CN112327910A - Inventory method and system applied to indoor warehouse - Google Patents
Inventory method and system applied to indoor warehouse Download PDFInfo
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Abstract
The invention discloses a goods checking method and a goods checking system applied to an indoor warehouse, and relates to the field of warehouse logistics. One specific embodiment of the method comprises an unmanned aerial vehicle and a ground mobile platform, wherein the unmanned aerial vehicle comprises a sensor and a first communication unit in communication connection with the sensor; the ground mobile platform comprises an unmanned vehicle, a second communication unit and a cargo information calculation unit. This embodiment separates the computational element of discernment goods information from unmanned aerial vehicle, uses ground moving platform + unmanned aerial vehicle's heterogeneous form to this reduces unmanned aerial vehicle's volume, improves the efficiency of indoor warehouse stock keeping, reduces error rate and cost.
Description
Technical Field
The invention relates to the field of warehouse logistics, in particular to a goods checking method and a goods checking system applied to an indoor warehouse.
Background
At present, most goods in a warehouse are checked and recorded by depending on equipment such as a goods checking personnel acquisition goods information input system and the like; in addition, there is also a scheme of using an unmanned aerial vehicle as an unmanned system platform and carrying sensors to collect and identify characteristic information of goods.
In the process of implementing the invention, the inventor finds that the existing indoor warehouse stock checking mode has at least the following problems:
1) the goods stacking position in the room is high, the goods checking personnel need to check with the help of a climbing tool and need to continuously carry out operations such as moving, climbing and climbing, and the efficiency is too low; the inventory personnel are limited by physical and other environmental influences (such as light rays), so that the inventory error rate is high;
2) unmanned aerial vehicle need carry on the sensor of collecting goods characteristic information, discernment goods information's computational element and communication unit, and whole volume is on the large side, is unfavorable for operating in such narrow space of indoor warehouse, and the security is relatively poor.
Disclosure of Invention
In view of this, embodiments of the present invention provide a stock taking method and system for an indoor warehouse, which can at least solve the disadvantages of low efficiency, high error rate and high cost of the existing stock taking method for the indoor warehouse.
In order to achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a stock keeping system applied to an indoor warehouse, including an unmanned aerial vehicle and a ground moving platform, wherein:
the unmanned aerial vehicle comprises a sensor and a first communication unit in communication connection with the sensor; the first communication unit is used for receiving the cargo characteristic information acquired by the sensor and transmitting the cargo characteristic information to the ground mobile platform;
the ground mobile platform comprises an unmanned vehicle, a second communication unit and a cargo information calculation unit; the second communication unit is in communication connection with the first communication unit and used for issuing a goods inventory starting instruction to the first communication unit so as to trigger the unmanned aerial vehicle to start the goods inventory through the first communication unit and receive the goods characteristic information transmitted by the first communication unit.
Optionally, the cargo information calculation unit is in communication connection with the second communication unit, and the second communication unit is further configured to transmit the cargo characteristic information to the cargo information calculation unit for identification.
Optionally, the cargo information calculation unit is in communication connection with the first communication unit, and is configured to identify the cargo characteristic information received from the first communication unit.
Optionally, the cargo information calculation unit and the second communication unit are both installed on the unmanned vehicle.
Optionally, the sensor includes a cargo characteristic information acquisition sensor, a horizontal positioning code information acquisition sensor and a height sensor;
the cargo characteristic information comprises cargo position information and cargo image information; the cargo image information comprises cargo identification, and the cargo information calculation unit obtains the cargo information by identifying the cargo identification.
Optionally, the ground mobile platform further includes an unmanned aerial vehicle horizontal positioning identifier;
the horizontal positioning code information acquisition sensor takes the horizontal positioning mark of the unmanned aerial vehicle as a base point to determine the horizontal displacement of the unmanned aerial vehicle relative to the unmanned aerial vehicle.
Optionally, the method includes: the horizontal positioning code information acquisition sensor determines the horizontal information of the checked goods according to the displacement of the unmanned vehicle and the horizontal displacement of the unmanned vehicle relative to the unmanned vehicle;
the height sensor acquires height information of the unmanned aerial vehicle relative to a takeoff position;
determining position information of the inventoried cargo based on the level information and the height information.
Optionally, the unmanned vehicle further comprises an unmanned aerial vehicle bearing carriage for bearing the unmanned aerial vehicle, and the unmanned aerial vehicle horizontal positioning identifier is arranged in the unmanned aerial vehicle bearing carriage.
Optionally, unmanned aerial vehicle includes charging device, unmanned vehicle include with charging device assorted power supply unit.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a stock keeping method applied to an indoor warehouse, including:
a second communication unit in the ground mobile platform receives the goods taking instruction, determines a route moving to a goods taking area in the goods taking instruction, and issues a goods taking starting instruction to a first communication unit in the unmanned aerial vehicle after the unmanned aerial vehicle moves to the goods taking area according to the route;
the first communication unit in the unmanned aerial vehicle receives the order starting instruction transmitted by the second communication unit and triggers the unmanned aerial vehicle to enter an order starting mode; in the climbing process of the unmanned aerial vehicle, acquiring cargo image information at each position in the cargo inventory area through a sensor, generating cargo characteristic information, and transmitting the cargo characteristic information to the second communication unit through the first communication unit;
and the second communication unit in the ground mobile platform receives the cargo characteristic information transmitted by the first communication unit, and transmits the cargo characteristic information to a cargo information calculation unit for identification to obtain identified cargo information.
Optionally, the determining a route to move to a stock taking area in the stock taking instruction includes:
determining an inventory position corresponding to the inventory area, acquiring position information of the unmanned vehicle in an indoor warehouse at present, and obtaining a route of the unmanned vehicle moving to the inventory position.
Optionally, the sensor includes a cargo characteristic information acquisition sensor, a horizontal positioning code information acquisition sensor and a height sensor;
the collecting of the cargo image information at each position in the stock taking area through the sensor comprises the following steps:
for a position in the goods inventory area, acquiring height information of the unmanned aerial vehicle relative to a takeoff position through the height sensor;
acquiring the horizontal displacement of the unmanned aerial vehicle relative to the unmanned aerial vehicle through the horizontal positioning code information acquisition sensor, and generating cargo position information by combining the height information;
and acquiring the cargo image information at the position through the cargo characteristic information acquisition sensor.
Optionally, the method further includes: and acquiring the height of the goods inventory area, and transmitting goods inventory finishing information to the second communication unit after the unmanned aerial vehicle climbs to the height and finishes the collection of the characteristic information of the goods.
Optionally, the transmitting the cargo feature information to the cargo information calculating unit for identification to obtain identified cargo information includes:
the cargo information calculation unit obtains cargo information by identifying a cargo identifier in cargo image information, and stores cargo position information corresponding to the cargo image information and the identified cargo information into the same record.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided a stocked electronic device applied to an indoor warehouse.
The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement any one of the above-mentioned inventory methods applied to the in-house warehouse.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided a computer-readable medium having a computer program stored thereon, the program implementing any one of the above-mentioned inventory methods applied to an indoor warehouse when being executed by a processor.
According to the scheme provided by the invention, one embodiment of the invention has the following advantages or beneficial effects: the unmanned system platform scheme for the goods inventory of the indoor warehouse is provided, horizontal and high motion of the indoor warehouse can be decoupled, equipment such as information acquisition, information transmission and information identification is reasonably arranged, the size of the unmanned aerial vehicle is reduced, the safety and the efficiency of the goods inventory are improved, and the error rate and the cost are reduced.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a main structural diagram of a stock control system applied to an indoor warehouse according to an embodiment of the present invention;
fig. 2 is a schematic view of a main structure of another inventory system applied to an indoor warehouse according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a connection relationship between a first communication unit, a second communication unit and a cargo information calculation unit;
FIG. 4 is a schematic diagram of another connection relationship among the first communication unit, the second communication unit and the cargo information calculation unit;
fig. 5 is a flowchart illustrating a stock-keeping method applied to an indoor warehouse according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 7 is a schematic block diagram of a computer system suitable for use with a mobile device or server implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Referring to fig. 1, a schematic structural diagram of a stock taking system applied to an indoor warehouse according to an embodiment of the present invention is shown, and the stock taking system includes an unmanned aerial vehicle 1 and a ground moving platform 2:
unmanned aerial vehicle 1, including sensor 11, first communication unit 12 and charging device 13, wherein sensor 11, first communication unit 12 and charging device 13 are all installed on unmanned aerial vehicle 1:
1) unmanned aerial vehicle 1 can be for having unmanned aerial vehicle now, including parts such as organism, power, control.
2) The sensor 11 comprises a cargo characteristic information acquisition sensor 111, a horizontal positioning code information acquisition sensor 112 and a height sensor 113;
the cargo characteristic information acquisition sensor 111 is used for shooting the cargo to generate an image stream or a video stream; the horizontal positioning code information acquisition sensor 112 calculates the horizontal displacement relative to the unmanned vehicle 21 with the unmanned vehicle horizontal positioning mark 202 on the unmanned vehicle 21 as a base point; the height sensor 113 is used to acquire the height of the drone 1 relative to the takeoff position.
3) The first communication unit 12 is configured to be in communication connection with the sensor 11, acquire cargo characteristic information (including cargo image information and cargo position information) collected by the sensor 11, and then transmit the information to the second communication unit 22 of the ground mobile platform 2.
4) And the charging device 13 is used for charging the unmanned aerial vehicle 1.
The ground moving platform 2 comprises an unmanned vehicle 21, a second communication unit 22, a cargo information calculation unit 23 and a power supply device 24, wherein:
1) the unmanned vehicle 21 can be an existing unmanned vehicle and comprises a vehicle body, power, control, an unmanned aerial vehicle bearing carriage 202 and the like; wherein, unmanned aerial vehicle bears carriage 202's volume and unmanned aerial vehicle 1 phase-match, and unmanned aerial vehicle 1 can drop to this position when checking in order and finishing. In addition, an unmanned aerial vehicle horizontal positioning mark 201 is arranged in the unmanned aerial vehicle carriage 202, and the unmanned aerial vehicle 1 can determine the horizontal displacement relative to the unmanned vehicle 21 by taking the mark as a base point during horizontal positioning.
2) The second communication unit 22 is configured to receive the order taking command and issue a start order taking command to the first communication unit 12.
3) And a cargo information calculating unit 23 for identifying cargo detailed information such as cargo number, name, etc.
4) And the power supply device 24 is matched with the charging device 13 of the unmanned aerial vehicle 1 to charge the unmanned aerial vehicle 1.
It should be noted that at least one of the second communication unit 22, the cargo information calculation unit 23, and the power supply device 24 may be mounted on the unmanned vehicle 21, as shown in fig. 2, or may be independent from the unmanned vehicle 21 as shown in fig. 1, where the unmanned vehicle 21 is only a carrier of the unmanned vehicle 1.
In an alternative example (see fig. 3):
the second communication unit 22 is connected to the first communication unit 12 and the cargo information calculation unit 23, and sends a cargo inventory starting command to the first communication unit 12, receives the cargo characteristic information transmitted by the first communication unit 12, and then forwards the cargo characteristic information to the cargo information calculation unit 23 for identification.
The cargo information calculating unit 23 does not have the capability of direct communication connection with the first communication unit 12, and needs to transmit and receive through the second communication unit 22.
In another alternative example (shown with reference to fig. 4):
the second communication unit 22 is connected to the first communication unit 12 only, and is configured to issue a start inventory command to the first communication unit 12, so as to trigger the unmanned aerial vehicle 1 to start takeoff for inventory through the first communication unit 12;
the cargo information calculation unit 23 has a capability of directly communicating with the first communication unit 12 (for example, configuring a communication module), and can directly receive the cargo characteristic information transmitted by the first communication unit 12 for identification.
The system that above-mentioned embodiment provided uses the heterogeneous form of ground moving platform + unmanned aerial vehicle, and ground moving platform is responsible for accomplishing indoor warehouse horizontal motion, goods information identification and upload goods information to warehouse management system, for unmanned aerial vehicle charges, unmanned aerial vehicle system is whole to charge functions such as, and unmanned aerial vehicle is responsible for accomplishing indoor warehouse's height to motion, the collection of goods characteristic information and transmission operation. The calculation unit through with discernment goods information separates from unmanned aerial vehicle, has reduced unmanned aerial vehicle's volume, has improved the efficiency of indoor warehouse stock taking, reduces stock taking error rate and input cost.
Referring to fig. 5, a flow chart of a stock taking method applied to an indoor warehouse according to an embodiment of the invention is shown, including the following steps:
s501: a second communication unit in the ground mobile platform receives the goods taking instruction, determines a route moving to a goods taking area in the goods taking instruction, and issues a goods taking starting instruction to a first communication unit in the unmanned aerial vehicle after the unmanned aerial vehicle moves to the goods taking area according to the route;
s502: the first communication unit in the unmanned aerial vehicle receives the order starting instruction transmitted by the second communication unit and triggers the unmanned aerial vehicle to enter an order starting mode;
s503: in the climbing process of the unmanned aerial vehicle, acquiring cargo image information at each position in the cargo inventory area through a sensor, generating cargo characteristic information, and transmitting the cargo characteristic information to the second communication unit through the first communication unit;
s504: and the second communication unit in the ground mobile platform receives the cargo characteristic information transmitted by the first communication unit, and transmits the cargo characteristic information to a cargo information calculation unit for identification to obtain identified cargo information.
In the above embodiment, for steps S501 to S504, the unmanned system platform for inventory in the indoor warehouse provided by the present disclosure includes two parts, namely a ground moving platform and an aerial unmanned aerial vehicle, which are responsible for completing different tasks.
And the ground mobile platform receives the goods checking instruction through the second communication unit and triggers the unmanned aerial vehicle in the bearing carriage to start to enter a goods checking task mode. The goods taking order usually carries an unmanned vehicle starting order and information of an area to be taken.
The unmanned vehicle obtains position information of the unmanned vehicle by means of indoor positioning technologies such as two-dimensional codes and UWB (Ultra Wideband, carrier-free communication technology), determines a route moving to a goods inventory area, and then moves in a plane space between goods shelves of an indoor warehouse according to the route.
However, automatic path planning in the warehouse increases the inventory cost and is prone to unnecessary errors. In practice, the unmanned vehicle will automatically return to the charging area for charging after no task or the task is finished, so its initial position is usually the charging area position. According to the scheme, routes from the charging area to each stock-taking area are set through artificial investigation in advance, and the subsequent unmanned vehicle can move according to the routes.
Furthermore, an inventory position can be set for each inventory area, and after the unmanned aerial vehicle moves to the inventory position, an inventory starting instruction is issued to the first communication unit through the second communication unit, so that the unmanned aerial vehicle is switched to the working mode.
A first communication unit in the unmanned aerial vehicle acquires an order starting inventory task instruction issued by a ground mobile platform (a second communication unit), starts to take off and slowly climbs. In the process that the unmanned aerial vehicle climbs continuously:
1) acquiring the height relative to a takeoff position by a height sensor carried by the aircraft;
2) acquiring horizontal displacement of the unmanned aerial vehicle relative to a horizontal positioning identifier (such as a two-dimensional code/an infrared target/a UWB base station) of the unmanned aerial vehicle by means of a horizontal positioning code information acquisition sensor, realizing relative positioning relative to a ground mobile platform, and obtaining cargo position information by combining the height obtained in the step 1);
3) cargo image information is collected by means of a cargo characteristic information collection sensor (e.g., camera, RFID).
The unmanned aerial vehicle can constantly transmit the cargo characteristic information acquired by the sensor to the second communication unit of the ground mobile platform through the first communication unit in the climbing process. Since the position of the identifier attached to the goods is not necessarily a standard position, data acquisition is required throughout the climbing process.
The goods in stock region has certain high restriction, and the sensor that unmanned aerial vehicle carried on has certain field of vision restriction, is climbing the regional height of goods in stock and accomplish goods characteristic information and gathers the back, accomplishes this task of checking promptly, later descends to descend to ground moving platform's unmanned aerial vehicle and bears the carriage. And carrying out inventory at the next inventory position by the ground mobile platform carrying the aerial flight platform.
The ground mobile platform receives the cargo characteristic information transmitted by the first communication unit through the second communication unit, and then forwards the cargo characteristic information to the cargo information calculation unit for cargo characteristic information identification, such as scanning a bar code/a two-dimensional code in cargo image information, and acquiring cargo detailed information.
The subsequent cargo information calculation unit can directly send the cargo position information and the identified cargo information to the cargo management system together for storage and recording, or forward the cargo position information and the identified cargo information to the cargo management system through the second communication unit.
In the method provided by the embodiment, in order to reduce the unmanned aerial vehicle volume and weight, only the sensor is carried on the unmanned aerial vehicle for data acquisition, and a cargo information calculation unit for identifying cargo information is not installed, so that the acquired cargo characteristic information needs to be transmitted to a ground mobile platform for identification; the goods information calculation unit is arranged on the ground moving platform, and the ground moving platform is responsible for completing goods information identification and uploading to a warehouse management system for operation besides being responsible for completing horizontal movement of the warehouse in the unmanned vehicle room, so that the lifting volume of the unmanned vehicle is reduced.
Aiming at the defects of low inventory efficiency, high error rate, high cost and the like of the existing inventory mode of the indoor warehouse, the inventory scheme for the indoor warehouse is provided:
1) the cargo information calculation unit is separated from the original unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to have the characteristics of small size, simple structure, small load capacity, high flying efficiency, safety and the like to the greatest extent;
2) the ground mobile platform is used for finishing horizontal motion of an indoor warehouse, cargo information identification and uploading, unmanned aerial vehicle charging and other functions, and the unmanned aerial vehicle is used for finishing high-direction motion of the indoor warehouse, cargo characteristic information acquisition and transmission operation;
3) the unmanned aerial vehicle carries out relative horizontal displacement positioning by utilizing a visual identification on a bearing carriage of the unmanned aerial vehicle, and measures relative height by adopting a height sensor;
the above mode carries out rational arrangement to equipment such as information collection/transmission/discernment, has reduced unmanned aerial vehicle's volume, relies on unmanned vehicles to accomplish functions such as unmanned aerial vehicle automatic charging, controllable check, and the decoupling of indoor warehouse level, high motion can improve the efficiency that indoor warehouse checked, reduces error rate and input cost.
FIG. 6 illustrates an exemplary system architecture 600 to which embodiments of the invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605 (by way of example only). The network 604 serves to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. Various communication client applications can be installed on the terminal devices 601, 602, 603.
The terminal devices 601, 602, 603 may be various electronic devices having display screens and supporting web browsing, and the server 605 may be a server providing various services.
It should be noted that the method provided by the embodiment of the present invention is generally executed by the server 605, and accordingly, the apparatus is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises an unmanned aerial vehicle and a ground mobile platform. Where the names of the modules do not in some way constitute a limitation on the modules themselves, for example, a ground moving platform may also be described as a "ground load-bearing platform".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
the unmanned aerial vehicle comprises a sensor and a first communication unit in communication connection with the sensor; the first communication unit is used for receiving the cargo characteristic information acquired by the sensor and transmitting the cargo characteristic information to the ground mobile platform;
the ground mobile platform comprises an unmanned vehicle, a second communication unit and a cargo information calculation unit; the second communication unit is in communication connection with the first communication unit and used for issuing a goods inventory starting instruction to the first communication unit so as to trigger the unmanned aerial vehicle to start the goods inventory through the first communication unit and receive the goods characteristic information transmitted by the first communication unit.
According to the technical scheme of the embodiment of the invention, a ground mobile platform and an unmanned aerial vehicle are used in a heterogeneous form, the ground mobile platform is responsible for completing horizontal motion of an indoor warehouse, cargo information identification, cargo information uploading to a warehouse management system, unmanned aerial vehicle charging, unmanned aerial vehicle overall charging and other functions, and the unmanned aerial vehicle is responsible for completing high-direction motion of the indoor warehouse, cargo characteristic information acquisition and transmission operation. The calculation unit through with discernment goods information separates from unmanned aerial vehicle, has reduced unmanned aerial vehicle's volume, has improved the efficiency of indoor warehouse stock taking, reduces stock taking error rate and input cost.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. A stock taking system applied to an indoor warehouse, comprising an unmanned aerial vehicle (1) and a ground moving platform (2), and is characterized by comprising:
the unmanned aerial vehicle (1) comprises a sensor (11) and a first communication unit (12) which is in communication connection with the sensor (11); the first communication unit (12) is used for receiving the cargo characteristic information collected by the sensor (11) and transmitting the cargo characteristic information to the ground mobile platform (2);
the ground mobile platform (2) comprises an unmanned vehicle (21), a second communication unit (22) and a cargo information calculation unit (23); the second communication unit (22) is in communication connection with the first communication unit (12) and is used for issuing a goods inventory starting instruction to the first communication unit (12) so as to trigger the unmanned aerial vehicle (1) to start goods inventory through the first communication unit (12) and receive the goods characteristic information transmitted by the first communication unit (12).
2. The system according to claim 1, wherein the cargo information calculation unit (23) is communicatively connected to the second communication unit (22), and the second communication unit (22) is further configured to transmit the cargo characteristic information to the cargo information calculation unit (23) for identification.
3. The system according to claim 1, wherein the cargo information calculation unit (23) is communicatively connected to the first communication unit (12) for identifying the cargo characteristic information received from the first communication unit (12).
4. The system according to any one of claims 1-3, wherein the cargo information calculation unit (23) and the second communication unit (22) are both mounted on the unmanned vehicle (21).
5. The system according to claim 1, wherein the sensors (11) comprise a cargo characteristic information acquisition sensor (111), a horizontal positioning code information acquisition sensor (112) and a height sensor (113);
the cargo characteristic information comprises cargo position information and cargo image information; the cargo image information comprises cargo identification, and the cargo information calculation unit (23) obtains cargo information by identifying the cargo identification.
6. The system according to claim 5, characterized in that the ground mobile platform (2) further comprises a drone horizontal positioning identification (201);
horizontal positioning code information acquisition sensor (112) use unmanned aerial vehicle horizontal positioning sign (201) is the basic point, confirms unmanned aerial vehicle (1) for the horizontal displacement of unmanned aerial vehicle (21).
7. The system of claim 6, comprising:
the horizontal positioning code information acquisition sensor (112) determines the horizontal information of the checked goods according to the displacement of the unmanned vehicle (21) and the horizontal displacement of the unmanned vehicle (1) relative to the unmanned vehicle (21);
the height sensor (113) collects height information of the unmanned aerial vehicle (1) relative to a takeoff position;
determining position information of the inventoried cargo based on the level information and the height information.
8. The system of claim 6, wherein the drone vehicle (21) further comprises a drone carrier (202) for carrying the drone (1), the drone horizontal location marker (201) being disposed within the drone carrier (202).
9. The system according to claim 1, characterized in that the drone (1) comprises a charging device (13), the drone vehicle (21) comprising a power supply device (24) matching the charging device (13).
10. A stock-taking method applied to an indoor warehouse is characterized by comprising the following steps:
a second communication unit in the ground mobile platform receives the goods taking instruction, determines a route moving to a goods taking area in the goods taking instruction, and issues a goods taking starting instruction to a first communication unit in the unmanned aerial vehicle after the unmanned aerial vehicle moves to the goods taking area according to the route;
the first communication unit in the unmanned aerial vehicle receives the order starting instruction transmitted by the second communication unit and triggers the unmanned aerial vehicle to enter an order starting mode; in the climbing process of the unmanned aerial vehicle, acquiring cargo image information at each position in the cargo inventory area through a sensor, generating cargo characteristic information, and transmitting the cargo characteristic information to the second communication unit through the first communication unit;
and the second communication unit in the ground mobile platform receives the cargo characteristic information transmitted by the first communication unit, and transmits the cargo characteristic information to a cargo information calculation unit for identification to obtain identified cargo information.
11. The method of claim 10, wherein determining a route to move to a stocking area in the stocking instructions comprises:
determining an inventory position corresponding to the inventory area, acquiring position information of the unmanned vehicle in an indoor warehouse at present, and obtaining a route of the unmanned vehicle moving to the inventory position.
12. The method of claim 10, wherein the sensors include a cargo characteristic information acquisition sensor, a horizontal positioning code information acquisition sensor, and a height sensor;
the collecting of the cargo image information at each position in the stock taking area through the sensor comprises the following steps:
for a position in the goods inventory area, acquiring height information of the unmanned aerial vehicle relative to a takeoff position through the height sensor;
acquiring the horizontal displacement of the unmanned aerial vehicle relative to the unmanned aerial vehicle through the horizontal positioning code information acquisition sensor, and generating cargo position information by combining the height information;
and acquiring the cargo image information at the position through the cargo characteristic information acquisition sensor.
13. The method of claim 12, further comprising:
and acquiring the height of the goods inventory area, and transmitting goods inventory finishing information to the second communication unit after the unmanned aerial vehicle climbs to the height and finishes the collection of the characteristic information of the goods.
14. The method of claim 10, wherein transmitting the cargo characteristic information to the cargo information calculation unit for identification to obtain the identified cargo information comprises:
the cargo information calculation unit obtains cargo information by identifying a cargo identifier in cargo image information, and stores cargo position information corresponding to the cargo image information and the identified cargo information into the same record.
15. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 10-14.
16. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 10-14.
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