CN113859847B - Storage checking method and storage system - Google Patents
Storage checking method and storage system Download PDFInfo
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- CN113859847B CN113859847B CN202111141029.8A CN202111141029A CN113859847B CN 113859847 B CN113859847 B CN 113859847B CN 202111141029 A CN202111141029 A CN 202111141029A CN 113859847 B CN113859847 B CN 113859847B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The invention provides a warehousing checking method and a warehousing system, and the warehousing checking method provided by the embodiment comprises the following steps: issuing an inventory task to the robot; the checking task comprises a target material box storage position; receiving an identification result reported by the robot; the identification result comprises target bin information. Through the storage checking method provided by the embodiment of the disclosure, the whole box of the target material box can be checked, the target material box with problems can be found out quickly, and the storage checking efficiency is improved.
Description
The present disclosure is a divisional application of the invention patent application with the name of "warehouse inventory method and warehouse system" filed by the Chinese patent office with the application number of 202010523790.7 and the application date of 10/06/2020.
Technical Field
The invention relates to the technical field of intelligent warehousing, in particular to a warehousing checking method and a warehousing system.
Background
With the increasing demand of electronic commerce and online shopping, the development of warehouse logistics is also rising.
In the prior art, a warehousing management system generally issues an inventory task to a robot, the inventory task is used for instructing the robot to take out a target container to a target storage position, then the target container is transported to a manual operation platform to be subjected to inventory operation, and after the operation is completed, the target container is transported back to the target storage position to be stored.
However, in the inventory method adopted in the prior art, the container needs to be frequently moved to a manual operation table by a robot, the process is complicated, and the inventory efficiency is low.
Disclosure of Invention
The invention provides a warehousing and checking method and a warehousing and checking system, which are used for checking the whole target material box, quickly finding out the defective target material box and improving the warehousing and checking efficiency.
In a first aspect, the present disclosure provides a warehousing inventory method, including:
issuing an inventory task to the robot; the checking task comprises a target material box storage position;
receiving an identification result reported by the robot; the identification result comprises target bin information.
In one possible design, the issuing an inventory task to the robot includes:
and issuing an inventory task to the robot according to the position information of the robot.
In a possible design, the issuing an inventory task to the robot according to the position information includes:
planning a running path of the robot to the target bin storage position according to the position information of the robot and the target bin storage position;
determining target road section information used by the robot according to the driving path;
generating an inventory task according to the target road section information and the target material box storage position;
and sending the checking task to the robot.
In one possible design, the determining, according to the travel path, target link information used by the robot includes:
determining candidate road section information of the robot passing according to the driving path;
selecting target road section information meeting the reservation requirement from the candidate road section information; wherein the reservation request comprises: and no robot runs on the roadway indicated by the candidate road section information within a preset time period.
In one possible design, the target bin information includes: checking information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, the method further includes:
and if the target bin storage position recorded by the verification information indication is inconsistent with the actual storage position of the target bin, determining that the target bin information is abnormal.
In one possible design, before issuing the inventory task to the robot, the method further includes:
and acquiring the position information of the robot which does not execute the task currently.
In one possible design, the target bin information includes: deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the method further includes:
acquiring deformation information of the target material box; the deformation information comprises any one or more of the width, the length and the height of the target bin;
and if any one of the width, the length and the height of the target bin is not in a preset threshold range, determining that the target bin information is abnormal.
In one possible design, further comprising:
when the number of times of abnormality of the target bin information is larger than N, counting the abnormal target bin information to generate a corresponding counting list; wherein N is a natural number greater than 1; and sending the statistical list to the terminal equipment of the warehouse manager.
In one possible design, further comprising:
and issuing a carrying task to the robot, wherein the carrying task is used for indicating the robot to carry the target material box with abnormal target material box information to a specified position.
In a second aspect, the present disclosure provides a warehousing inventory method, including:
receiving an inventory task issued by a server; the checking task comprises a target material box storage position;
executing the inventory task;
reporting the identification result corresponding to the checking task to the server; the identification result comprises target bin information.
In a possible design, before receiving the inventory task issued by the server, the method further includes:
and sending the position information to the server so that the server generates the inventory task according to the position information.
In one possible design, the performing the inventory task includes:
extracting target road section information and the storage position of the target material box from the checking task;
driving the roadway to the target material box storage position according to the target road section information;
and identifying the target material box stored in the storage position of the target material box to obtain an identification result.
In one possible design, identifying the target bin stored at the target bin storage location to obtain an identification result includes:
scanning the identification code of the target material box stored in the storage position of the target material box to obtain the verification information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, identifying the target bin stored at the target bin storage location to obtain an identification result includes:
scanning the appearance of the bin stored at the storage position of the target bin to obtain the deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the deformation information of the target bin includes: any one or more of the width, length, height of the target bin.
In one possible design, further comprising:
receiving a carrying task issued by the server;
and carrying the target bin with abnormal target bin information to a designated position according to the carrying task.
In a third aspect, the present disclosure further provides a warehousing inventory device, including:
the processing module is used for issuing an inventory task to the robot; the checking task comprises a target material box storage position;
the receiving module is used for receiving the identification result reported by the robot; the identification result includes target bin information.
In one possible design, the processing module is specifically configured to:
and issuing an inventory task to the robot according to the position information of the robot.
In one possible design, the processing module is specifically configured to:
planning a running path of the robot to the target bin storage position according to the position information of the robot and the target bin storage position;
determining target road section information used by the robot according to the driving path;
generating an inventory task according to the target road section information and the target material box storage position;
and sending the checking task to the robot.
In one possible design, the processing module is specifically configured to:
determining candidate road section information of the robot passing according to the driving path;
selecting target road section information meeting the reservation requirement from the candidate road section information; wherein the reservation request comprises: and no robot runs on the roadway indicated by the candidate road section information within a preset time period.
In one possible design, the target bin information includes: checking information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, the processing module is further configured to:
and if the target bin storage position recorded by the verification information indication is inconsistent with the actual storage position of the target bin, determining that the target bin information is abnormal.
In one possible design, further comprising: an acquisition module to:
and acquiring the position information of the robot which does not execute the task currently.
In one possible design, the target bin information includes: deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the processing module is further configured to:
acquiring deformation information of the target material box; the deformation information comprises any one or more of the width, the length and the height of the target bin;
and if any one of the width, the length and the height of the target bin is not in a preset threshold range, determining that the target bin information is abnormal.
In one possible design, the processing module is further configured to:
when the number of times of abnormality of the target bin information is larger than N, counting the abnormal target bin information to generate a corresponding counting list; wherein N is a natural number greater than 1;
and sending the statistical list to the terminal equipment of the warehouse manager.
In one possible design, the processing module is further configured to:
and issuing a carrying task to the robot, wherein the carrying task is used for indicating the robot to carry the target material box with abnormal target material box information to a specified position.
In a fourth aspect, the present disclosure also provides a warehousing stock taking device, including:
the receiving module is used for receiving the checking task issued by the server; the checking task comprises a target material box storage position;
the execution module is used for executing the inventory task;
the sending module is further used for reporting the identification result corresponding to the inventory task to the server; the identification result comprises target bin information.
In one possible design of the system, the system may be,
and the sending module is used for sending the position information to the server so that the server generates the inventory task according to the position information.
In one possible design, the execution module is specifically configured to:
extracting target road section information and the storage position of the target material box from the checking task;
driving the roadway to the target material box storage position according to the target road section information;
and identifying the target material box stored in the storage position of the target material box to obtain an identification result.
In one possible design, the execution module is specifically configured to:
scanning the identification code of the target material box stored in the storage position of the target material box to obtain the verification information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, the execution module is further configured to:
scanning the appearance of the bin stored at the storage position of the target bin to obtain the deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the deformation information of the target bin includes: any one or combination of width, length, height of the target bin.
In one possible design, the execution module is further configured to:
receiving a carrying task issued by the server;
and carrying the target material box with abnormal target material box information to a specified position according to the carrying task.
In a fifth aspect, the present disclosure also provides a server, including:
a processor; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform any one of the warehousing inventory methods of the first aspect via execution of the executable instructions.
In a sixth aspect, the present disclosure also provides a robot comprising:
the robot body, and set up a plurality of on the robot body is used for scanning the image device of goods, the robot body still includes: a memory and a processor, the memory for storing executable instructions of the processor;
wherein the processor is configured to perform the warehouse inventory method of any of the second aspects via execution of the executable instructions.
In a sixth aspect, the present disclosure also provides a warehousing system comprising: the system comprises a robot, a server and a goods shelf, wherein the robot is in communication connection with the server;
the server is used for executing the warehousing inventory method in any one of the first aspect;
and the robot receives the instruction issued by the server and executes the inventory task of the target goods on the goods shelf.
In a seventh aspect, this disclosed embodiment also provides a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements any one of the warehousing inventory methods in the first aspect.
In an eighth aspect, the disclosed embodiments also provide a storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the warehousing stock-keeping method in any one of the second aspects.
The present disclosure provides a warehousing and warehousing inventory method and a warehousing and warehousing system, by issuing an inventory task to a robot; the checking task comprises a target material box storage position; receiving an identification result reported by the robot; the identification result includes target bin information. Through the storage checking method provided by the embodiment of the disclosure, the containers do not need to be carried outwards, the whole container is directly checked on the container storage position, and the storage checking efficiency and the checking accuracy are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a diagram illustrating an application scenario of a warehouse inventory method according to an example embodiment of the present disclosure;
FIG. 2 is a first flowchart illustrating a warehouse inventory method according to an example embodiment of the present disclosure;
FIG. 3 is a second flowchart illustrating a warehouse inventory method according to an exemplary embodiment of the present disclosure;
FIG. 4 is a third flowchart illustrating a warehouse inventory method according to an exemplary embodiment of the present disclosure;
FIG. 5 is a fourth flowchart illustrating a warehouse inventory method according to an exemplary embodiment of the present disclosure;
fig. 6 is a first schematic structural view of a warehousing and inventory device according to an example embodiment of the present disclosure;
fig. 7 is a second schematic structural view of the warehouse inventory device according to an exemplary embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a server shown in the present disclosure according to an example embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a diagram illustrating an application scenario of the warehouse inventory method according to an example embodiment of the present disclosure, as shown in fig. 1, including a server 10 and a robot 20, where the robot 20 is in communication connection with the server 10; robot 20 may receive a task instruction issued by server 10, and robot 20 may also send a result after the task is executed to server 10. In a common inventory scenario, multiple robots travel within the aisles of a warehouse and each perform an inventory task of the inventory of items on a shelf. The checking task can be checking the quantity and the storage position of goods on a shelf. In another conventional inventory scenario, goods received by the logistics warehouse are regularly stored in bins, since the goods are generally transported in the bins regularly. In this case, the entire bin inventory for the target bin is involved in the storage inventory.
For example, the robots 20 in the warehouse report position information to the server 10, and the server 10 issues the inventory tasks to the robots 20 according to the position information of each robot 20. After receiving the checking task, the robot 20 acquires the target bin storage position from the checking task, and then drives to the target bin storage position to identify the target bin, so as to obtain an identification result containing bin information. The robot 20 reports the recognition result to the server 10 so that the server 10 can determine the bin position where the information is abnormal based on the bin information. Thereby need not outwards to carry the packing box, directly realize whole case check on packing box storage storehouse position, promote storage check efficiency to and check-up accuracy.
In the present embodiment, the number of robots 20 that establish communication connection with the server 10 is not limited, and the specific form of the robots 20 is not limited. Alternatively, the robot 20 may receive a plurality of inventory tasks issued by the server 10, or may receive a new inventory task after executing one inventory task.
Fig. 2 is a first flowchart illustrating a storage inventory method according to an exemplary embodiment of the present disclosure, and as shown in fig. 2, the storage inventory method provided in this embodiment includes:
The method in the embodiment can be applied to equipment with data processing capacity, such as a server, a warehousing management platform, a data center and the like. Taking a server as an example, the server may issue an inventory task to a robot in the warehouse, where the inventory task includes a target bin storage location. And when the robot receives the checking task issued by the server, the robot drives to a target material box storage position, and then an image sensor arranged on the robot is utilized to collect the target material box information on the target material box storage position. And finally, sending the identification result containing the target bin information to a server.
102, receiving an identification result reported by a robot; the identification result includes target bin information.
In this embodiment, the server receives the identification result reported by the robot, and then performs inventory on the entire target bin based on the target bin information in the identification result, so as to quickly find out the target bin with problems, and improve the warehousing inventory efficiency.
Compared with the existing checking mode, the full-box checking method has the advantages that the target material box is not required to be conveyed to the manual operation table by the scheduling robot, the full-box checking is directly realized on the corresponding storage position of the target material box, the storage checking efficiency is effectively improved, and the checking accuracy is effectively improved.
Fig. 3 is a second flowchart illustrating a warehouse inventory method according to an exemplary embodiment of the present disclosure, and as shown in fig. 3, the warehouse inventory method provided in this embodiment includes:
In this embodiment, the server may be connected to the plurality of robots through wireless signal communication. The server receives the position information reported by the robot, and the position information can be the position of the robot in the warehouse. In the present embodiment, the communication method between the robot and the server is not limited, and the method for acquiring the position information by the robot is not limited.
For example, when goods are put in storage in whole boxes, target bin information is generally registered in the server, and the target bin information may include: identification code affixed to the bin, bin size information (e.g., length, width, height of the bin), etc. After the target material box is put in storage, various changes of putting in and out of the storage often occur due to business requirements, and in order to ensure the accuracy of storage data of the target material box, the checking work of the target material box needs to be carried out irregularly. Alternatively, to avoid occupying normal business hours, many inventory tasks are typically scheduled to be deployed during idle times when there is no in-out business.
Illustratively, during the idle time when no warehouse entry and exit business exists, the server acquires the position information reported by each robot in the warehouse. In this embodiment, the positioning mode of the robot is not limited, and for example, the positioning may be performed through a ground identifier preset on the ground of the warehouse, a GPS installed in the robot itself, a laser radar installed in the robot, or computer vision. It should be noted that any conventional positioning method can be applied to this embodiment, and the present embodiment does not limit the specific positioning method.
Illustratively, the server plans a driving path of the robot to reach each target bin storage position according to the position information of the robot; then, determining target road section information used by the robot according to the driving path; generating an inventory task according to the target road section information and the target material box storage position; and finally, sending the checking task to the robot.
In this embodiment, in order to avoid path conflicts between robots, when a driving path of the robot reaching each target bin storage position is planned, candidate road section information through which the robot passes is determined first. The candidate link information includes: and the road section identifiers of all passable road sections reaching the target bin storage position from the current position of the robot. Selecting road section information meeting the reservation requirement from the candidate road section information as target road section information; wherein, the reservation requirement includes: and no robot runs on the roadway indicated by the candidate road section information within the preset time period. Therefore, only one robot in one roadway can be ensured to run, and the path conflict among the robots is effectively avoided.
For example, when the server issues the checking task to the robots at different positions, the distance and the time duration that the robot needs to travel to reach the target bin storage position are taken into consideration. Therefore, the robot with short driving distance and short consumed time is preferentially selected to execute the counting task. It should be noted that, in this embodiment, the algorithm used by the server for path planning is not limited, and the server may perform path optimization from the angles of the robot driving distance, the driving duration, and the like.
Illustratively, when the robot receives the checking task issued by the server and drives to the target bin storage position according to the roadway indicated by the target road section information, the imaging device installed on the robot can visually identify the bin of the target bin.
In an alternative embodiment, it is first recognized whether a bin is stored in the target bin storage location, and if no bin is present, the recognition result is recorded as a recognition failure. If a bin exists on the target bin storage position, acquiring any one or more of the width, the length and the height of the target bin; and if any one of the width, the length and the height of the target bin is not within the preset threshold range, determining that the target bin is abnormal.
In another optional embodiment, if a bin exists at the target bin storage position, scanning the identification code of the target bin stored at the target bin storage position to obtain verification information of the target bin; the checking information is used for indicating whether the recorded target bin storage position is consistent with the actual storage position of the target bin.
Specifically, assume that the first threshold corresponding to the length of the target bin is 600mm; the second threshold value corresponding to the width is 410mm; the third threshold for height is 580mm. When the robot scans the outline dimension of the target material box, the length of the material discharging box is 602mm, and 602mm is not in the range of 600mm of the preset first threshold value, and the target material box is judged to be abnormal. When the robot scans the external dimensions of the goods, the width of the goods is 416mm and 416mm is not within the range of the preset second threshold value 410mm, and the target bin is judged to be abnormal.
For example, when the robot scans identification information (e.g., two-dimensional codes, bar codes, etc. containing identification of target bin information) attached to the bin and the identification information is missing or worn, identification failure information is reported to the server.
In another optional implementation manner, when the number of times of the target bin information having the abnormality is greater than N, the server performs statistics on the target bin information having the abnormality to generate a corresponding statistical list; wherein N is a natural number greater than 1. The statistical list is then sent to the terminal device of the warehouse administrator. For example, after receiving an inventory task issued by a server, the robot may include a plurality of subtasks. For example, the server assigns the inventory tasks of the target bins in an entire column, or row of shelves, to the same robot as a total task. The inventory action for each target bin corresponds to a subtask. When the robot sequentially checks the target bin, the recognition results accumulated for more than N times may be abnormal. At this time, a statistical list may be generated according to the single inventory task to which the robot is assigned.
For example, when a spot check is performed on a target bin within a warehouse, the server may generate a series of random inventory locations. Then, issuing the inventory task corresponding to the random inventory position to one or more robots; each inventory location corresponds to a separate inventory task. At this time, in order to facilitate statistics, the server may summarize the positions of the target bins in which the sampling inspection is abnormal, and generate a statistics list according to the multiple checking tasks.
It should be noted that the present embodiment does not limit the type and the number of data included in the statistical list. For example, the positions of the abnormal target bins may be counted, and the identification information of the abnormal target bins may also be counted.
Optionally, the server may also issue a carrying task to the robot, where the carrying task is used to instruct the robot to carry the target bin with the abnormal target bin information to a specified position. So that the warehouse manager can timely and accurately master the abnormal information of the warehoused goods. Therefore, the abnormal target material box can be processed, and the logistics storage information is more accurate. It should be noted that the designated position in the present embodiment may be set according to an actual application scenario. For example, the target bin with abnormality may be transported to a manual operation table for manual review, or the target bin with abnormality may be transported to a dedicated storage area.
Fig. 4 is a third flowchart illustrating a warehouse inventory method according to an example embodiment of the present disclosure.
As shown in fig. 4, the warehouse inventory method provided in this embodiment includes:
The method in the embodiment can be applied to equipment with driving and computer vision capabilities, such as robots, unmanned vehicles and the like. Taking a robot as an example, the robot receives an inventory task issued by a server, and extracts a target bin storage position from the inventory task.
In an alternative embodiment, when the robot has a path planning capability, the robot may generate a driving path to the target bin storage position according to the target bin storage position and the robot position.
In another alternative embodiment, when the robot does not have the path planning capability, the server side may also generate a driving path to the target bin storage position according to the target bin storage position and the robot position, and then send the driving path to the robot.
In this embodiment, the robot travels to the storage location of the target bin according to the planned travel path, and then identifies the target bin through the installed image sensor to obtain a corresponding identification result.
In this embodiment, the robot sends the acquired identification result including the target bin information to the server, so that the server can perform inventory on the whole target bin according to the identification result, find out the defective target bin quickly, and improve the warehousing inventory efficiency.
Compared with the existing checking mode, the full-box checking method has the advantages that the target material box is not required to be conveyed to the manual operation table by the scheduling robot, the full-box checking is directly realized on the corresponding storage position of the target material box, the storage checking efficiency is effectively improved, and the checking accuracy is effectively improved.
Fig. 5 is a fourth flowchart illustrating a warehouse inventory method according to an example embodiment of the present disclosure.
As shown in fig. 5, the warehouse inventory method provided in this embodiment includes:
Illustratively, each robot in the warehouse is in communication connection with the server through a wireless network, and the robot acquires position information through a locator of the robot and sends the position information to the server. In the present embodiment, the communication method between the robot and the server is not limited, and the method for acquiring the position information by the robot is not limited.
Illustratively, after acquiring the position information of each robot, the server issues an inventory task to the robot. The robot can extract target road section information and a target material box storage position from the checking task.
And step 403, executing an inventory task.
Illustratively, the robot drives to a target material box storage position according to a driving path indicated by the target road section information; and identifying the target material box stored in the storage position of the target material box to obtain an identification result.
In an alternative embodiment, the robot may scan the identification code of the target bin stored at the target bin storage location to obtain verification information of the target bin. The verification information of the target material box is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In another alternative embodiment, the shape of the bin stored at the target bin storage location is scanned to obtain deformation information. The deformation information includes: width, length, height of the target bin.
For example, the robot reports deformation information and verification information of a bin corresponding to the target bin to the server, so that the server can summarize the abnormal storage target bin information to generate a statistical list, and send the statistical list to the terminal device of the warehouse manager.
For example, the robot may also receive a carrying task issued by the server; and conveying the target material box with abnormal target material box information to a specified position according to the conveying task. So that the warehouse manager can timely and accurately master the abnormal information of the warehoused goods. The cargo information and the storage position information can be quickly checked, the data accuracy is improved, meanwhile, the target material box with serious deformation can be adjusted in advance, and the subsequent processing risk can be avoided.
Fig. 6 is a first schematic structural diagram of a warehouse inventory device according to an example embodiment of the present disclosure.
As shown in fig. 6, the warehouse inventory device 50 provided in this embodiment includes:
the processing module 51 is used for issuing an inventory task to the robot; the checking task comprises a target material box storage position;
a receiving module 52, configured to receive an identification result reported by the robot; the identification result includes target bin information.
In one possible design, the processing module 51 is specifically configured to:
and issuing an inventory task to the robot according to the position information of the robot.
In one possible design, the processing module 51 is specifically configured to:
planning a running path of the robot to the target bin storage position according to the position information of the robot and the target bin storage position;
determining target road section information used by the robot according to the driving path;
generating an inventory task according to the target road section information and the target material box storage position;
and sending the checking task to the robot.
In one possible design, the processing module 51 is specifically configured to:
determining candidate road section information of the passing of the robot according to the driving path;
selecting target road section information meeting the reservation requirement from the candidate road section information; wherein, the reservation requirement includes: and no robot runs on the roadway indicated by the candidate road section information within the preset time period.
In one possible design, the target bin information includes: checking information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, the processing module 51 is further configured to:
and if the target bin storage position recorded by the verification information indication is inconsistent with the actual storage position of the target bin, determining that the target bin information is abnormal.
In one possible design, the obtaining module 53 is configured to:
and acquiring the position information of the robot which does not execute the task currently.
In one possible design, the target bin information includes: deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the processing module 51 is further configured to:
acquiring deformation information of a target material box; the deformation information comprises any one or more of the width, the length and the height of the target bin;
and if any one of the width, the length and the height of the target bin is not in the preset threshold range, determining that the target bin information is abnormal.
In one possible design, the processing module 51 is further configured to:
when the number of times of abnormality of the target bin information is larger than N, counting the abnormal target bin information to generate a corresponding counting list; wherein N is a natural number greater than 1;
and sending the statistical list to the terminal equipment of the warehouse manager.
In one possible design, the processing module 51 is further configured to:
and issuing a carrying task to the robot, wherein the carrying task is used for indicating the robot to carry the target material box with abnormal target material box information to a specified position. The apparatus in this embodiment can execute the methods shown in fig. 2 and fig. 3, and please refer to the contents described in the methods shown in fig. 2 and fig. 3 for specific implementation processes and beneficial effects thereof, which are not described herein again.
Fig. 7 is a second schematic structural diagram illustrating a warehouse inventory device according to an exemplary embodiment of the present disclosure.
As shown in fig. 7, the warehouse inventory device 60 provided in the present embodiment includes:
the receiving module 61 is used for receiving the checking task issued by the server; the checking task comprises a target material box storage position;
an execution module 62 for executing an inventory task;
the sending module 63 is further configured to report an identification result corresponding to the inventory task to the server; the identification result includes target bin information.
In one possible design, the sending module 63 is configured to send the location information to the server, so that the server generates the inventory task according to the location information.
In one possible design, the execution module 62 is specifically configured to:
extracting target road section information and a target material box storage position from the checking task;
driving the roadway to a target material box storage position according to the target road section information;
and identifying the target material box stored in the storage position of the target material box to obtain an identification result.
In one possible design, the execution module 62 is specifically configured to:
scanning an identification code of a target material box stored in the storage position of the target material box to obtain verification information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
In one possible design, the execution module 62 is further configured to:
scanning the shape of a bin stored at the storage position of a target bin to obtain the deformation information of the target bin; and the deformation information is used for representing the deformation degree of the target bin.
In one possible design, the deformation information of the target bin includes: any one or more of the width, length, height of the target bin.
In one possible design, the execution module 62 is further configured to:
receiving a carrying task issued by a server;
and conveying the target bin with abnormal target bin information to a specified position according to the conveying task.
The apparatus in this embodiment can execute the methods shown in fig. 4 and fig. 5, and please refer to the contents described in the methods shown in fig. 4 and fig. 5 for details of the implementation process and the beneficial effects thereof, which are not described herein again.
Fig. 8 is a schematic structural diagram of a server shown in the present disclosure according to an example embodiment. As shown in fig. 8, the present embodiment provides a server 70, including:
a processor 71; and the number of the first and second groups,
a memory 72 for storing executable instructions of the processor, which may also be a flash (flash memory);
wherein the processor 71 is configured to perform the respective steps of the above-described method via execution of executable instructions. Reference may be made in particular to the description relating to the preceding method embodiment.
Alternatively, the memory 72 may be separate or integrated with the processor 71.
When the memory 72 is a device independent from the processor 71, the server 70 may further include:
a bus 73 for connecting the processor 71 and the memory 72.
The present embodiment also provides a robot, including: the robot body to and the imaging device who is used for scanning the goods of a plurality of setting on the robot body, the robot body still includes: the memory is used for storing executable instructions of the processor; wherein the processor is configured to execute the warehousing inventory method shown in fig. 4 and 5 via executing the executable instructions.
The present embodiment also provides a warehousing system, including: the system comprises a robot, a server and a goods shelf, wherein the robot is in communication connection with the server; the server is used for executing the storage checking method shown in fig. 2 and 3; the robot is used for the warehouse inventory method shown in fig. 4 and 5 to realize the inventory task of goods on the shelf.
In addition, embodiments of the present application further provide a computer-readable storage medium, in which computer-executable instructions are stored, and when at least one processor of the user equipment executes the computer-executable instructions, the user equipment performs the above-mentioned various possible methods.
Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. Additionally, the ASIC may reside in user equipment. Of course, the processor and the storage medium may reside as discrete components in a communication device.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (19)
1. A method of warehousing inventory, comprising:
planning a driving path of the robot to reach a target bin storage position, wherein the target bin storage position is a random storage position;
determining target road section information used by the robot according to the driving path;
generating an inventory task according to the target road section information and the target material box storage position, wherein the inventory task comprises a plurality of subtasks, and each subtask corresponds to one target material box;
issuing the checking task to the robot;
receiving an identification result reported by the robot to determine whether the target bin information is abnormal; the identification result comprises deformation information of the target bin; the deformation information is used for representing the deformation degree of the target material box;
if the number of times of abnormality of the target bin information is larger than N, counting the abnormal target bin information to generate a corresponding counting list; wherein N is a natural number greater than 1;
and sending the statistical list to the terminal equipment of the warehouse manager.
2. The method of claim 1, wherein planning a travel path for the robot to reach the target bin storage location comprises:
and planning the driving path according to the position information of the robot and the storage position of the target material box.
3. The method of claim 1, wherein determining target road segment information for use by the robot based on the travel path comprises:
determining candidate road section information of the robot passing according to the driving path;
selecting target road section information meeting the reservation requirement from the candidate road section information; wherein the reservation request comprises: and no robot runs on the roadway indicated by the candidate road section information within a preset time period.
4. The method of claim 1, wherein the target bin information comprises: checking information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
5. The method of claim 4, further comprising:
and if the target bin storage position recorded by the verification information indication is inconsistent with the actual storage position of the target bin, determining that the target bin information is abnormal.
6. The method of claim 1, further comprising, prior to issuing an inventory task to the robot:
and acquiring the position information of the robot which does not execute the task currently.
7. The method of claim 1, wherein the deformation information comprises any one or any more of a width, a length, a height of a target bin; and the target bin information is abnormal, namely any one of the width, the length and the height of the target bin is not in a preset threshold range.
8. The method of any one of claims 1-7, further comprising:
and issuing a carrying task to the robot, wherein the carrying task is used for indicating the robot to carry the target material box with abnormal target material box information to a specified position.
9. A method of warehousing inventory, comprising:
receiving an inventory task issued by a server; the checking task comprises a plurality of subtasks and target road section information reaching a target material box storage position, each subtask corresponds to a target material box, and the target material box storage position is a random storage position;
extracting the target road section information and the target bin storage position from the checking task;
driving the roadway to the target material box storage position according to the target road section information;
identifying the target material box stored in the storage position of the target material box to obtain an identification result;
reporting the identification result corresponding to the checking task to the server; the identification result comprises deformation information of the target bin; the deformation information is used for representing the deformation degree of a target material box, so that when the server determines that the abnormal times of the target material box information corresponding to the plurality of subtasks are greater than N, the abnormal target material box information is counted, and a corresponding counting list is generated; wherein N is a natural number greater than 1; and sending the statistical list to the terminal equipment of the warehouse manager.
10. The method of claim 9, wherein before receiving the inventory task issued by the server, the method further comprises:
and sending the position information to the server so that the server generates the inventory task according to the position information.
11. The method of claim 9, wherein identifying the target bin stored at the target bin storage location to obtain an identification comprises:
scanning the identification code of the target material box stored in the storage position of the target material box to obtain the verification information of the target material box; the verification information is used for indicating whether the recorded storage position of the target material box is consistent with the actual storage position of the target material box.
12. The method according to any one of claims 9-11, further comprising:
receiving a carrying task issued by the server;
and carrying the target material box with abnormal target material box information to a specified position according to the carrying task.
13. A warehousing inventory device, the device comprising:
the system comprises a processing module, a storage module and a control module, wherein the processing module is used for planning a driving path of a robot to a target bin storage position, the target bin storage position is a random storage position, target road section information used by the robot is determined according to the driving path, an inventory task is generated according to the target road section information and the target bin storage position, the inventory task comprises a plurality of subtasks, each subtask corresponds to a target bin, and the inventory task is issued to the robot;
the receiving module is used for receiving the identification result reported by the robot; the identification result comprises deformation information of the target bin; the deformation information is used for representing the deformation degree of the target material box;
the processing module is further used for acquiring deformation information of the target material box to determine whether the information of the target material box is abnormal or not; when the number of times of abnormality of the target bin information is larger than N, counting the abnormal target bin information to generate a corresponding counting list; wherein N is a natural number greater than 1; and sending the statistical list to the terminal equipment of the warehouse manager.
14. A warehousing inventory device, the device comprising:
the receiving module is used for receiving the checking task issued by the server; the checking task comprises a plurality of subtasks and target road section information reaching a target material box storage position, each subtask corresponds to a target material box, and the target material box storage position is a random storage position;
the execution module is used for extracting the target road section information from the checking task, driving the target bin storage position to the target bin storage position according to a roadway indicated by the target road section information, and scanning the appearance of a bin stored in the target bin storage position to obtain deformation information of the target bin;
a sending module, configured to report an identification result corresponding to the inventory task to the server; the identification result comprises deformation information of the target bin; the server is used for counting the abnormal target bin information when the frequency of the abnormal target bin information is greater than N, and generating a corresponding counting list; wherein N is a natural number greater than 1; and sending the statistical list to the terminal equipment of the warehouse manager.
15. A server, comprising:
a processor; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the warehouse inventory method of any of claims 1 to 8 via execution of the executable instructions.
16. A robot, comprising: the robot body, and set up a plurality of on the robot body is used for scanning the image device of goods, its characterized in that, the robot body still includes: a memory and a processor, the memory for storing executable instructions of the processor;
wherein the processor is configured to perform the warehouse inventory method of any of claims 9 to 12 via execution of the executable instructions.
17. A warehousing system, comprising: the system comprises a robot, a server and a goods shelf, wherein the robot is in communication connection with the server;
the server is used for executing the storage checking method of any one of claims 1 to 8;
the robot is used for executing the warehouse inventory method of any one of claims 9 to 12 to achieve the inventory task of the target goods on the shelf.
18. A storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the warehouse inventory method according to any one of claims 1 to 8.
19. A storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the warehouse inventory method according to any of claims 9 to 12.
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| CN112987612B (en) * | 2021-02-24 | 2022-06-07 | 浙江优纳特科学仪器有限公司 | Position scanning method, device and system, electronic device and storage medium |
| CN113213055B (en) * | 2021-05-27 | 2022-12-20 | 深圳市库宝软件有限公司 | Cross-region task processing method, device, equipment, warehousing system and storage medium |
| CN114348516B (en) * | 2022-01-29 | 2023-09-05 | 深圳市海柔创新科技有限公司 | Material box checking method, device, scheduling equipment, warehousing system and storage medium |
| CN114348522A (en) * | 2022-01-29 | 2022-04-15 | 深圳市库宝软件有限公司 | Material box checking method and device, scheduling equipment, robot and warehousing system |
| CN115392840B (en) * | 2022-09-27 | 2023-07-04 | 深圳三友智能自动化设备有限公司 | Intelligent management system for material box |
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| CN111661551B (en) | 2021-10-22 |
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| WO2021249571A1 (en) | 2021-12-16 |
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