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CN-121353347-B - 4D millimeter wave radar intelligent inventory warehouse management method based on electric scanning principle

CN121353347BCN 121353347 BCN121353347 BCN 121353347BCN-121353347-B

Abstract

The invention discloses a 4D millimeter wave radar intelligent inventory warehouse management method based on an electric scanning principle, which relates to the technical field of warehouse management and comprises the steps of capturing a point cloud image of a stacking in a monitoring range of a 4D millimeter wave radar, and carrying out noise filtering and point cloud registration on the captured point cloud image of the stacking to form a preprocessed point cloud image; the method comprises the steps of calculating and generating instantaneous flow based on preprocessed point cloud images, determining the height difference of the left side and the right side of each frame of stacking and real-time stacking material level to form stacking side alarm, forming load distribution of the edge intelligent terminals based on the maximum load quantity of the edge intelligent terminals and the monitoring range of each 4D millimeter wave radar to form radar side alarm, and forming a visual management interface of a storage bin based on the stacking side alarm and the radar side alarm. The invention realizes the identification and processing of the point cloud image based on the electric scanning function of the 4D millimeter wave radar, improves the safety and the intellectualization of the bin management, and provides early warning guarantee for industrial storage.

Inventors

  • ZUO DA

Assignees

  • 介可视（北京）机电技术有限公司

Dates

Publication Date
20260512
Application Date
20251021

Claims (9)

  1. 1. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle is characterized by comprising the following steps of: based on the 4D millimeter wave radar position, determining a monitoring range of the 4D millimeter wave radar, capturing a point cloud image of the stacking in the monitoring range of the 4D millimeter wave radar, feeding back to an edge intelligent terminal, and performing noise filtering and point cloud registration on the captured point cloud image of the stacking by the edge intelligent terminal to form a preprocessed point cloud image; calculating the change rate of the stacking volume in real time based on the point cloud comparison of the preprocessed point cloud image continuous frames, and calculating and generating the instantaneous flow based on the time dimension; Determining the height difference of the left side and the right side of each frame of stacking and the real-time stacking material level based on the preprocessed point cloud images; forming a stacking side alarm based on the difference value between the instantaneous flow and a system set value, the height difference between the left side and the right side of the stacking, a height threshold value set by the system, the real-time stacking material level and a preset minimum safety limit value; Determining the maximum load quantity of the edge intelligent terminals, forming load radar distribution of the edge intelligent terminals based on the maximum load quantity of the edge intelligent terminals and the monitoring range of each 4D millimeter wave radar in the bin, and forming radar side alarm; forming a visual management interface of the storage bin based on the stacking side alarm and the radar side alarm; The maximum load quantity refers to the maximum quantity of the 4D millimeter wave radars simultaneously connected with the edge intelligent terminals, the load radar distribution of the edge intelligent terminals is formed based on the maximum load quantity of the edge intelligent terminals and the monitoring range of each 4D millimeter wave radar in the bin, and the forming of the radar side alarm comprises the following steps: Determining the maximum load number N of the used edge intelligent terminals; determining the number M of 4D millimeter wave radars installed in a bin; Determining any two 4D millimeter wave radars with overlapping monitoring ranges as The overlapping area is recorded as ; Constructing a load radar distribution model of the edge intelligent terminal: Determining the number K of used edge intelligent terminals: M Wherein, the Representing parameter items; Representative pair Rounding, if Is an integer, then If not, the first part of the first part is connected with the second part, ; Any K value is selected in the range of K value, and the scheme output value under the current K value is calculated : Wherein C represents a C-th edge intelligent terminal; The normalization value representing the intersection number between the 4D millimeter wave radars correspondingly read by the C-th edge intelligent terminal, wherein the intersection number comprises the steps that under the same edge intelligent terminal, if the monitoring range between any two 4D millimeter wave radars is overlapped, a counter is increased by one, and the final value of the counter is taken as the intersection number of the edge intelligent terminals; Calculating the linear distance between any two 4D millimeter wave radars under the same edge intelligent terminal, arranging the obtained distances according to the sequence from small to large, forming a linear fitting straight line by taking the sequence number as an abscissa and the corresponding distance as an ordinate, and taking the slope value as the distance fitting slope of the edge intelligent terminal; 、 Representing the adjustment coefficients of the scheme, respectively, wherein, 、 。
  2. 2. The 4D millimeter wave radar intelligent disc warehouse management method based on the electric scanning principle of claim 1, which is characterized by further comprising the following steps: The 4D millimeter wave radar mounting bracket is arranged in the storage bin and comprises a hoop bracket and a standard flange, wherein the hoop bracket is used for fixing the bracket on the cross rod through a plurality of hoops; The 4D millimeter wave radar is also provided with an extension bracket, and the extension bracket is adjusted to downwards detect the 4D millimeter wave radar under the condition that a spandrel girder or a metal frame is arranged at the top of the storage bin.
  3. 3. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle of claim 1 is characterized in that the edge intelligent terminal refers to a stockpiling volume measurement host, and the stockpiling volume measurement host is responsible for reading point cloud data of the 4D millimeter wave radar in real time and carrying out noise filtering and point cloud registration; the method specifically comprises the following steps: The 4D millimeter wave radar performs electric scanning in a time division multiplexing mode, and a plurality of transmitting antennas of the 4D millimeter wave radar sequentially transmit identical FMCW CHIRP signals in turn; All the receiving modules are always in a working state, and all signals reflected from a scene are received at the same time to form a virtual array, wherein the number of antennas of the virtual array is the product of the number of transmitting antennas and the number of the receiving modules; The processor processes the data of the antenna units which are horizontally arranged in the virtual array, and simulates the scanning of the wave beam in the horizontal direction by applying different phase weights, so as to calculate the horizontal angle of each target point; the processor performs the same processing on the data of the antenna units arranged in the vertical direction in the virtual array, and calculates the vertical angle of each target point by applying another group of phase weights and simulating the scanning of the wave beam in the vertical direction; And converting the spherical coordinates formed by the distance information, the horizontal angle and the vertical angle of the target point into three-dimensional coordinates in a rectangular coordinate system, and outputting point cloud data.
  4. 4. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle of claim 1 is characterized in that the noise filtering means filters out zero star points generated by dust and small insects in the warehouse and filters out point clouds reflected from the warehouse wall, the bracket and the conveyor; the point cloud registration means that when a plurality of radars cover a bin from different angles, the point clouds of the radars need to be unified to the same coordinate system to form a complete three-dimensional view in the bin.
  5. 5. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle of claim 1 is characterized in that the forming of a stacker side alarm based on the difference value between the instantaneous flow and a system set value, the height difference between the left side and the right side of the stacker and a height threshold value set by the system, and the real-time stacker level and a preset minimum safety limit value comprises the following steps: The method comprises the steps of forming an alarm if the difference value between the instantaneous flow and a system set value is larger than a preset difference value threshold of the system, forming the alarm if the difference value between the left side and the right side of the stockpile under a certain frame is larger than the preset height threshold of the system, and forming the alarm if the real-time stockpile level is lower than a preset minimum safety limit value.
  6. 6. The 4D millimeter wave radar intelligent disc warehouse management method based on the electric scanning principle of claim 1 is characterized by comprising the following steps: Setting a scheme output value threshold, calculating scheme output values of all the values of K in the value range of K, and outputting a scheme lower than the scheme output value threshold to the next stage; In the next stage, the scheme comprehensive evaluation value is calculated : Wherein, the 、 Respectively represent the weight coefficients of the scheme, wherein, ; Representing the scheme output value And normalizing the number of the edge intelligent terminals in the corresponding scheme.
  7. 7. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle of claim 6 is characterized in that the specific display condition of the radar side alarm comprises the following steps: an intelligent terminal at a certain edge feeds back data errors based on the 4D millimeter wave radar; For the same area, the data fed back by the plurality of edge intelligent terminals based on the 4D millimeter wave radar or the plurality of 4D millimeter wave radars are different.
  8. 8. The 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle of claim 7 is characterized in that when the radar side alarms, the reason of the early warning accident is determined: When an alarm on the radar side appears, determining a 4D millimeter wave radar with a problem; If the data fed back by one edge intelligent terminal based on the 4D millimeter wave radar is wrong, the feedback data of other 4D millimeter wave radars of the same edge intelligent terminal as the 4D millimeter wave radar are obtained, if the data fed back by the other edge intelligent terminals are normal, the 4D millimeter wave radar is judged to be faulty, and if the data fed back by the other edge intelligent terminals are abnormal, the data fed back by the other edge intelligent terminals are marked to be third judgment; If the data fed back by the plurality of edge intelligent terminals based on the 4D millimeter wave radars or the plurality of 4D millimeter wave radars are different, marking other 4D millimeter wave radars of the same edge intelligent terminal as the 4D millimeter wave radars, acquiring monitoring range overlapping data of the 4D millimeter wave radars and the 4D millimeter wave radars with overlapping monitoring ranges, judging that the 4D millimeter wave radars have faults if the monitoring range overlapping data are the same, and marking the 4D millimeter wave radars as third judgment if the monitoring range overlapping data are different; and the third judgment means to check the transmission fault of the edge intelligent terminal preferentially and then determine the 4D millimeter wave radar fault in the edge intelligent terminal.
  9. 9. The 4D millimeter wave radar intelligent inventory bin management method based on the electric scanning principle of claim 1 is characterized by constructing a visual management interface to display all detailed data of the stockpiling side alarm and the radar side alarm respectively.

Description

4D millimeter wave radar intelligent inventory warehouse management method based on electric scanning principle Technical Field The invention relates to the technical field of bin management, in particular to a 4D millimeter wave radar intelligent inventory bin management method based on an electric scanning principle. Background Nowadays, a large amount of bulk materials, production materials, processing materials, products without materials or fuel materials and other materials can be used in various fields of production, manufacture, processing and the like, and the storage, management, monitoring and the like of the materials become the primary problems. At present, the management of stock materials is often based on manual inventory making, namely, the information of the stock bin and the materials is printed out firstly, then a manual tape pulling ruler (or equipment) is adopted, and data are estimated by utilizing a mathematical model. However, with the development of the age, the problems of various types, scattered stacking, irregular shape and dead zone in ground viewing exist in the prior storage bins and storage yards, and meanwhile, the storage bins and storage yards have complex environments and possibly have the problems of a large amount of dust, overhigh temperature, collapse of the storage yards, endangering personal safety of personnel and the like. The manual inventory has failed to accomplish efficient work. Meanwhile, although the emerging 3D radar system scans quickly every second, traditional mechanical scanning still causes 'dynamic blurring' -that is, the material has moved a certain distance between two scans at the moment of extremely high-speed blanking or large-block material collapse, and the system cannot accurately reconstruct the surface morphology in the time period, so that the volume change is underestimated, and the instantaneous flow calculation is deviated. Meanwhile, the convergence, early warning and privacy protection of intelligent disc library data are one of the important problems. Disclosure of Invention The invention aims to provide a 4D millimeter wave radar intelligent disc warehouse management method based on an electric scanning principle, so as to solve the problems in the prior art. In order to achieve the purpose, the invention provides the following technical scheme that the 4D millimeter wave radar intelligent inventory warehouse management method based on the electric scanning principle comprises the following steps: based on the 4D millimeter wave radar position, determining a monitoring range of the 4D millimeter wave radar, capturing a point cloud image of the stacking in the monitoring range of the 4D millimeter wave radar, feeding back to an edge intelligent terminal, and performing noise filtering and point cloud registration on the captured point cloud image of the stacking by the edge intelligent terminal to form a preprocessed point cloud image; calculating the change rate of the stacking volume in real time based on the point cloud comparison of the preprocessed point cloud image continuous frames, and calculating and generating the instantaneous flow based on the time dimension; Determining the height difference of the left side and the right side of each frame of stacking and the real-time stacking material level based on the preprocessed point cloud images; forming a stacking side alarm based on the difference value between the instantaneous flow and a system set value, the height difference between the left side and the right side of the stacking, a height threshold value set by the system, the real-time stacking material level and a preset minimum safety limit value; Determining the maximum load quantity of the edge intelligent terminals, forming load radar distribution of the edge intelligent terminals based on the maximum load quantity of the edge intelligent terminals and the monitoring range of each 4D millimeter wave radar in the bin, and forming radar side alarm; and forming a visual management interface of the storage bin based on the stacking side alarm and the radar side alarm. According to the technical scheme, the method further comprises the following steps: The 4D millimeter wave radar mounting bracket is arranged in the storage bin and comprises a hoop bracket and a standard flange, wherein the hoop bracket is used for fixing the bracket on the cross rod through a plurality of hoops; The 4D millimeter wave radar is also provided with an extension bracket, and the extension bracket is adjusted to downwards detect the 4D millimeter wave radar under the condition that a spandrel girder or a metal frame is arranged at the top of the storage bin. According to the technical scheme, the edge intelligent terminal refers to a stockpiling volume measurement host, and the stockpiling volume measurement host is responsible for reading point cloud data of the 4D millimeter wave radar in real time and carrying out noise filtering and p