrying robot provided with a mechanical arm, and the unmanned carrier can rotate the goods from the actual placing posture to the standard placing posture according to the posture adjusting instruction and carry and place the goods in the actual warehouse position.
414. And generating a conveying instruction according to the position information, and sending the conveying instruction to the unmanned conveying vehicle so that the unmanned conveying vehicle can accurately place the goods in the actual storage position according to the conveying instruction.
Reference may be made to the above embodiments for specific implementation of step 414, which is not described in detail.
Therefore, according to the embodiment of the application, the actual placing posture of the goods is adjusted to the standard placing posture, then the goods are carried to the correct position in the actual storage position, the goods can be accurately placed in the actual storage position from the two aspects of the posture and the position, and the accuracy of storage position management is improved.
As an optional implementation manner, after determining the planned library bit corresponding to the actual library bit, the central control device may further perform the following steps: acquiring size information of a planning library position; generating a configuration file according to the size information of the planning library position, and displaying the planning library position in a library position image according to the configuration file; the size information of the planned library bits may be information input to the central control device after the size information of the planned library bits is manually read.
The configuration file may be used to generate, display, or annotate the planning slots based on the size information of the planning slots.
As another alternative implementation manner, the central control device can label the planning library bits in the library bitmap image according to the configuration file so as to obtain a label image, and output the label image.
The file types of the configuration file may be ini, conf, xml, cfg, and the like, which are not particularly limited. The configuration file stores codes for displaying or annotating the planned library bits in the library bit image, and a user can adjust the planned library bits displayed or annotated in the library bit image by modifying custom parameters inside the codes in the configuration file.
Specifically, the user can open the configuration file in the central control device, input the size information of the planning library position, such as the length and the width of the planning library position, into the configuration file, and as the custom parameters in the configuration file, the configuration file can display or label the planning library position corresponding to the size information in the library position image according to the size information of the planning library position; further, the user may also input the number of the planning library bits to the configuration file to bind the size information of the planning library bits with the number of the planning library bits.
Therefore, the central control equipment can display the planned library position in the library position image according to the configuration file, or label the planned library position in the library position image according to the configuration file to obtain the labeled image, so that a user can check whether goods exceed the library position line of the planned library position or not through the planned library position displayed by the central control equipment in time, check whether the planned library position is correctly planned or not, and the accuracy of library position management is improved.
According to the embodiment of the application, a library position image which is acquired by a camera and comprises an actual library position is acquired; determining a planning library position corresponding to the actual library position; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargoes in an actual warehouse; according to the obtained shielding result corresponding to the goods, whether the goods are correctly placed in the actual storage position or not is determined, the placement condition of the goods in the actual storage position can be determined efficiently and accurately, the accurate management of the storage position is realized, and the accuracy and the efficiency of the storage position management are improved; meanwhile, by combining the goods image with the planned library position, the position information and the actual placement posture of the goods are determined efficiently, so that the position and posture of the goods can be adjusted quickly, the goods can be placed in the actual library position correctly according to the standard placement posture, and the efficiency and accuracy of library position management are improved; meanwhile, the unmanned carrier is flexibly scheduled to adjust the pose of the goods, so that the intelligent degree of warehouse position management is improved.
Referring to fig. 5, fig. 5 is a user interface diagram illustrating a display of a planned library in a library image according to an embodiment of the present application.
As shown in FIG. 5, the user interface diagram displays the actual library bits 501, the planned library bits 502, and the parameters field 503. The size of the planned library bits 502 may be equal to or similar to the size of the actual library bits 501; the bank bit lines of the planned bank bit 502 may be dotted lines or solid lines, which are not particularly limited; the parameter column 503 can be used for reading parameters of the actual library, such as coordinate values of each angular point of the actual library, length and width of the actual library, so that a user can conveniently check the situation of planning the library and the placement situation of goods, and efficiency and accuracy of library management are improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a library management device according to an embodiment of the present disclosure, where the library management device is applied to a central control device in a library management system, and the library management system further includes a camera. As shown in fig. 6, the bank management apparatus 600 may include: an image acquisition module 610, a planning library position determination module 620, and a cargo placement determination module 630;
an image acquisition module 610, configured to acquire a library image acquired by a camera, where the library image includes an actual library;
A planned library position determining module 620, configured to determine a planned library position corresponding to the actual library position; planning the library bits is determined based on the size information of the actual library bits in the library bit image;
the image acquisition module 610 is further configured to acquire a cargo image acquired by the camera, where the cargo image includes a cargo placed in an actual storage location;
the cargo placement determining module 630 is configured to determine a placement condition of the cargo in the actual storage location based on the cargo image and the planned storage location corresponding to the actual storage location.
In one embodiment, the cargo placement determining module 630 is further configured to obtain a blocking result corresponding to the cargo, where the blocking result is used to indicate whether the cargo blocks a library bit line of the planned library bit corresponding to the actual library bit; the shielding result is determined according to the cargo position in the cargo image and the planning library position corresponding to the actual library position; if the shielding result indicates that the goods shield the library bit line of the planned library position, determining that the goods are not correctly placed in the actual library position; and if the shielding result indicates that the goods do not shield the library bit line of the planned library position, determining that the goods are correctly placed in the actual library position.
In one embodiment, the bank bit management apparatus 600 may further include: a third determination module and a handling module;
The third determining module is configured to determine, after the cargo placement determining module 630 determines that the cargo is not placed in the actual storage location correctly, location information of the cargo relative to a central location of the planned storage location according to a target storage location line of the planned storage location blocked by the cargo;
and the carrying module is used for generating a carrying instruction according to the position information and sending the carrying instruction to the unmanned carrying vehicle so that the unmanned carrying vehicle can accurately place the goods in the actual storage position according to the carrying instruction.
In one embodiment, the handling module is further configured to determine, according to the location information, a direction of offset of the cargo relative to a center location of the planned storage location, and an offset of the cargo beyond a target storage location line; and generating a carrying instruction based on the offset direction and the offset amount.
In one embodiment, the handling module is further configured to identify a type of the cargo in the actual stock location based on the cargo image before generating the handling instruction based on the location information; determining a standard placement posture corresponding to the goods according to the types of the goods; according to the goods image, identifying the actual placing gesture of the goods in the actual warehouse position; and if the actual placing gesture of the goods accords with the standard placing gesture, executing the step of generating a carrying instruction according to the position information.
In one embodiment, the handling module is further configured to, after identifying an actual placement posture of the cargo in the actual storage location, generate a posture adjustment instruction if the actual placement posture of the cargo does not conform to the standard placement posture, and send the posture adjustment instruction to the automated guided vehicle, so that the automated guided vehicle adjusts the cargo to the standard placement posture according to the posture adjustment instruction.
In one embodiment, the bank bit management apparatus 600 may further include: a display module;
the display module is configured to obtain size information of the planned library after the planned library determining module 630 determines the planned library corresponding to the actual library; and generating a configuration file according to the size information of the planning library position, and displaying the planning library position in the library position image according to the configuration file.
According to the embodiment of the application, a library position image which is acquired by a camera and comprises an actual library position is acquired; determining a planning library position corresponding to the actual library position, wherein the planning library position is determined according to the size information of the actual library position in the library position image; acquiring a cargo image acquired by a camera, wherein the cargo image comprises cargoes in an actual warehouse; and determining the placement condition of the goods in the actual storage position according to the goods image and the planning storage position corresponding to the actual storage position. According to the method and the device for the cargo management, the planning library positions corresponding to the actual library positions are determined, so that the cargo images are combined with the planning library positions, the placement condition of cargoes in the actual library positions is accurately determined, the library positions are accurately managed, and the accuracy of library position management is improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
As shown in fig. 7, the electronic device 700 may include:
a memory 710 in which a computer program is stored;
a processor 720 coupled to the memory 710;
wherein the processor 720 invokes executable program code stored in the memory 710 to perform any of the library bit management methods disclosed in the embodiments of the present application.
The embodiment of the application discloses a computer readable storage medium storing a computer program, wherein the computer program, when executed by the processor, causes the processor to implement any one of the library bit management methods disclosed in the embodiment of the application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments and that the acts and modules referred to are not necessarily required in the present application.
In various embodiments of the present application, it should be understood that the size of the sequence numbers of the above processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, including several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in the computer device) to perform part or all of the steps of the above-mentioned method of the various embodiments of the present application.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The above describes in detail a method, an apparatus, an electronic device, and a storage medium for managing a library, which are disclosed in the embodiments of the present application, and specific examples are applied herein to describe the principles and implementations of the present application, where the description of the above embodiments is only for helping to understand the method and core ideas of the present application. Meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. A method of library management, the method comprising:
acquiring a library image acquired by a camera, wherein the library image comprises actual library positions;
determining a planning library position corresponding to the actual library position; the planned bin is determined based on size information of the actual bin in the bin image;
acquiring a cargo image acquired by the camera, wherein the cargo image comprises cargoes placed in the actual storage position;
and determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
2. The method of claim 1, wherein the determining the placement of the good in the actual bin based on the image of the good and the planned bin corresponding to the actual bin comprises:
acquiring a shielding result corresponding to the goods, wherein the shielding result is used for indicating whether the goods shield a library bit line of a planning library bit corresponding to the actual library bit; the shielding result is determined according to the cargo position in the cargo image and the planning library position corresponding to the actual library position;
if the shielding result indicates that the goods shield the library bit line of the planning library bit, determining that the goods are not correctly placed in the actual library bit;
And if the shielding result indicates that the goods do not shield the library bit line of the planning library bit, determining that the goods are correctly placed in the actual library bit.
3. The method of claim 2, wherein after determining that the good was not properly placed in the actual stock location, the method further comprises:
determining the position information of the goods relative to the central position of the planning storage position according to the target storage position line of the planning storage position shielded by the goods;
and generating a carrying instruction according to the position information, and sending the carrying instruction to the unmanned carrying vehicle so that the unmanned carrying vehicle can accurately place the goods in the actual storage position according to the carrying instruction.
4. A method according to claim 3, wherein said generating a carry instruction from said location information comprises:
determining the offset direction of the goods relative to the central position of the planning library position and the offset of the goods beyond the target library bit line according to the position information;
and generating a carrying instruction based on the offset direction and the offset amount.
5. A method according to claim 3, wherein prior to said generating a carry instruction from said location information, the method further comprises:
Identifying the type of the goods in the actual stock position according to the goods image;
determining a standard placement posture corresponding to the goods according to the types of the goods;
according to the goods image, identifying the actual placing gesture of the goods in the actual warehouse position;
and if the actual placing posture of the goods accords with the standard placing posture, executing the step of generating a carrying instruction according to the position information.
6. The method of claim 5, wherein after said identifying an actual placement pose of said good in said actual storage location, said method further comprises:
if the actual placing posture of the goods does not accord with the standard placing posture, generating a posture adjustment instruction, and sending the posture adjustment instruction to the unmanned carrier, so that the unmanned carrier adjusts the goods to the standard placing posture according to the posture adjustment instruction.
7. The method of any of claims 1-6, wherein after the determining the planned library bit corresponding to the actual library bit, the method further comprises:
acquiring size information of the planning library bits;
and generating a configuration file according to the size information of the planning library position, and displaying the planning library position in the library position image according to the configuration file.
8. The library position management device is characterized by being applied to central control equipment in a library position management system, and the library position management system further comprises a camera; the library management device comprises:
the image acquisition module is used for acquiring a library position image acquired by the camera, wherein the library position image comprises actual library positions;
the planning library position determining module is used for determining the planning library position corresponding to the actual library position; the planned bin is determined based on size information of the actual bin in the bin image;
the image acquisition module is further used for acquiring a cargo image acquired by the camera, wherein the cargo image comprises cargos placed in the actual library position;
and the goods placement determining module is used for determining the placement condition of the goods in the actual storage position based on the goods image and the planning storage position corresponding to the actual storage position.
9. An electronic device, comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the method of any one of claims 1 to 7.
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| CN120864107A (en) * | 2025-09-28 | 2025-10-31 | 北京京东远升科技有限公司 | Method and device for controlling conveying device and storage medium |
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| CN120864107A (en) * | 2025-09-28 | 2025-10-31 | 北京京东远升科技有限公司 | Method and device for controlling conveying device and storage medium |
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