CN114037388A

CN114037388A - Checking method, checking device and electronic equipment

Info

Publication number: CN114037388A
Application number: CN202111363319.7A
Authority: CN
Inventors: 苏至钒; 潘晶; 张波; 夏知拓
Original assignee: Shanghai Timi Robot Co ltd
Current assignee: Shanghai Timi Robot Co ltd
Priority date: 2021-11-17
Filing date: 2021-11-17
Publication date: 2022-02-11

Abstract

The application provides an inventory method, an inventory device and electronic equipment, and the inventory method comprises the following steps: controlling a driving mechanism to drive a detection mechanism to move from an initial position to a preset position, and acquiring target information acquired by the detection mechanism in the moving process, wherein the target information is used for indicating whether an object to be checked exists or not; and carrying out data processing on the target information to obtain the stock of the objects to be checked. The inventory checking method can accurately check the inventory of the objects to be checked in the warehousing system and mark the position information of the objects to be checked, so that the inventory checking efficiency of the objects to be checked in the warehousing system is improved.

Description

Checking method, checking device and electronic equipment

Technical Field

The application relates to the technical field of warehousing, in particular to an inventory method, an inventory device and electronic equipment.

Background

Hospitals typically place irregularly shaped items (e.g., sterile bags) in the same warehousing system in order to save cost and space on the warehousing system. The stored sterile packs (or operation packages) are usually different in size and irregular in shape, and the existing checking equipment cannot accurately check the sterile pack inventory and mark the storage positions of the sterile packs, so that the checking efficiency is reduced.

Disclosure of Invention

The embodiment of the application aims to provide an inventory checking method, which can accurately check the inventory of objects to be checked and improve the inventory checking efficiency.

A first aspect of the embodiments of the present application provides a stock counting method, including:

controlling a driving mechanism to drive a detection mechanism to move from an initial position to a preset position, and acquiring target information acquired by the detection mechanism in the moving process, wherein the target information is used for indicating whether an object to be checked exists or not;

and carrying out data processing on the target information to obtain the stock of the objects to be checked.

In one embodiment, limit switches are arranged at the initial position and the preset position; the control driving mechanism drives the detection mechanism to move from the initial position to the preset position, and comprises:

controlling the driving mechanism to drive the detection mechanism to move from an initial position to a preset position according to a preset speed;

when the limit switch detects that the detection mechanism moves from the initial position to the preset position and the limit switch changes from a high level to a low level, the driving mechanism is controlled to stop working.

In an embodiment, in the moving process, target information acquired by the detection mechanism is acquired, where the target information includes distance information, position information, and timestamp information, and the method further includes:

controlling the driving mechanism to drive the detection mechanism to move, and acquiring a distance value to an obstacle, which is acquired by the detection mechanism, as the distance information;

controlling an encoder in the driving mechanism to work, and acquiring position information corresponding to the distance information;

and acquiring timestamp information corresponding to the distance information and the position information.

In an embodiment, the performing data processing on the target information includes:

deleting the numerical value exceeding the preset range in the distance information to obtain the distance information after amplitude limiting;

and filtering the limited distance information to obtain the distance information to be processed.

In an embodiment, after the filtering processing is performed on the clipped distance information to obtain distance information to be processed, the method further includes:

converting the distance information to be processed into corresponding level on-amount information and level off-amount information according to a curve conversion relation between the distance information to be processed and the level flux;

the level switching information is displayed as a rising edge in a graph, the level switching information is displayed as a falling edge in the graph, and an object to be clicked is indicated between the falling edge and the rising edge.

In an embodiment, the target information is used to indicate whether there is an object to be checked, and includes:

when the target information indicates that the object to be checked exists, marking and outputting the position information of the object to be checked.

In an embodiment, after the data processing is performed on the target information to obtain the inventory amount of the object to be checked, the method further includes:

controlling the driving mechanism to drive the detection mechanism to move from the preset position to the initial position;

and controlling the driving mechanism to stop working and restore to the initial state.

A second aspect of the embodiments of the present application provides a counting device, including:

a base;

the driving mechanism is arranged on the base;

the detection mechanism is arranged on the driving mechanism, and the driving mechanism drives the detection mechanism to move so as to acquire the target information acquired by the detection mechanism.

In one embodiment, the driving mechanism includes:

a stepping motor;

the screw rod is connected with a rotating shaft of the stepping motor through a coupler;

the sliding block is arranged on the screw rod;

the detection mechanism is arranged on the sliding block;

the number of the detection mechanisms is two, and the detection mechanisms are respectively arranged on two sides of the sliding block.

A third aspect of the embodiments of the present application provides an electronic device, including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to perform the inventory method of the first aspect of the embodiments of the present application and any embodiment thereof.

According to the technical scheme provided by the embodiment of the application, the driving mechanism is controlled to drive the detection mechanism to move from the initial position to the preset position, in the moving process, the target information collected by the detection mechanism is obtained, the target information can be used for indicating whether the object to be checked exists or not, after corresponding data processing is carried out on the target information, the stock of the object to be checked can be obtained, and meanwhile the position information of the object to be checked can be marked. The inventory checking method can accurately check the inventory of the objects to be checked in the warehousing system, and mark the position information of the objects to be checked, so that the inventory checking efficiency of the objects to be checked in the warehousing system is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an inventory device according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 3 is a schematic flowchart of an inventory method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a level detection measurement variation according to an embodiment of the present application;

fig. 5 is a diagram illustrating a curve conversion relationship between distance information to be processed and level flux according to an embodiment of the present application.

Reference numerals:

1-an inventory device; 11-a base; 12-a drive mechanism; 121-a stepper motor; 122-a screw rod; 123-a slide block; 13-a detection mechanism; 14-waiting to dish the object.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

Like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Please refer to fig. 1, which is a schematic structural diagram of an inventory apparatus 1 according to an embodiment of the present application. An inventory device 1, comprising: the device comprises a base 11, a driving mechanism 12 and a detection mechanism 13, wherein the driving mechanism 12 is fixedly arranged on the base 11, the detection mechanism 13 is arranged on the driving mechanism 12, and the driving mechanism 12 drives the detection mechanism 13 to move so as to acquire target information acquired by the detection mechanism 13.

The drive mechanism 12 includes: step motor 121, lead screw 122, slider 123, be equipped with driver and encoder in step motor 121, the encoder cooperation step motor 121 uses, send the driver of pulse instruction for step motor 121 through the PLC controller, the driver provides corresponding circuit for step motor 121 and makes its operation, can feed back signal and give the PLC controller when the encoder detects step motor 121 and moves required position, the signal of PLC controller installation feedback stops to send pulse signal for step motor 121, thereby control step motor 121's stopping.

The screw rod 122 is connected with the rotating shaft of the stepping motor 121 through a coupler, the slider 123 is arranged on the screw rod 122, the detecting mechanisms 13 are arranged on the slider 123, wherein the number of the detecting mechanisms 13 is two, and the detecting mechanisms 13 are respectively symmetrically arranged on two sides of the slider 123 and used for detecting the objects to be coiled 14 which are positioned on the base 11 and respectively placed on two sides of the detecting mechanism 13, and only the objects to be coiled 14 positioned on one side of the detecting mechanism 13 are shown in fig. 1. The detection mechanism 13 may be a sensor having a distance measurement function.

When the above-mentioned pointing device 1 is installed, firstly, two detection mechanisms 13 are respectively and symmetrically installed on two sides of a slider 123, the slider 123 is installed on a lead screw 122, the lead screw 122 is connected with an output shaft of a stepping motor 121 through a coupler, the stepping motor 121 is controlled to work through a PLC controller, a driver drives a rotating shaft of the stepping motor 121 to rotate, so as to drive the lead screw 122 to move back and forth, and the lead screw 122 moves back and forth, so as to drive the slider 123 and the detection mechanisms 13 located on the slider 123 to move back and forth (the direction indicated by an arrow in fig. 1 indicates the front and rear direction), so that the detection mechanisms 13 on two sides of the slider 123 can scan a plurality of to-be-pointed objects 14 located on two sides of the slider 123 on a base 11 in the moving process, so as to obtain target information of the to-be-pointed objects 14 collected by the detection mechanisms 13.

Fig. 2 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present application. The electronic device 100 includes: one or more processors 120, and one or more memories 104 storing instructions executable by the processors 120. Wherein the processor 120 is configured to execute an inventory method provided by the following embodiments of the present application.

The processor 120 may be a gateway, or may be an intelligent terminal, or may be a device including a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or other form of processing unit having data processing capability and/or instruction execution capability, and may process data of other components in the electronic device 100, and may control other components in the electronic device 100 to perform desired functions.

The memory 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 120 to implement the inventory method described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

In one embodiment, the electronic device 100 shown in FIG. 1 may also include an input device 106, an output device 108, and a data acquisition device 110, which are interconnected via a bus system 112 and/or other form of connection mechanism (not shown). It should be noted that the components and structure of the electronic device 100 shown in fig. 1 are exemplary only, and not limiting, and the electronic device 100 may have other components and structures as desired.

The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like. The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like. The data acquisition device 110 may acquire an image of a subject and store the acquired image in the memory 104 for use by other components. Illustratively, the data acquisition device 110 may be a camera.

In an embodiment, the devices in the example electronic device 100 for implementing the inventory method of the embodiment of the present application may be integrally disposed, or may be disposed separately, such as the processor 120, the memory 104, the input device 106, and the output device 108 being integrally disposed, and the data acquisition device 110 being disposed separately.

In an embodiment, the example electronic device 100 for implementing the inventory method of the embodiment of the present application may be implemented as, for example, a PLC control, a server, or the like.

The inventorying device 1 shown in fig. 1 can be used in a warehouse system of a hospital for inventorying sterile packs or surgical kits. In order to save the cost and space of the warehouse system, the hospital usually places the irregularly-shaped objects 14 to be checked in the same warehouse system, and in this application, the objects 14 to be checked are exemplified by sterile bags.

After the installation of the checking device 1 is completed, before the sterile package checking is performed, the whole system of the checking device 1 needs to be initialized. The initialization is performed by controlling the stepping motor 121 to move to a preset initial position and using the position as the 0 position of the encoder in the stepping motor 121. For example, a position 5cm away from the upper stock entrance on the rear side of the counting device 1 (the direction opposite to the arrow in fig. 1) is used as the initial position, and the position is used as the 0 position of the encoder in the stepping motor 121. The initial position may be set differently according to actual needs.

The work of the stepping motor 121 is controlled through the PLC, the rotation shaft of the stepping motor 121 is controlled to rotate, the lead screw 122 is driven to move towards the sterile package (the direction indicated by an arrow in fig. 1), the movement of the lead screw 122 drives the sliding block 123 and the detection mechanism 13 on the sliding block 123 to move, when the detection mechanism 13 moves from an initial position, the detection mechanism 13 stops moving until the detection mechanism 13 reaches a preset position, in the moving process, the detection mechanism 13 can scan a plurality of sterile packages, at the moment, target information in the moving process is collected through the detection mechanism 13, corresponding data processing is carried out on the target information, the target information is converted into sterile package stock information and sterile package position information, and therefore the inventory checking work of the sterile package in the storage system is completed.

After the inventory checking work of the sterile packages is finished, the driving mechanism 12 is controlled to drive the detection mechanism 13 to return to the initial position from the preset position, so that the next inventory checking is facilitated.

The specific inventory method will be described in detail below. Based on the application scene, the inventory amount and the position information of the sterile packages in different shapes and sizes can be accurately checked by using the checking device 1.

Referring to fig. 3, it is a flowchart illustrating an inventory method according to an embodiment of the present application, where the method is executed by the electronic device 100 shown in fig. 2 as a server and can be applied to the inventory apparatus 1 shown in fig. 1 to achieve accurate inventory of sterile packages with different shapes and sizes and location information, and the method includes the following steps:

step S210: and controlling the driving mechanism 12 to drive the detection mechanism 13 to move from the initial position to a preset position, and acquiring target information acquired by the detection mechanism 13 in the moving process, wherein the target information is used for indicating whether the object to be coiled 14 exists or not.

In the present application, the objects to be inventoried 14 take sterile bags with different shapes and sizes as an example, and after the installation of the inventoriing apparatus 1 is completed, the initialization of the whole system of the inventoriing apparatus 1 is performed before the inventoriing of the sterile bags is started each time. The stepping motor 121 is controlled to move to a preset initial position and the position is taken as the 0 position of the encoder in the stepping motor 121. The PLC controller controls the stepping motor 121 to start working, and the driver controls the rotating shaft of the stepping motor 121 to rotate forward to drive the lead screw 122 to move in the direction of the sterile package (the direction indicated by the arrow in fig. 1), and the movement of the lead screw 122 drives the slider 123 and the detection mechanism 13 on the slider 123 to move, and when the detection mechanism 13 starts moving from the initial position, the PLC controller stops until the detection mechanism 13 reaches the preset position.

As shown in fig. 1, taking two sterile bags with the same shape and size as an example, the initial position and the preset position are both preset, the initial position is marked as S1, the preset position includes a protection position S2, a full stroke position S3 and a plurality of test positions S4 and S5 …, in fig. 1, the difference between the protection position S2 and the full stroke position S3 is a small variable, and the protection position S2 is used for protection.

During the movement, when the detection mechanism 13 moves from the initial position S1 to the full stroke position S3, a plurality of sterile packs are scanned. For example, moving from the initial position S1 to the testing position S5 and then reaching the testing position S4, the inspection mechanism 13 scans 1 sterile pack; then moving from the testing position S4 to the full travel position S3, a second sterile pack is scanned; moving to the protection position S2 at the initial position S1, a total of 2 sterile packages are scanned, and target information is acquired at each preset position by the detection mechanism 13. The detection mechanism 13 in the present embodiment is a distance measuring sensor.

The target information is used for indicating whether the object to be checked 14 exists or not, and comprises the following steps: when the target information indicates that the object to be checked 14 exists, the position information of the object to be checked 14 is marked and output. For example, when the inspection mechanism 13 moves from the initial position S1 to the testing position S5 and reaches the testing position S4, it may be indicated that the inspection mechanism 13 scans 1 aseptic package from the initial position S1 to the testing position S4 according to the collected target information, so that the target information collected by the inspection mechanism 13 may be used to indicate whether there is an aseptic package in the moving process, and if the target information indicates that there is an aseptic package, the inspection mechanism 13 marks and outputs the position information of the current aseptic package, and may transmit the position information of the current aseptic package to the server in a wired or wireless manner for the operator to record.

In this application, after the inventory checking of the sterile package is completed, the PLC controller controls the operation of the stepping motor 121 in the driving mechanism 12, the driver controls the rotation shaft of the stepping motor 121 to rotate in the opposite direction, so as to drive the lead screw 122 to move, and further drive the slider 123 and the detection mechanism 13 on the slider 123 to return to the initial position S1 from the preset position, however, the detection mechanism 13 may not be in the initial position S1 due to external force or system error, thereby affecting the checking of the sterile package in the warehouse system, and therefore, the whole system of the checking device 1 needs to be initialized before starting the checking every time.

Step S220: and performing data processing on the target information to obtain the inventory of the object to be checked 14.

In this step, after the corresponding data processing is performed on the target information, the target information can be converted into corresponding sterile package inventory information, so that the inventory checking work of the sterile package inventory in the warehousing system is completed.

Limit switches are arranged at the initial position and the preset position; the control driving mechanism 12 drives the detection mechanism 13 to move from the initial position to the preset position, and comprises: controlling the driving mechanism 12 to drive the detecting mechanism 13 to move from an initial position to a preset position according to a preset speed; when the limit switch detects that the detection mechanism 13 moves from the initial position to the preset position and the limit switch changes from a high level to a low level, the drive mechanism 12 is controlled to stop working.

In this embodiment, referring to fig. 1, limit switches are disposed at the initial position S1, the protection position S2, and the full stroke position S3, when the PLC controller controls the rotating shaft of the stepping motor 121 in the driving mechanism 12 to rotate forward, the driving screw 122 drives the detecting mechanism 13 to move from the initial position S1 to the protection position S2 at a preset speed, when the detecting mechanism 13 moves to the initial position S1, the limit switch at the initial position S1 detects the slider 123, and at this time, the limit switch changes from high level to low level, when the detection mechanism 13 continues to move to the protection position S2, the limit switch located at the protection position S2 detects the slider 123, and at this time, the limit switch changes from high level to low level, when the limit switch changes from high level to low level, the PLC controller will control the stepping motor 121 to stop working, and at this time, the detection mechanism 13 together with the slider 123 stops at the protection position S2.

In this embodiment, the moving speed of the detecting mechanism 13 may be preset, and the detecting mechanism 13 may keep the speed running at a constant speed during the whole moving process, or the moving speed of the detecting mechanism 13 may be controlled by controlling the rotating frequency of the rotating shaft of the stepping motor 121 according to the actual situation.

In the moving process, the target information collected by the detection mechanism 13 is obtained, and in an embodiment, the target information may include distance information, position information, and timestamp information. The method further comprises the following steps: controlling the driving mechanism 12 to drive the detection mechanism 13 to move, and acquiring a distance value to an obstacle, acquired by the detection mechanism 13, as the distance information; controlling an encoder in the driving mechanism 12 to work, and acquiring position information corresponding to the distance information; and acquiring timestamp information corresponding to the distance information and the position information.

In this embodiment, the collected target information data { { p1, d1, s1}, { p2, d2, s2}, … { pn, dn, sn } };

wherein, pi: a position value or position information indicating an encoder, hereinafter referred to as position, i is 1, 2, 3 …, n;

di: a distance value or distance information indicating a distance to an obstacle (i.e., a sterile package in the present application) collected by the detection means 13, hereinafter referred to as distance, i is 1.2.3 … n;

si: and (3) time stamp information corresponding to the acquired position information and the acquired distance information, wherein i is 1.2.3 … n.

As shown in fig. 1, taking two sterile packs with the same shape and size as an example, at the initial position S1, the detection mechanism 13 has not detected the sterile pack, and the distance value from the sterile pack collected by the detection mechanism 13 is the position from the detection mechanism 13 to the edge of the base 11, i.e., d2 in fig. 1.

When the inspection mechanism 13 moves to the test position S5, the inspection mechanism 13 scans and senses that there is a sterile package, and the distance value to the sterile package acquired by the inspection mechanism 13 is the distance from the inspection mechanism 13 to the sterile package, i.e. d1 in fig. 1, during the movement, the distance value to the sterile package acquired by the inspection mechanism 13 is reduced from d2 to d1, which indicates that 1 sterile package is detected by the inspection mechanism 13.

When the inspection mechanism 13 continues to move from the test position S5 to the test position S4 to the test position S4, the distance value from the sterile package collected by the inspection mechanism 13 is still the position of the inspection mechanism 13 to the edge of the base 11, which is d2 in fig. 1, indicating that the inspection mechanism 13 has not detected the presence of the sterile package.

When the detection mechanism 13 continues to move to the full stroke position S3, the distance value from the sterile package collected by the detection mechanism 13 is the distance from the detection mechanism 13 to the sterile package, i.e., d1 in fig. 1, in the process, the distance value from the sterile package collected by the detection mechanism 13 is reduced to d1 from d2, which indicates that 1 sterile package is detected by the detection mechanism 13 at this time.

By analogy, if a plurality of sterile packs exist in the warehousing system, the mode and the principle of detecting the inventory of the sterile packs are the same as those described above.

As mentioned above, the PLC controller controls the encoder in the driving mechanism 12 to operate, at the initial position S1, the encoder position information in the stepping motor 121 is 0, the PLC controller controls the driver to further control the rotation shaft of the stepping motor 121 to rotate forward, the driving screw 122 drives the slider 123 and the detecting mechanism 13 to move toward the sterile bag, and during the movement of the detecting mechanism 13, the position information of the encoder corresponding to the distance information is obtained, and the position information of the encoder gradually increases along with the increase of the distance information.

In one embodiment, the position value pi of the encoder may be directly replaced by the number of pulses output by the encoder, or may be represented by (the number of pulses × a is equal to the actual moving position of the slider 123), and the coefficient a represents the distance traveled by the encoder to output one pulse slider, so that the full stroke position S3 may be limited by the number of pulses or determined by the actual moving position of the slider 123. When the stepping motor 121 continues to drive the screw rod 122 to move towards the aseptic package, the detection mechanism 13 stops when passing through the test position S5, the test position S4 and the full stroke position S3, and the distance information, the position information and the corresponding timestamp information are acquired in the moving process.

The data processing of the target information includes: deleting the numerical value exceeding the preset range in the distance information to obtain the distance information after amplitude limiting; and filtering the limited distance information to obtain the distance information to be processed.

In this embodiment, according to the requirement of the installation environment of the inventory device 1, the distance information distance actual data value range is [ dmin, dmax ], where dmax is the maximum distance that can be measured by the detection mechanism 13, dmin is the minimum distance that can be measured by the detection mechanism 13, and dmin and dmax can be set according to the actual assembly link. When data processing is performed, firstly, distance information distance data in the target information data needs to be limited within a range of [ dmin, dmax ], if a value in the distance information distance exceeds the range of [ dmin, dmax ], the value of the exceeded distance information distance needs to be directly deleted, and thus, clipped distance information Limit _ data is obtained as follows:

Limit_data＝{{p1，d1，s1}，{p2，d2，s2}，…{pl，dl，sl}}，l≤n

kalman filtering is carried out on the distance information { di } in the Limit _ data, noise influence is eliminated, and the accuracy of the data can be improved, so that the filtered distance information to be processed, filter _ data, is obtained as follows:

filter_data＝{{p1，d1，s1}，{p2，d2，s2}，…{pm，dm，sm}}，m≤l

after the filtering processing is performed on the clipped distance information to obtain distance information to be processed, the method further includes: converting the distance information to be processed into corresponding level on-amount information and level off-amount information according to a curve conversion relation between the distance information to be processed and the level flux; the level switching information is displayed as a rising edge in the graph, the level switching information is displayed as a falling edge in the graph, and one object to be clicked 14 is indicated between the falling edge and the rising edge.

Referring to fig. 4, the filtered distance information to be processed filter _ data is detected for a rising edge and a falling edge of a level. In this embodiment, a "far-high-near-low" level detection manner is defined, that is, a distance value di greater than the Dist value corresponds to a high level, and a distance value di less than the Dist value corresponds to a low level. The Dist value here is a preset value for defining the level jump to be caused. In fig. 4, Zone represents a hysteresis interval, and is low when Zone is set to 0, the target distance (i.e., the distance value or distance information to the sterile packet collected by the detection mechanism 13, i.e., distance) is less than Dist, and is high when the target distance is greater than Dist. If the target distance is exactly at Dist, the level may jump frequently due to the fluctuation of the ranging. This problem can be avoided by setting a Zone to form a hysteresis interval. When the Zone is not 0, the jump from low level to high level is triggered when the target distance is greater than Dist + Zone, and the jump from high level to low level is triggered when the target distance is less than Dist.

The Dist value is related to the maximum size and the minimum size of the aseptic package stored in the warehousing system, and in an embodiment, when there are two shapes of aseptic packages, such as an a aseptic package and a B aseptic package, the a aseptic package has the minimum size, the distance information to the a aseptic package collected by the detection mechanism 13 is d3, the B aseptic package has the maximum size, the distance information to the B aseptic package collected by the detection mechanism 13 is d4, and d3 is greater than d4, then the Dist value is preset to be greater than d 3.

Referring to fig. 5, when the distance information to be processed is converted into the corresponding level on amount information and level off amount information according to the curve conversion relationship between the distance information to be processed and the level flux, the distance information to be processed may be converted according to the values of Dist and Zone, when the target distance is greater than Dist + Zone, the transition from low level to high level is triggered, when the target distance is less than Dist, the transition from high level to low level is triggered, and the two transitions also meet the Delay setting (for example, when the time less than Dist is maintained by Delay1, the transition from high level to low level is triggered, and when the time greater than Dist + Zone is maintained by Delay2, the transition from low level to high level is triggered). In this embodiment, the values of Zone, Dist, Delay1, Delay2, etc. may be set as constants according to the actual debugging effect.

For example, from the initial position S1 to the full-stroke position S3, the filtered information to be processed is filter _ data { { p1, d1, S1}, { p2, d2, S2}, … { pm, dm, sm } }, and the measured distance information distance data fluctuates due to problems such as fluctuation of the detection mechanism 13. However, since the measured distance information times of dmax and dmin are short, the transition of high and low levels does not occur during the level transition.

The positions of the rising edge and the falling edge of the level are obtained through the filter _ data, the distance information to be processed, filter _ data, is converted into corresponding level switching quantity information and level switching quantity information according to the curve conversion relation between the distance information to be processed, filter _ data and the level flux, the level switching quantity information is displayed as the rising edge in the graph, and the level switching quantity information is displayed as the falling edge in the graph (see fig. 5).

Converting { position, distance } to { position _ rising, position _ falling } data, as follows:

edge_data＝{{p_r1，p_f1}，{p_r2，p_f2}，…，{p_rt，p_ft}}，t≤m/2

wherein p is_ri: denotes the rising edge position, i ═ 1, 2, …, t;

p_fi: indicating the falling edge position, i ═ 1, 2, …, t.

After the positions of the rising edge and the falling edge of the electric level are obtained, the number of the sterile packages can be determined, namely, one sterile package is indicated between the falling edge and the rising edge. For example, as shown in FIG. 5, starting at the initial position S1, a sterile packet is located between the first falling edge and the first rising edge. According to the data processing method, the stock quantity of the sterile packages in the warehousing system can be determined.

After the stock amount of the object to be clicked 14 is obtained, the control driving mechanism 12 drives the detection mechanism 13 to move from a preset position (e.g., full stroke position S3) to an initial position S1.

In this embodiment, the driver of the PLC controller further controls the stepping motor 121 to rotate reversely, so as to drive the lead screw 122 to move reversely, and further drive the slider 123 and the detection mechanism 13 to move toward the initial position S1, until the encoder position of the stepping motor 121 is 0, the driving mechanism 12 stops working, and returns to the initial state, thereby completing inventory checking of the sterile package inventory. The purpose of returning the drive mechanism 12 to the initial state is to facilitate the next inventory.

In the embodiments provided in the present application, the disclosed apparatus and method can be implemented in other ways.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Claims

1. An inventory method, comprising:

controlling a driving mechanism to drive a detection mechanism to move from an initial position to a preset position, and acquiring target information acquired by the detection mechanism in the moving process, wherein the target information is used for indicating whether the object to be coiled exists or not;

2. The method according to claim 1, wherein limit switches are provided at the initial position and the preset position; the control driving mechanism drives the detection mechanism to move from the initial position to the preset position, and comprises:

3. The method of claim 1, wherein target information collected by the detection mechanism is obtained during the moving, wherein the target information includes distance information, position information, and timestamp information, and wherein the method further comprises:

4. The method of claim 3, wherein the data processing of the target information comprises:

5. The method according to claim 4, wherein after said filtering the clipped distance information to obtain the distance information to be processed, the method further comprises:

6. The method of claim 1, wherein the target information is used for indicating whether an object to be checked exists, and comprises:

7. The method according to claim 1, wherein after the data processing of the target information to obtain the inventory amount of the object to be inventoried, the method further comprises:

8. An inventory arrangement, characterized in that, using the inventory method as claimed in any of claims 1 to 7, the inventory arrangement comprises: