CN101853387A - Three-dimensional warehouse goods inventory method and system - Google Patents
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Abstract
本发明公开一种立体仓库货物盘点方法及系统，属物流领域。该方法包括：对立体仓库所储存货物外包装的图像进行拍照，从拍照得到的图像中提取图像特征作为原始图像特征并存储；在立体仓库的自动堆垛机上设置拍照装置，控制自动堆垛机运行至立体仓库中需盘点位置，通过自动堆垛机上拍照装置对需盘点位置的货物进行拍照，从拍照得到的图像中提取图像特征作为需盘点位置图像特征；将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配，根据匹配结果得出需盘点位置的货物名称与数量。该方法通过图像识别的方式对立体仓库中的货物进行盘点，解决人员不能或比较困难进入自动立体仓库进行盘点的难题，节约人力物力，速度快，不影响正常生产工作。
The invention discloses a three-dimensional warehouse goods inventory method and system, belonging to the field of logistics. The method includes: taking pictures of the outer packaging images of the goods stored in the three-dimensional warehouse, extracting image features from the photographed images as original image features and storing them; setting a photographing device on the automatic stacker of the three-dimensional warehouse to control the automatic stacker Run to the position that needs to be counted in the three-dimensional warehouse, use the camera device on the automatic stacker to take pictures of the goods that need to be counted, and extract the image features from the images obtained by taking pictures as the image features of the position to be counted; combine the image features of the position to be counted with The stored original image features are matched, and the name and quantity of the goods to be counted are obtained according to the matching result. The method checks the goods in the three-dimensional warehouse through image recognition, solves the problem that personnel cannot or is difficult to enter the automatic three-dimensional warehouse for inventory, saves manpower and material resources, is fast, and does not affect normal production work.
Description
技术领域technical field
本发明涉及物流领域，特别是涉及一种立体仓库物品盘点方法及系统。The invention relates to the field of logistics, in particular to a method and system for inventorying items in a three-dimensional warehouse.
背景技术Background technique
目前在物流领域，自动立体仓库的应用越来越多。但是由于立体仓库只允许自动堆垛机进入巷道进行存取货操作，人员无法进入内部对仓储的物品进行盘点，所以如何方便的对立体仓库仓储的货物进行盘点一直是个需要的问题。现在，立体仓库在盘点时只能将所有货物先出库再入库，不仅耗费大量的人力物力，而且无法实现快速盘点，直接影响了工作效率。At present, in the field of logistics, there are more and more applications of automatic three-dimensional warehouses. However, since the three-dimensional warehouse only allows the automatic stacker to enter the roadway for storage and retrieval operations, personnel cannot enter the interior to take inventory of the stored items, so how to conveniently inventory the goods stored in the three-dimensional warehouse has always been a necessary problem. At present, the three-dimensional warehouse can only take all the goods out of the warehouse and then put them into the warehouse, which not only consumes a lot of manpower and material resources, but also cannot achieve fast inventory, which directly affects the work efficiency.
发明内容Contents of the invention
本发明实施例的目的是提供一种立体仓库货物盘点方法及系统，通过图像识别的方式，对立体仓库中存储的货物进行盘点，提高立体仓库的盘点效率。The purpose of the embodiments of the present invention is to provide a method and system for inventorying goods in a three-dimensional warehouse, which can perform an inventory of goods stored in the three-dimensional warehouse by means of image recognition, and improve the inventory efficiency of the three-dimensional warehouse.
本发明的目的是通过下述技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明实施例提供一种立体仓库货物盘点方法，包括：An embodiment of the present invention provides a three-dimensional warehouse goods inventory method, including:
对立体仓库所储存货物外包装的图像进行拍照，从拍照得到的图像中提取图像特征作为原始图像特征并存储；Take pictures of the images of the outer packaging of the goods stored in the three-dimensional warehouse, and extract image features from the images obtained from the pictures as original image features and store them;
在立体仓库的自动堆垛机上设置拍照装置，控制自动堆垛机运行至立体仓库中需盘点位置，通过自动堆垛机上拍照装置对需盘点位置的货物进行拍照，从拍照得到的图像中提取图像特征作为需盘点位置图像特征；Set up a camera device on the automatic stacker of the three-dimensional warehouse, control the automatic stacker to run to the location where inventory needs to be made in the three-dimensional warehouse, use the camera device on the automatic stacker to take pictures of the goods that need to be counted, and extract images from the images obtained by taking photos The feature is used as the image feature of the location to be inventoried;
将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配，根据匹配结果得出需盘点位置的货物名称与数量。Matching the image feature of the location to be counted with the stored original image feature, and obtaining the name and quantity of the goods at the location to be counted according to the matching result.
所述从拍照得到的图像中提取图像特征作为原始图像特征并存储包括：The extraction of image features from the image obtained by taking pictures as the original image features and storage includes:
从拍照得到的图像中提取图像特征作为原始图像特征，并将所述原始图像特征存储至处理装置的数据库中。The image features are extracted from the photographed images as original image features, and the original image features are stored in the database of the processing device.
所述在立体仓库的自动堆垛机上设置拍照装置包括：The camera device set on the automatic stacker of the three-dimensional warehouse includes:
在立体仓库的自动堆垛机上设置数码相机作为拍照装置；或者，在立体仓库的自动堆垛机上设置摄像头作为拍照装置。A digital camera is set on the automatic stacker of the three-dimensional warehouse as a photographing device; or, a camera is set on the automatic stacker of the three-dimensional warehouse as a photographing device.
所述方法还包括：The method also includes:
若需盘点货物位置为多个，则控制自动堆垛机依次运行至立体仓库中不同的需盘点位置，通过自动堆垛机上拍照装置对各需盘点位置的货物分别进行拍照，从拍照得到的各图像中分别提取图像特征作为各需盘点位置图像特征；If there are multiple locations for inventory, the automatic stacker is controlled to run to different inventory locations in the three-dimensional warehouse in sequence, and the camera device on the automatic stacker is used to take pictures of the goods at each location to be inventoried. The image features are extracted from the image respectively as the image features of each location to be inventoried;
将所述各需盘点位置图像特征分别与存储的所述原始图像特征进行匹配，根据匹配结果得出各需盘点位置的货物名称与数量，汇总后得到全部需盘点位置的货物名称与数量。Matching the image features of each inventory-requiring location with the stored original image features respectively, obtaining the names and quantities of goods at each inventory-requiring location according to the matching results, and obtaining the names and quantities of all goods requiring inventory-requiring locations after summarizing.
本发明实施例还提供一种立体仓库货物盘点系统，包括：The embodiment of the present invention also provides a three-dimensional warehouse goods inventory system, including:
第一图像获取装置、第二图像获取装置和处理装置；a first image acquisition device, a second image acquisition device and a processing device;
第一图像获取装置，用于对立体仓库所储存货物外包装的图像进行拍照，并将拍照获取的图像传送至所述处理装置；The first image acquisition device is used to take pictures of the images of the outer packaging of the goods stored in the three-dimensional warehouse, and transmit the images obtained by the pictures to the processing device;
第二图像获取装置，用于设置在立体仓库的自动堆垛机上，当自动堆垛机运行至立体仓库中需盘点位置时，对需盘点位置的货物进行拍照，并将拍照获取的图像传送至所述处理装置；The second image acquisition device is used to be installed on the automatic stacker of the three-dimensional warehouse. When the automatic stacker runs to the position to be counted in the three-dimensional warehouse, it takes pictures of the goods at the position to be counted, and transmits the images obtained by taking pictures to said processing means;
处理装置，用于接收所述第一图像获取装置传送的图像，提取所接收图像的图像特征作为原始图像特征并存储；a processing device, configured to receive the image transmitted by the first image acquisition device, extract and store image features of the received image as original image features;
并用于接收所述第二图像获取装置传送的图像，提取所接收图像的图像特征作为需盘点位置图像特征，并将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配，根据匹配结果得出需盘点位置的货物名称与数量。And for receiving the image transmitted by the second image acquisition device, extracting the image feature of the received image as the image feature of the location to be inventoried, and matching the image feature of the location to be inventoried with the stored original image feature, according to the matching As a result, the name and quantity of the goods to be counted are obtained.
所述第一图像获取装置包括：The first image acquisition device includes:
数码照相机或摄像头中的任一种。Any digital camera or video camera.
所述第二图像获取装置包括：The second image acquisition device includes:
数码照相机或摄像头中的任一种。Any digital camera or video camera.
所述处理装置包括：The processing unit includes:
第一接收单元、第一图像特征提取单元、存储单元、第二接收单元、第二图像特征提取单元、匹配处理单元和计算处理单元；A first receiving unit, a first image feature extraction unit, a storage unit, a second receiving unit, a second image feature extraction unit, a matching processing unit and a calculation processing unit;
第一接收单元，用于接收所述第一图像获取装置传送的图像；a first receiving unit, configured to receive the image transmitted by the first image acquisition device;
第一图像特征提取单元，用于从所述第一接收单元接收的图像中提取图像特征作为原始图像特征；a first image feature extraction unit, configured to extract image features from the image received by the first receiving unit as original image features;
存储单元，用于存储所述第一图像特征提取单元提取的作为原始图像特征的图像特征；a storage unit for storing image features extracted by the first image feature extraction unit as original image features;
第二接收单元，用于接收所述第二图像获取装置传送的图像；a second receiving unit, configured to receive the image transmitted by the second image acquisition device;
第二图像特征提取单元，用于从所述第二接收单元接收的图像中提取图像特征作为需盘点位置图像特征；The second image feature extraction unit is used to extract image features from the image received by the second receiving unit as image features of the location to be inventoried;
匹配处理单元，用于将所述需盘点位置图像特征与所述存储单元中存储的所述原始图像特征进行匹配；A matching processing unit, configured to match the image features of the location to be inventoried with the original image features stored in the storage unit;
计算处理单元，用于根据所述匹配处理单元的匹配结果计算得出需盘点位置的货物名称与数量。The calculation processing unit is used to calculate the name and quantity of the goods to be counted according to the matching result of the matching processing unit.
从上述本发明实施例提供的技术方案中可以看出，本发明实施例中通过从对需盘点位置的货物进行拍照，再从拍照得到的图像中提出图像特征与存储的原始图像特征进行比对的方式，利用图像识别方便的对立体仓库中的货物进行盘点，不但节约人力物力，并且速度快，不影响正常生产工作。It can be seen from the technical solutions provided by the above-mentioned embodiments of the present invention that in the embodiments of the present invention, by taking pictures of the goods at the location to be counted, and then comparing the image features with the stored original image features from the images obtained by taking pictures The way of using image recognition to conveniently check the goods in the three-dimensional warehouse, not only saves manpower and material resources, but also is fast, and does not affect the normal production work.
附图说明Description of drawings
图1为本发明实施例一提供的盘点方法流程图；Fig. 1 is the flow chart of the inventory method provided by Embodiment 1 of the present invention;
图2为本发明实施例二提供的盘点系统的结构框图；FIG. 2 is a structural block diagram of an inventory system provided by
图3为本发明实施例二提供的盘点系统的处理装置的结构框图；3 is a structural block diagram of a processing device of an inventory system provided in
图4为本发明实施例提供的盘点系统原理示意图。Fig. 4 is a schematic diagram of the principle of an inventory system provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
实施例一Embodiment one
本实施例提供一种立体仓库货物盘点方法，用于对立体仓库中的货物进行盘点，如图1所示，该方法包括下述步骤：This embodiment provides a method for inventorying goods in a three-dimensional warehouse, which is used for inventorying the goods in the three-dimensional warehouse. As shown in Figure 1, the method includes the following steps:
步骤1，对立体仓库所储存货物外包装的图像进行拍照，从拍照得到的图像中提取图像特征作为原始图像特征并存储；可将提取的原始图像特征存储至处理装置的数据库中；Step 1, taking pictures of the images of the outer packaging of the goods stored in the three-dimensional warehouse, extracting image features from the images obtained by taking pictures as original image features and storing them; the extracted original image features can be stored in the database of the processing device;
步骤1，在立体仓库的自动堆垛机上设置拍照装置，拍照装置可采用数码照相机或摄像头；Step 1, install a camera device on the automatic stacker in the three-dimensional warehouse, and the camera device can use a digital camera or a video camera;
步骤3，控制自动堆垛机运行至立体仓库中需盘点位置，通过自动堆垛机上拍照装置对需盘点位置的货物进行拍照，从拍照得到的图像中提取图像特征作为需盘点位置图像特征；
步骤4，将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配，根据匹配结果得出需盘点位置的货物名称与数量。
上述盘点方法中，将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配的步骤，具体可采用图像匹配算法进行匹配，如采用基于“支持向量机”技术的图像匹配算法。In the above inventory method, the step of matching the image features of the location to be inventoried with the stored original image features may specifically be matched using an image matching algorithm, such as an image matching algorithm based on "support vector machine" technology.
上述盘点方法中，若需盘点货物位置为多个，则控制自动堆垛机依次运行至立体仓库中不同的需盘点位置，通过自动堆垛机上拍照装置对各需盘点位置的货物分别进行拍照，从拍照得到的各图像中分别提取图像特征作为各需盘点位置图像特征；In the above-mentioned inventory method, if there are multiple positions of goods to be counted, the automatic stacker is controlled to run to different positions to be counted in the three-dimensional warehouse in sequence, and the goods at each position to be counted are photographed by the camera device on the automatic stacker, Extract the image features from each image obtained by taking pictures as the image features of each location to be inventoried;
将所述各需盘点位置图像特征分别与存储的所述原始图像特征进行匹配，根据匹配结果得出各需盘点位置的货物名称与数量，汇总后得到全部需盘点位置的货物名称与数量。Matching the image features of each inventory-requiring location with the stored original image features respectively, obtaining the names and quantities of goods at each inventory-requiring location according to the matching results, and obtaining the names and quantities of all goods requiring inventory-requiring locations after summarizing.
该方法通过从对需盘点位置的货物进行拍照，再从拍照得到的图像中提出图像特征与存储的原始图像特征进行比对的方式，利用图像识别方便的对立体仓库中的货物进行盘点，不但节约人力物力，并且速度快，不影响正常生产工作。This method takes pictures of the goods that need to be counted, and then compares the image features with the stored original image features from the images obtained by taking pictures, and uses image recognition to conveniently take stock of the goods in the three-dimensional warehouse. It saves manpower and material resources, and the speed is fast, without affecting the normal production work.
实施例二Embodiment two
本实施例提供一种立体仓库货物盘点方法，用于实现基于图像识别来进行立体仓库的盘点，如图2所示，该系统包括：This embodiment provides a method for inventorying goods in a three-dimensional warehouse, which is used to implement an inventory of the three-dimensional warehouse based on image recognition. As shown in Figure 2, the system includes:
第一图像获取装置21、第二图像获取装置22和处理装置23；A first
第一图像获取装置21，用于对立体仓库所储存货物外包装的图像进行拍照，并将拍照获取的图像传送至所述处理装置；The first
第二图像获取装置22，用于设置在立体仓库的自动堆垛机上，当自动堆垛机运行至立体仓库中需盘点位置时，对需盘点位置的货物进行拍照，并将拍照获取的图像传送至所述处理装置；The second
处理装置23，用于接收所述第一图像获取装置21传送的图像，提取所接收图像的图像特征作为原始图像特征并存储；The
并用于接收所述第二图像获取装置22传送的图像，提取所接收图像的图像特征作为需盘点位置图像特征，并将所述需盘点位置图像特征与存储的所述原始图像特征进行匹配，根据匹配结果得出需盘点位置的货物名称与数量。And for receiving the image transmitted by the second
上述系统中的第一图像获取装置可采用数码照相机或摄像头中的任一种。第二图像获取装置也可采用数码照相机或摄像头中的任一种。The first image acquisition device in the above system can adopt any one of digital camera or video camera. The second image acquisition device may also be any one of a digital camera or a video camera.
上述系统的处理装置如图3所示，具体包括：The processing device of the above-mentioned system is shown in Figure 3, and specifically includes:
第一接收单元231、第一图像特征提取单元232、存储单元233、第二接收单元234、第二图像特征提取单元235、匹配处理单元236和计算处理单元237；The
第一接收单元231，用于接收所述第一图像获取装置21传送的图像；The
第一图像特征提取单元232，用于从所述第一接收单元231接收的图像中提取图像特征作为原始图像特征；The first image
存储单元233，用于存储所述第一图像特征提取单元232提取的作为原始图像特征的图像特征；A
第二接收单元234，用于接收所述第二图像获取装置22传送的图像；The
第二图像特征提取单元235，用于从所述第二接收单元234接收的图像中提取图像特征作为需盘点位置图像特征；The second image
匹配处理单元236，用于将所述需盘点位置图像特征与所述存储单元中存储的所述原始图像特征进行匹配；A matching
计算处理单元237，用于根据所述匹配处理单元236的匹配结果计算得出需盘点位置的货物名称与数量。The
该系统具有结构简单、使用方便，可以有效提高立体仓库盘点的便利性和效率。The system is simple in structure and easy to use, and can effectively improve the convenience and efficiency of three-dimensional warehouse inventory.
可以知道，上述系统中的处理装置，可以采用硬件电路模块实现，也可以采用在计算机并在计算机中设置软件模块的方式实现。It can be known that the processing device in the above system can be realized by using hardware circuit modules, or can be realized by using a computer and setting software modules in the computer.
实际中，如图4所示，该系统可由第一图像获取装置31、第二图像获取装置32和两个图像处理运算装置33、34，及图像特征数据库35、盘点运算装置36构成，第一图像获取装置经一个图像处理运算装置与图像特征数据库连接，第二图像获取装置经另一个图像处理运算装置与图像特征数据库连接，图像特征数据库与盘点运算装置连接。第一图像获取装置获取的图像(货物存入立体仓库时的外包装图像)经一个图像处理运算装置提取图像特征数据后存储至图像特征数据库，第二图像获取装置获取的图像(盘点处的图像)经另一个图像处理运算装置提取图像特征数据后也存储至图像特征数据库，盘点运算装置从图像特征数据库中获取第二图像获取装置获取图像的图像特征数据与第一图像获取装置获取图像的图像特征数据进行匹配，从而得出所盘点货物的数据、类型等信息，完成立体仓库中的货物盘点。In practice, as shown in Figure 4, the system can be composed of a first image acquisition device 31, a second image acquisition device 32, two image processing computing devices 33, 34, an image feature database 35, and an inventory computing device 36. The first The image acquisition device is connected to the image feature database through an image processing operation device, the second image acquisition device is connected to the image feature database through another image processing operation device, and the image feature database is connected to the inventory operation device. The image obtained by the first image acquisition device (the image of the outer packaging when the goods are stored in the three-dimensional warehouse) is stored in the image feature database after an image processing operation device extracts the image feature data, and the image obtained by the second image acquisition device (the image at the inventory) ) is also stored in the image feature database after being extracted by another image processing computing device, and the inventory computing device obtains the image feature data of the image captured by the second image capturing device and the image of the image captured by the first image capturing device from the image feature database. The feature data is matched to obtain the data, type and other information of the inventory goods, and complete the inventory of goods in the three-dimensional warehouse.
综上所述，本发明实施例中通过从对需盘点位置的货物进行拍照，再从拍照得到的图像中提出图像特征与存储的原始图像特征进行比对的方式，利用图像识别方便的对立体仓库中的货物进行盘点，不但节约人力物力，并且速度快，不影响正常生产工作To sum up, in the embodiment of the present invention, by taking pictures of the goods at the positions to be counted, and then comparing the image features with the stored original image features from the images obtained by taking pictures, it is convenient to use image recognition to compare the three-dimensional The inventory of the goods in the warehouse not only saves manpower and material resources, but also is fast and does not affect the normal production work
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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