RU2573855C1 - Method of monitoring movement of material at production site and in warehouse facilities - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: movement of objects is monitored using video cameras mounted on equipment and in storage areas. The space for operating a crane hook or loading lift, the space for storing and loading objects and the space for the movement of objects on a roller conveyor is located in the field of view of the cameras. Images from the video cameras are used to construct a 3D scene of the space captured by the video cameras and moved objects are determined in real-time.

EFFECT: automatic determination of the movement of material from the storage site, automatic positioning of the moved material on conveyors and storage sites.

2 cl

Description

The invention relates to methods and devices for tracking the movement of material in production and storage facilities. Designed to automatically track the movement of materials in the enterprise in the shops and during storage.

There is Symeo GmbH equipment [Symeo GmbH equipment in Russia http://ferrox.org/luchshie-ceny-na-obomdovanie-symeo-gmbh-v-rossii/] for solving the problems of positioning cranes and technological equipment. If the material (metering unit) was captured by a crane, hoist or placed on a trolley, then the coordinates of material movement using the SYMEO equipment can be determined with high accuracy. However, the fact of loading and unloading the material, as well as the fact of the availability of material at the storage sites, is taken into account in automated storage systems, as a rule, only by manual entry. In addition, SYMEO equipment cannot be used to track movements on the roller tables.

The technical result of the proposed method is the automatic fixation of the taking (setting) of the material from (to) the storage location, as well as the automatic positioning of the transported material on conveyors and storage areas. The fact of the statement of material removal is determined by processing images from tracking cameras. Image processing is carried out by special software.

The inventive method for tracking the movement of material in production and in warehouses is that cranes, forklifts, roller tables and storage areas are equipped with video cameras, including TOF cameras, in such a way as to provide finding the manipulation space of the crane hook or loader lift, storage or loading space , as well as transfer roller tables in the camera visibility zone; according to the data from the cameras, using a computer image analysis, they build a 3D scene, determine objects and monitor the movement of material in a fully automatic mode.

The essence of the invention lies in the fact that cranes, forklifts, roller tables and storage areas are equipped with video cameras. Including TOF cameras [Time-of-flight camera http://en.wikipedia.org/wiki/Time-of-flight_camera; Kinect http://ru.wikipedia.org/wiki/Kinect], able to receive 3D images with high accuracy immediately at the exit from the camera.

The cameras are located so as to overlap the storage space or the manipulation space of the crane hook or loader lift. In the case of working with the roller table, the cameras are positioned so as to block the space for moving goods along the roller table.

Based on the testimony of the cameras, a 3D scene of the space covered by the cameras is built using computer image analysis.

To build a 3D scene in real time, you can use the KinectFusion software [KinectFusion - build a 3D scene in real time http://habrahabr.ru/post/126379/]. This software selects objects in the image.

After building a 3D scene, tracking the movement of objects becomes a simple engineering task and is carried out by comparing the obtained 3D scenes.

So you can track the appearance of an object from a 3D scene on a crane hook, on a loader lift or on a roller table. You can also track that the object has stopped moving and remains in place.

Claims (2)

1. A method for automatically tracking the movement of objects in industrial and warehouse facilities equipped with cranes, loaders, live rolls and storage areas for moving objects, characterized in that tracking the movement of objects is carried out by means of cameras installed on the said equipment and in storage areas, ensuring that they are in range cameras of the space for manipulating the crane hook, loader lift, storage space for the mentioned objects and the space for moving them along the roll a gang, in this case, based on the testimony of the cameras using a computer image analysis, they build a 3D scene of the space covered by the cameras and determine the moving objects in real time. 2. The method according to claim 1, characterized in that TOF cameras are used as video cameras.