CN114273235B

CN114273235B - Sorting method, apparatus, device, electronic device, and storage medium

Info

Publication number: CN114273235B
Application number: CN202011036474.3A
Authority: CN
Inventors: 王辉; 曾旭; 柳厦; 曹丹
Original assignee: Cainiao Smart Logistics Holding Ltd
Current assignee: Cainiao Smart Logistics Holding Ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2023-12-26
Anticipated expiration: 2040-09-27
Also published as: CN114273235A

Abstract

The embodiment of the application provides a picking method, a picking device, a picking equipment, an electronic device and a storage medium, wherein the picking method comprises the following steps: scanning the logistics object and determining picking information corresponding to the logistics object; in the process of throwing the logistics object into the picking equipment, collecting image data and corresponding change data of a commodity shelf of the picking equipment, wherein a container is placed on the commodity shelf; determining container information of a container into which the logistics object enters according to the image data and the change data; determining and prompting a picking result of the logistics object according to the picking information and the container information; the logistics efficiency can be improved.

Description

Sorting method, apparatus, device, electronic device, and storage medium

Technical Field

The present application relates to the field of computer technology, and in particular to a picking method, a picking device, a picking apparatus, an electronic apparatus and a storage medium.

Background

The warehouse logistics (Warehousing Logistics) is to utilize a self-built or leased warehouse, a site, storage, preservation, loading and unloading, transportation and delivery of goods.

In the process of configuring the logistics objects, the selected objects are required to be selected manually, the selected objects are placed in the corresponding packages, and before the packages are packed, the packages are uniformly placed at a quality inspection place for manual quality inspection, so that whether the problems of missing picking, multiple picking, inconsistent commodities and the like are solved.

However, by adopting the method, quality inspection users need to inspect and package each package, and the logistics efficiency is low.

Disclosure of Invention

The embodiment of the application provides a sorting method for improving logistics efficiency.

Correspondingly, the embodiment of the application also provides a picking device, an electronic device and a storage medium, which are used for guaranteeing the implementation and application of the system.

To solve the above problems, embodiments of the present application disclose a picking method, including: scanning the logistics object and determining picking information corresponding to the logistics object; in the process of throwing the logistics object into the picking equipment, collecting image data and corresponding change data of a commodity shelf of the picking equipment, wherein a container is placed on the commodity shelf; determining container information of a container into which the logistics object enters according to the image data and the change data; and determining and prompting the sorting result of the logistics object according to the sorting information and the container information.

To solve the above-mentioned problems, an embodiment of the present application discloses a picking apparatus, including: a control terminal and a vehicle body; the vehicle body comprises a storage rack, a prompt assembly, a positioning sensor assembly, an image acquisition assembly and a scanning assembly; the commodity shelf is provided with at least one container; the scanning component scans the logistics object to determine picking information corresponding to the logistics object; the positioning sensor component is arranged on the commodity shelf and detects the change data corresponding to the commodity shelf in the process of throwing the commodity circulation objects into the picking equipment; the image acquisition component is arranged above the commodity shelf and faces the commodity shelf, and acquires image data of a container placed on the commodity shelf; the control terminal determines container information of a container into which the logistics object enters according to the image data and the change data; determining a picking result of the logistics object according to the picking information and the container information; and the prompting component prompts according to the picking result.

To solve the above-mentioned problem, an embodiment of the present application discloses a picking device, including: the scanning processing module is used for scanning the logistics object and determining picking information corresponding to the logistics object; the delivery processing module is used for collecting image data and corresponding change data of a commodity shelf of the picking equipment in the process of delivering the logistics object to the picking equipment, and a container is placed on the commodity shelf; the put-in container determining module is used for determining container information of a container into which the logistics object enters according to the image data and the change data; and the picking result determining module is used for determining and prompting the picking result of the logistics object according to the picking information and the container information.

In order to solve the above problem, an embodiment of the present application discloses an electronic device, which is characterized by including: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform the method as described in one or more of the embodiments above.

To address the above issues, embodiments of the present application disclose one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a method as described in one or more of the above embodiments.

Compared with the prior art, the embodiment of the application has the following advantages:

in the embodiment of the application, a user picking a logistics object can scan the picked logistics object to determine the picking information of the logistics object; after the user has scanned the logistic object, the logistic object may be placed in a container on the item rack of the picking device. The picking equipment detects the change data of the commodity shelf and determines the container information of the container into which the logistics object is put by combining the collected image data. And determining and prompting a corresponding picking result according to the container information and the picking information. In the process of picking and throwing the logistics object by the user, the embodiment of the application can determine whether the logistics object corresponds to the picking device through scanning the logistics object, can also determine whether the logistics object is thrown into the appointed container through the change of the commodity shelf and the image data, completes the picking and throwing quality inspection of the logistics object, can save the link of manual quality inspection, can more efficiently complete the picking and packing process of the logistics object, improves the logistics efficiency, and can save the manual resources of the manual quality inspection.

Drawings

FIG. 1A is a schematic diagram of a picking system according to an embodiment of the present application;

FIG. 1B is a schematic diagram of a picking device according to one embodiment of the present application;

FIG. 2 is a flow diagram of a picking method of one embodiment of the present application;

FIG. 3 is a flow diagram of a picking method according to another embodiment of the present application;

FIG. 4 is a schematic diagram of the structure of a picking device according to one embodiment of the present application;

fig. 5 is a schematic structural view of an exemplary device according to one embodiment of the present application.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

The embodiment of the application can be applied to the field of logistics, and logistics is a process of organically combining functions of transportation, storage, loading, unloading, carrying, packaging, circulation processing, distribution, information processing and the like according to actual needs in the process of enabling objects to flow from a supply place to a receiving place. The logistic object refers to an object of logistic processing such as unpackaged articles and the like that need to be transported.

The embodiment of the application can be applied to the picking and packing process of the logistics objects, in the embodiment of the application, a user can finish the picking of the logistics objects through picking equipment, and quality inspection is performed on the picked logistics objects by using the picking equipment in the picking process, so that the process of manual quality inspection can be saved, the picking and packing process of the logistics objects can be finished more efficiently, the logistics efficiency is improved, and the manual resources of the manual quality inspection can be saved.

Specifically, as shown in FIG. 1B, the picking device may include: a control terminal 101 and a vehicle body; the vehicle body comprises a commodity shelf 102, a prompt component 103, a positioning sensor component 104, an image acquisition component 105, a scanning component 106, a weighing sensor 107 and the like. The control terminal 101 in the embodiment of the present application may be installed on the vehicle body, or may be disposed at another position to receive data and perform calculation.

Wherein, the shelf 102 is used for placing the container, and the container can include the parcel case that is used for wrapping up commodity circulation object, and the shelf 102 can include the baffle that is used for placing the container, and the baffle on the shelf 102 can set up one deck, also can set up the multilayer, and in the example as shown in fig. 1B, the baffle of shelf 102 is provided with the three-layer. The scanning assembly 106 may include a scanning gun for scanning logistics object information of the logistics object to determine corresponding sorting information according to the logistics object information, the sorting information may include type information of the logistics object, and based on the type information, data such as a category of the logistics object, a weight of a single item of the logistics object, and the like may be determined. In an alternative example, the scanning gun may be detachably connected to the picking device, such as by wired or wireless means, and the user may scan the logistical object with the scanning gun in his hand to determine the picking information. In another alternative example, a scanning gun may be affixed to the picking device, and a user may align a barcode of the logistics object with the scanning gun to determine the picking information.

The positioning sensor assembly 104 is disposed on the rack 102, and is used for detecting change data corresponding to the rack 102 in the process of delivering the logistics objects to the picking device. The positioning sensor assembly 104 may be disposed on a shelf partition to detect corresponding change data, and the positioning sensor assembly 104 may include one positioning sensor or a plurality of positioning sensors. For example, the positioning sensor assembly 104 may include four positioning sensors, which may be mounted at four corners of the shelf 102 and may be mounted on four sides of the shelf to detect the corresponding change data of the shelf 102. Wherein the location of the positioning sensor assembly 104 in the example shown in fig. 1B is merely for convenience of illustration, the specific location of the positioning sensor assembly 104 may be set according to requirements.

The user puts in commodity circulation object on the supporter 102 of picking equipment, produces the interact power between commodity circulation object and the supporter 102, and supporter 102 can produce elastic wave and micro deformation, therefore change data in this application embodiment can include at least one of elastic wave and micro deformation. In an alternative embodiment, the positioning sensor assembly 104 may include a piezoelectric sensor (or piezoelectric sensor), which is a sensor based on piezoelectric effect, by which the elastic wave of the shelf 102 is detected. In an alternative embodiment, the positioning sensor assembly 104 may include a micro-strain sensor (or strain gauge sensor), which is a sensor that is based on measuring strain caused by the deformation of an object under force. The micro deformation of the shelf 102 is detected by a micro strain sensor. The embodiment of the application can also detect elastic waves and micro-deformation through other sensors.

The image capturing component 105 in the embodiment of the application may be disposed on the rack 102, or may be disposed at another location, for example, the image capturing component 105 is disposed in a warehouse factory to capture image data, where a plurality of image capturing components 105 may be disposed in the warehouse factory to cover a warehouse, and the device location of the picking device may be obtained to determine the corresponding image capturing component 105 to obtain the image data. Taking the example of the image acquisition assembly 105 being disposed on the commodity shelf 102, the image acquisition assembly 105 may be disposed above the commodity shelf 102 and toward the commodity shelf 102 to acquire image data of a container placed on the commodity shelf 102. The image acquisition assembly 105 may include a camera. In an alternative embodiment, where the respective shelf 102 includes multiple layers of baffles, an image acquisition assembly 105 may be provided for each baffle to acquire image data of the container.

The weighing sensor 107 may be disposed on the shelf 102, and may specifically be disposed on a partition board of the shelf 102, so as to detect the weight of the logistic object placed on the partition board according to the micro deformation data of the weighing sensor 107. In an alternative example, a plurality of load cells 107 may be provided on the partition to detect the weight of the logistics objects thrown on the partition by the plurality of load cells 107. The picking device may determine the number of drops of the logistics objects based on the weight of the dropped logistics objects and the weight of the individual items of the logistics objects determined based on the picking information. And matching the throwing quantity with the appointed throwing quantity, and determining a corresponding picking result. The position of the load cell 107 in the example shown in fig. 1B is merely for convenience of illustration, and the specific position of the load cell 107 may be set according to requirements, for example, the load cell may be disposed in the middle of the partition or below the partition to detect the weight of the logistic object placed on the partition.

The prompt component 103 may include at least one of a vibration prompt component, a sound prompt component, and a display prompt component, and may send out a vibration prompt through the vibration sensor, a prompt tone through the sound prompt component, and display corresponding prompt information through the display prompt component. The display hint component may include a display light, a display screen, or the like. The prompt component 103 may prompt after the user has determined the picking information for the logistic object using the scanning component. For example, when the logistic object is determined to be a correct logistic object according to the picking information, a picking correct prompt tone may be sent, and corresponding container information of the logistic object may be prompted to the user, so that the user can conveniently put in the logistic object. In the case that it is determined that the logistic object is the wrong logistic object according to the sorting information, a sorting error notice sound may be issued. Prompt component 103 may also prompt after the pick result is determined. For example, in the case where it is determined that the user puts the logistics object into the correct container according to the sorting result, a normal put alert sound may be issued. Under the condition that the user puts the logistics object into the wrong container according to the sorting result, a putting error prompt tone can be sent out. Where the cue assembly 103 may be located on the picking device or at other locations.

As shown in fig. 1A, the control terminal 101 may receive picking information obtained by scanning by the scanning component 106, image data collected by the image collecting component 105, change data collected by the positioning sensor component 104, and weight information collected by the weighing sensor 107, so as to calculate, obtain a logistics object picked by a user, a container into which the logistics object enters, and a throwing amount, determine a picking result, and control the prompting component 103 to prompt according to the picking result.

In the embodiment of the application, a user picking a logistics object may use the scanning component 106 to scan the logistics object information of the picked logistics object to determine the picking information of the logistics object; after the user has scanned the logistic object, the logistic object may be placed into a container on the item shelf 102 of the picking device. The picking device detects the change data of the commodity shelf 102 through the positioning sensor assembly 104, and determines the container information of the container thrown by the logistics object in combination with the image data acquired by the image acquisition assembly 105. And determining and prompting a corresponding picking result according to the container information and the picking information. In the process of picking and throwing the logistics objects by the user, the picking device in the embodiment of the application can determine whether the logistics objects correspond to the picking device and whether the logistics objects are thrown into the designated container, so that whether the logistics objects are thrown correctly or not is finished, the link of manual quality inspection can be saved, the picking and packaging process of the logistics objects can be more efficiently finished, and the manual resources of the manual quality inspection can be saved.

Taking the control terminal and the image acquisition component as examples on the picking equipment, the picking method is described, specifically, the embodiment of the application discloses a picking method, which can be applied to the picking equipment, specifically, as shown in fig. 2, the method includes:

step 202, scanning the logistics object and determining picking information corresponding to the logistics object.

After the user picks the logistics object, a scanning component (such as a scanning gun) on the picking equipment can be used for scanning logistics object information of the logistics object, the logistics object information can be bar code information, and the type (or class) corresponding to the logistics object can be determined through identification of the bar code information. Before picking, a corresponding order (the order contains information of logistic objects) can be distributed to the picking device through the service end, each order corresponds to at least one container, a user can place the corresponding container on a commodity shelf of the picking device, the picking device can obtain a specified logistic object corresponding to each container, and matching is carried out on the basis of the specified logistic object and the selected logistic object, so that whether the selected logistic object accords with the container on the picking device or not is determined. After the logistic object is scanned, prompt can be performed through the prompt component. For example, in the event that it is determined from the picking information that the logistic object does not correspond to a container on the picking device, a picking error indication may be issued by the indication component. In the event that it is determined from the picking information that the logistic object corresponds to a container on the picking device, a correct picking prompt may be issued by the prompt component. In addition, in the case that the sorted logistics objects coincide with the containers of the sorting apparatus, the container information of the containers corresponding to the logistics objects may be presented by the presenting component.

In the case that the user determines that the logistic object matches the container of the picking device by scanning the logistic object, the logistic object may be put into the container on the rack, and the picking device may collect image data and corresponding change data of the rack of the picking device in the process of putting the logistic object into the picking device in step 204, where the container is placed on the rack. In the process that the user puts the selected logistics object into the container, image data can be acquired through the image acquisition assembly, and change data of the commodity shelf is detected through the positioning sensor assembly. In an alternative embodiment, in the case that the number of the partition plates is plural, the image capturing components are correspondingly provided, the target image capturing component may be determined by the positioning sensor component, and the image data may be captured by the target image capturing component. For example, in the case where the separator has multiple layers, the user puts the logistics object into the container of the first layer, the picking device detects the change data through the positioning sensor on the separator of the first layer, and the image acquisition component corresponding to the separator of the first layer can be determined as the target image acquisition component to acquire the image data, and analysis is performed.

After the image data and the change data are determined, the picking device determines, in step 206, container information of the container into which the logistic object entered, based on the image data and the change data. The picking device can determine the delivery position of the logistic object delivered by the user according to the change data, and determine the container corresponding to the delivery position according to the image data. Specifically, in an optional embodiment, the determining, according to the image data and the change data, container information of the container into which the logistic object enters includes: determining position information of deformation on the picking equipment according to the change data; and determining the container information of the container corresponding to the position information according to the image data. In the process that the commodity circulation object is put in the supporter at the user, the supporter produces corresponding vibration, elastic wave, change such as micro deformation, and the picking equipment can be through the change data of positioning sensor subassembly collection to the analysis is carried out to change data, in order to confirm the positional information that takes place deformation on the picking equipment.

In one aspect, the picking device may collect elastic waves generated by the elastic plate of the rack by the user in the process of throwing the logistic object into the partition plate of the rack through the positioning sensor assembly, so as to determine the deformed position. Specifically, in an alternative embodiment, the determining, according to the change data, location information of the deformation on the picking device includes: collecting elastic wave information of at least one positioning sensor on the commodity shelf; and determining the position information of deformation according to the elastic wave information. In the process that the commodity circulation object is put in the supporter at the user, the supporter produces corresponding elastic wave, and the picking device can detect elastic wave information through at least one positioning sensor to according to the position of positioning sensor installation, the material of baffle on the supporter etc. data to the elastic wave information is analyzed, in order to confirm the positional information that takes place to deform, specifically, in an alternative embodiment, this application embodiment can adopt at least two positioning sensor to detect elastic wave information, and the waveform difference between the elastic wave information of two positioning sensor is analyzed, the position that takes place to deform. Wherein in an alternative example, the positioning sensor may be a piezoelectric sensor, and the partition plate of the shelf may be a steel plate.

On the other hand, the picking device can also collect micro deformation generated by the elastic plate of the commodity circulation object in the process of throwing the commodity circulation object into the partition plate of the commodity shelf through the positioning sensor assembly so as to determine the deformed position. Specifically, in an alternative embodiment, the determining, according to the change data, location information of the deformation on the picking device includes: acquiring micro deformation information of at least one positioning sensor on the commodity shelf; and determining the position information of deformation according to the micro deformation information. In an alternative example, a positioning sensor assembly disposed on a shelf may include a positioning sensor array composed of a plurality of positioning sensors, each of which may detect micro-deformation information within its corresponding region. In the process that the commodity circulation object is put in the supporter at the user, the supporter produces corresponding little deformation, and the sorting equipment can detect the little deformation information that the baffle of supporter produced through at least one positioning sensor. And analyzing the micro deformation information according to the installation position of the positioning sensor, the material of the partition plate on the storage rack and other data to determine the deformation position information. In an alternative example, the positioning sensor may be a micro-strain sensor, and the partition plate of the shelf may be a steel plate.

After determining the location information of the deformed location on the rack, the picking device may analyze the container corresponding to the location information in the image data according to the location information to determine container information of the container into which the logistic object enters. In an alternative embodiment, after the placement of the containers is finished, the image data may be captured by a camera and analyzed to determine the placement location information corresponding to each container. After the deformed position information is determined, corresponding container information can be determined according to the placement position information and the position information. Through the scheme, the placement positions of the containers can be analyzed in advance, so that the containers corresponding to the deformed positions can be determined quickly according to the deformed position information.

In another alternative embodiment, after the user puts in the logistical object, the camera of the picking device may take image data to determine the container information of the container to which the position information corresponds based on the position information. After the user puts in the logistics object, the image data are acquired and analyzed, the image data after the logistics object is put in can be analyzed, and the influence of the change of the container position on the quality inspection result in the picking process can be reduced. And by analyzing the container corresponding to the position information, the data amount of the image data to be analyzed can be reduced. In yet another alternative embodiment, after the user puts in the logistic object, the camera of the picking device may take image data and analyze the image data to determine the placement position information of each container; determining the position information of the logistics object throwing through a positioning sensor assembly; to combine the placement position information and the position information to determine container information of the corresponding container. After the user puts in the logistics object, the image data are acquired and analyzed, the image data after the logistics object is put in can be analyzed, and the influence of the change of the container position on the quality inspection result in the picking process can be reduced. After the image data and the change data are determined, the image data and the change data may be analyzed, respectively, to determine placement position information and deformed position information of each container, so as to determine the container into which the logistics object enters. By analyzing the image data and the change data, respectively, it is possible to more quickly determine the container into which the logistics object enters.

The sorting device may identify the shape, size, color, etc. of the container in the image data to determine container information corresponding to the container. In an optional embodiment, the determining, according to the image data, container information of the container corresponding to the location information includes: identifying the image data, and determining the characteristic information of the container corresponding to the position information, wherein the characteristic data comprises at least one of shape information, contour information, size information and color information of the container; and determining the container information of the container according to the characteristic information. The sorting device may analyze the image data, identify containers in the image data, and determine characteristic information of each container, such as determining characteristics of a shape, a contour, a size, a color, etc. of each container, so as to determine container information corresponding to the container according to the characteristic information of each container. The container information is used to determine whether the container into which the logistics object enters is the container specified by the logistics object. The container information may include a container number to match a container number of a container entered through the logistics object with a container number designated by the logistics object to check whether the user has thrown the logistics object into the correct container. In the embodiment of the application, the container information of the container can be determined in an image recognition mode, the container is not required to be placed at a specific position, the area is not required to be divided for each container in advance, and the user can pick conveniently.

After determining the container information of the container into which the logistics object enters and the picking information of the logistics object, the picking device determines and prompts the picking result of the logistics object according to the picking information and the container information in step 208. The sorting result of the logistic object may include a first result and a second result, wherein the first result represents that the user puts the logistic object into a specified container to which the logistic object should be put, and the second result represents that the user puts the logistic object into a container other than the specified container. The sorting device may determine a designated container corresponding to the logistics according to the sorting information, and match a container of the logistics object thrown by the user with the designated container of the logistics object, so as to determine whether the user accurately throws the logistics object into the designated container, specifically, in an optional embodiment, the determining and prompting a sorting result of the logistics object according to the sorting information and the container information includes: determining the appointed container information of the appointed container corresponding to the logistics object according to the sorting information; matching the container information with the appointed container information to determine a picking result; and prompting according to the sorting result.

After the container information and the picking information are determined, the picking equipment can determine the appointed container in which the logistics object is to be put according to the picking information, acquire the appointed container information, and then match the container information of the container in which the logistics object enters with the appointed container information to determine the corresponding picking result and prompt. In the case where the container information matches the specified container information, the picking result can be determined to be the first result. In the event that the container information does not match the specified container information, the picking result can be determined to be a second result.

According to the embodiment of the application, whether the number of the logistics objects put by the user is correct can be determined besides whether the user puts the logistics objects into the designated container. Specifically, in an optional embodiment, the determining, according to the picking information and the container information, a picking result of the logistic object includes: collecting micro deformation data of at least one weighing sensor on the commodity shelf; and determining the sorting result of the logistics object according to the micro deformation data, the sorting information and the container information. The commodity shelf of the picking equipment can be provided with a weighing sensor, the weighing sensor can be arranged on the partition board of the commodity shelf according to specific requirements, so that in the process that a user puts commodity circulation objects on the partition board of the commodity shelf, corresponding weight information is determined according to micro deformation data of the weighing sensor, the weight of a single piece of the commodity circulation objects is determined according to the picking information, and then the number of the commodity circulation objects put by the user is determined according to the weight information and the weight of the single piece. In order to determine if the number of logistic objects put into the container by the user is correct.

In this application embodiment, the supporter can include the multilayer baffle, can set up corresponding weighing sensor as required on every layer of baffle, specifically, as an optional embodiment, the supporter includes the multilayer baffle that is used for placing the container, weighing sensor sets up at the baffle, weighing sensor's parameter information and the number of piles of baffle are correlated with, parameter information includes at least one of measuring range and measurement accuracy. The weighing sensor corresponding to the measuring range and/or measuring precision can be arranged according to the number of layers corresponding to the partition boards on the storage rack, for example, a logistics object with larger weight can be placed on the partition boards on the lower layer, and a logistics object with smaller weight can be placed on the partition boards on the upper layer, so that the weighing sensor with large measuring range and wide measuring precision can be arranged on the partition boards on the lower layer, and the weighing sensor with small measuring range and fine measuring precision can be arranged on the partition boards on the upper layer.

In this embodiment of the present application, calibration may be performed on the weighing sensor, so as to improve measurement accuracy of the weighing sensor, and specifically, as an optional embodiment, the method further includes a step of calibrating the measuring sensor: acquiring micro deformation data of the weighing sensor in a calibration state, and determining the weighing weight; and determining a revision amount according to the weighing weight and the calibration weight, wherein the revision amount is used for determining the weight of the logistics object by combining micro deformation data of the weighing sensor in a weighing state. The conventional weighing state and the calibration state for calibrating the weighing sensor can be set for the sorting equipment, in the calibration state, weights (such as one kilogram) for calibrating the weight can be placed on the partition plate by manpower or other equipment, then micro deformation data are generated according to the weighing sensor in the calibration state, the weighing weight is determined, and the revision is determined according to the difference between the weighing weight and the calibration weight. In the weighing state, the weight of the logistics object can be determined according to the micro deformation data and the revision generated by the weighing sensor. Calibration of the picking device may be performed periodically or aperiodically.

After determining the picking result, the picking device may prompt the user by using a prompt component, where a prompt component that may be preset to sound, vibrate or display, and specifically, in an alternative embodiment, the prompting according to the picking result includes: sending out a corresponding vibration prompt through the vibration prompt component; sending out corresponding prompt tones through the sound prompt component so as to prompt; and displaying corresponding prompt information through the display prompt component so as to prompt. Vibration prompting components, sound prompting components and display prompting components can be arranged on the picking equipment so as to prompt a user. The prompting component can prompt according to the picking result and the picking information. Under the condition that the logistics object is determined to be consistent with the container on the picking equipment according to the picking information, a picking normal prompt can be output; in the event that it is determined from the picking information that the logistic object does not correspond to a container on the picking device, a picking error indication may be output.

In the embodiment of the application, a user picking a logistics object can use the scanning assembly to scan the picked logistics object and determine the picking information of the logistics object; after the user has scanned the logistic object, the logistic object may be placed in a container on the item rack of the picking device. The picking equipment detects the change data of the commodity shelf and determines the container information of the container into which the logistics object is put by combining the collected image data. And determining and prompting a corresponding picking result according to the container information and the picking information. In the process of picking and throwing the logistics object by the user, the embodiment of the application can determine whether the logistics object corresponds to the container on the picking device through scanning the logistics object, can also determine whether the logistics object is thrown to the designated container through the change of the commodity shelf and the image data, can finish the quality inspection of picking and throwing the logistics object, can save the link of manual quality inspection, can more efficiently finish the picking and packaging process of the logistics object, and can save the manual resource of manual quality inspection.

On the basis of the above embodiment, the embodiment of the present application further provides a picking method, which can be applied to a picking device, as shown in fig. 3, and the method includes:

step 302, scanning the logistics object and determining picking information corresponding to the logistics object.

Step 304, collecting image data and corresponding change data of a commodity shelf of the picking equipment in the process of throwing the commodity circulation object into the picking equipment, wherein a container is placed on the commodity shelf.

And 306, determining the position information of the deformation on the picking equipment according to the change data. In an alternative embodiment, the embodiment of the present application may determine the location of the deformation by collecting elastic waves of the shelf. Specifically, the picking device may collect elastic wave information of at least one positioning sensor on the shelf; and determining the position information of deformation according to the elastic wave information. In another optional embodiment, the embodiment of the application may further determine a location where deformation occurs by collecting micro deformation of the shelf, and in particular, the picking device may collect micro deformation information of at least one positioning sensor on the shelf; and determining the position information of deformation according to the micro deformation information.

And step 308, identifying the image data, and determining the characteristic information of the container corresponding to the position information, wherein the characteristic data comprises at least one of shape information, contour information, size information and color information of the container.

And 310, determining container information of the container according to the characteristic information.

Step 312, determining the specified container information of the specified container corresponding to the logistics object according to the picking information.

And step 314, matching the container information with the appointed container information, and determining a picking result.

According to the embodiment of the application, whether the logistics objects are put into the specified container or not can be determined, whether the picking quantity is accurate or not can also be determined, and particularly, the picking equipment can acquire micro deformation data of at least one weighing sensor on the commodity shelf; and determining the sorting result of the logistics object according to the micro deformation data, the sorting information and the container information. The number of the thrown objects is determined through the weight of the thrown logistics objects and the weight of the single logistics objects, so that the number of the thrown objects is matched with the designated throwing number, and a picking result is determined.

Step 316, prompting according to the picking result. According to the embodiment of the application, the corresponding vibration prompt can be sent out through the vibration prompt component; corresponding prompt tones can be sent out through the voice prompt component to prompt; corresponding prompt information can be displayed through the display prompt component so as to prompt.

In the embodiment of the application, a user picking a logistics object can use a scanning assembly to scan logistics object information of the picked logistics object to determine the picking information of the logistics object; according to the picking information, whether the selected logistics object accords with a container on the picking equipment or not can be determined, and the selected logistics object is prompted through the prompting component. After the user has scanned the logistic object, the logistic object may be placed in a container on the item rack of the picking device. The picking equipment can detect the change data of the commodity shelf through the positioning sensor component, and can determine the container information of the container thrown by the logistics object by combining the image data acquired by the image acquisition component. And determining and prompting a corresponding picking result according to the container information and the picking information.

Specifically, the method can collect elastic wave information (or micro deformation information) generated by the commodity circulation object in the process of putting the commodity circulation object into the container on the commodity shelf, analyze the commodity circulation object according to the elastic wave information (or the micro deformation information), determine the position information of putting the commodity circulation object, and determine the container information of the container corresponding to the position information according to the position information and the image data. Then, the appointed container information of the logistics object can be determined according to the picking information, the container information is matched with the appointed container information, the corresponding picking result is determined, and the prompting is carried out. According to the embodiment of the application, the number of the logistics objects can be determined through the weighing sensor, so that the number of the logistics objects can be verified. In the process of picking and throwing the logistics objects by the user, the picking device in the embodiment of the application can determine whether the logistics objects correspond to the picking device, determine whether the logistics objects are thrown into the designated container or not, determine whether the quantity of the logistics objects is correct or not, can finish quality inspection of picking, throwing and throwing the logistics objects, save links of manual quality inspection, can more efficiently finish picking and packaging processes of the logistics objects, and can save manual resources of manual quality inspection.

On the basis of the above embodiment, the embodiment of the present application further provides a picking device, as shown in fig. 1B, where the picking device includes: a control terminal 101 and a vehicle body; the vehicle body includes a shelf 102, a cue assembly 103, a positioning sensor assembly 104, an image acquisition assembly 105, and a scanning assembly 106.

Wherein,

the shelf 102 houses at least one container.

The scanning component 106 scans the logistic objects to determine picking information corresponding to the logistic objects.

The positioning sensor assembly 104 is disposed on the rack 102, and detects change data corresponding to the rack 102 during the process of delivering the logistics object to the picking device.

In the process of throwing the logistics objects into the picking device, the commodity shelf 102 generates elastic waves and micro deformation correspondingly, so in an alternative embodiment, the positioning sensor assembly 104 collects the elastic wave information of the commodity shelf as change data. Elastic wave information may be collected by the position sensor assembly 104 to determine where the deformation occurs. In another alternative embodiment, the positioning sensor assembly 104 collects micro-deformation information of the shelf as change data. Micro-deformation information may be collected by the positioning sensor assembly 104 to determine where the deformation occurred.

The image acquisition component 105 is arranged above the commodity shelf 102 and faces the commodity shelf 102, and acquires image data of a container placed on the commodity shelf 102.

The control terminal 101 determines container information of a container into which the logistic object enters according to the image data and the change data; and determining a picking result of the logistics object according to the picking information and the container information. The control terminal 101 may determine whether the number of the logistic objects is accurate in addition to whether the logistic objects are put into the correct container, so that as an alternative embodiment, the control terminal 101 determines the result of sorting the logistic objects according to the sorting information, the container information, and micro deformation data of at least one weighing sensor, and the weighing sensor 107 is provided on the rack to detect the weight of the logistic objects. The weight of the fed logistics objects can be detected through the weighing sensor, and the fed quantity is determined by combining the weight of the single logistics objects, so that the fed quantity is subjected to quality inspection.

In this embodiment, the shelf 102 may include multiple layers of partition boards, and each layer of partition board may be provided with a corresponding weighing sensor 107 as required, and specifically, as an optional embodiment, the shelf 102 includes multiple layers of partition boards for placing a container, where the weighing sensor 107 is disposed on the partition board, and parameter information of the weighing sensor 107 is related to the number of layers of the partition board, where the parameter information includes at least one of a measurement range and a measurement precision. The weighing sensor 107 corresponding to the measurement range and/or measurement accuracy can be set according to the number of layers of the partition boards, for example, a logistics object with a large weight can be placed on the partition board of the lower layer, and a logistics object with a small weight can be placed on the partition board of the upper layer, so that the weighing sensor 107 with a large measurement range and a wide measurement accuracy can be set on the partition board of the lower layer, and the weighing sensor 107 with a small measurement range and a fine measurement accuracy can be set on the partition board of the upper layer.

In this embodiment, the control terminal 101 may calibrate the weighing sensor 107, so as to improve measurement accuracy of the weighing sensor 107, and specifically, as an optional embodiment, the control terminal 101 obtains micro deformation data of the weighing sensor 107 in a calibrated state, and determines the weighing weight; and determining a revision amount according to the weighing weight and the calibration weight, wherein the revision amount is used for determining the weight of the logistic object by combining micro deformation data of the weighing sensor 107 in a weighing state. In the calibration state, where the control terminal 101 may set a normal weighing state and a calibration state for calibrating the weighing sensor 107 for the picking device, a weight (e.g., one kg) for calibrating the weight may be placed on the partition, and then the control terminal 107 determines the weighing weight according to the micro deformation data generated by the weighing sensor 107 in the calibration state, and determines the revision amount according to the difference between the weighing weight and the calibration weight. In the weighing state, the control terminal 101 can determine the weight of the logistic object according to the micro-deformation data and the revision amount generated by the load cell 107.

The prompting component 103 prompts according to the picking result.

In the embodiment of the application, a user picking a logistics object may use the scanning component 106 to scan the logistics object information of the picked logistics object to determine the picking information of the logistics object; from this picking information it can be determined whether the picked logistic object corresponds to a container on the picking device and is prompted by the prompting component 103. After the user has scanned the logistic object, the logistic object may be placed into a container on the item shelf 102 of the picking device. The picking device can detect the change data of the commodity shelf through the positioning sensor assembly 104, and can determine the container information of the container thrown by the logistics object in combination with the image data acquired by the image acquisition assembly 105. And determining and prompting a corresponding picking result according to the container information and the picking information.

Specifically, in the process of putting the logistics object into the container on the commodity shelf 102, elastic wave information (or micro deformation information) generated by the commodity shelf 102 can be collected, analysis is performed according to the elastic wave information (or micro deformation information), the position information of putting the logistics object is determined, and then the container information of the container corresponding to the position information is determined according to the position information and the image data. Then, the appointed container information of the logistics object can be determined according to the picking information, the container information is matched with the appointed container information, the corresponding picking result is determined, and the prompting is carried out. The embodiment of the application can also determine the number of the logistics objects through the weighing sensor 107 so as to verify the number of the logistics objects. In the process of picking and throwing the logistics objects by the user, the picking device in the embodiment of the application can determine whether the logistics objects correspond to the picking device, determine whether the logistics objects are thrown into the designated container or not, determine whether the quantity of the logistics objects is correct or not, can finish quality inspection of picking, throwing and throwing the logistics objects, save links of manual quality inspection, can more efficiently finish picking and packaging processes of the logistics objects, and can save manual resources of manual quality inspection.

It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments and that the acts referred to are not necessarily required by the embodiments of the present application.

On the basis of the above embodiment, this embodiment further provides a picking device, referring to fig. 4, specifically may include the following modules:

and the scanning processing module 402 is configured to scan the logistic object and determine picking information corresponding to the logistic object.

And the delivery processing module 404 is used for collecting image data and corresponding change data of a commodity shelf of the picking equipment in the process of delivering the logistics object to the picking equipment, wherein a container is placed on the commodity shelf.

And the delivery container determining module 406 is configured to determine container information of a container into which the logistic object enters according to the image data and the change data.

And the picking result determining module 408 is used for determining and prompting the picking result of the logistics object according to the picking information and the container information.

In summary, in the embodiment of the present application, a user who picks up a logistics object may scan the picked logistics object to determine picking information of the logistics object; after the user has scanned the logistic object, the logistic object may be placed in a container on the item rack of the picking device. The picking equipment detects the change data of the commodity shelf and determines the container information of the container into which the logistics object is put by combining the collected image data. And determining and prompting a corresponding picking result according to the container information and the picking information. In the process of picking and throwing the logistics object by the user, the embodiment of the application can determine whether the logistics object corresponds to the picking device through scanning the logistics object, can also determine whether the logistics object is thrown into the appointed container through the change of the commodity shelf and the image data, completes the picking and throwing quality inspection of the logistics object, can save the link of manual quality inspection, can more efficiently complete the picking and packing process of the logistics object, improves the logistics efficiency, and can save the manual resources of the manual quality inspection.

and the picking information determining module is used for scanning the logistics object and determining the picking information corresponding to the logistics object. The data acquisition module is used for acquiring image data and corresponding change data of a commodity shelf of the picking equipment in the process of throwing the commodity circulation object into the picking equipment, and a container is placed on the commodity shelf.

And the deformation position determining module is used for determining the position information of the deformation on the picking equipment according to the change data. In an alternative embodiment, the embodiment of the present application may determine the location of the deformation by collecting elastic waves of the shelf. Specifically, the picking device may include an elastic wave acquisition module and a first position determining module, where the elastic wave acquisition module is configured to acquire elastic wave information of at least one positioning sensor on the shelf; and the first position determining module is used for determining the position information of deformation according to the elastic wave information. In another optional embodiment, the embodiment of the application may further determine a location where deformation occurs by collecting micro deformation of the rack, and the picking device may further include a micro deformation obtaining module and a second location determining module, where the micro deformation obtaining module is specifically configured to collect micro deformation information of at least one positioning sensor on the rack; and the second position determining module is used for determining the position information of deformation according to the micro deformation information.

And the image recognition module is used for recognizing the image data and determining the characteristic information of the container corresponding to the position information, wherein the characteristic data comprises at least one of shape information, contour information, size information and color information of the container.

And the container acquisition module is used for determining container information of the container according to the characteristic information. And the designated container acquisition module is used for determining designated container information of the designated container corresponding to the logistics object according to the picking information. And the container matching module is used for matching the container information with the appointed container information and determining a picking result.

In addition to determining whether the logistics objects are put into the specified container, the embodiment of the application can determine whether the picking quantity is accurate, and specifically, the picking device can comprise a weighing processing module and a result acquisition module, wherein the weighing processing module is used for acquiring micro deformation data of at least one weighing sensor on the commodity shelf; and the result acquisition module is used for determining the sorting result of the logistics object according to the micro deformation data, the sorting information and the container information. The number of the thrown objects is determined through the weight of the thrown logistics objects and the weight of the single logistics objects, so that the number of the thrown objects is matched with the designated throwing number, and a picking result is determined.

In this application embodiment, the supporter can include the multilayer baffle, can set up corresponding weighing sensor as required on every layer of baffle, specifically, as an optional embodiment, the supporter includes the multilayer baffle that is used for placing the container, weighing sensor sets up at the baffle, weighing sensor's parameter information and the number of piles of baffle are correlated with, parameter information includes at least one of measuring range and measurement accuracy.

In this embodiment of the present application, calibration may be performed on the weighing sensor, so as to improve measurement accuracy of the weighing sensor, and specifically, as an optional embodiment, the apparatus further includes a calibration module, configured to obtain micro deformation data of the weighing sensor in a calibration state, and determine a weighing weight; and determining a revision amount according to the weighing weight and the calibration weight, wherein the revision amount is used for determining the weight of the logistics object by combining micro deformation data of the weighing sensor in a weighing state.

And the picking prompt module is used for prompting according to the picking result. According to the embodiment of the application, the corresponding vibration prompt can be sent out through the vibration prompt component; corresponding prompt tones can be sent out through the voice prompt component to prompt; corresponding prompt information can be displayed through the display prompt component so as to prompt.

The embodiment of the application also provides a non-volatile readable storage medium, where one or more modules (programs) are stored, where the one or more modules are applied to a device, and the device may be caused to execute instructions (instractions) of each method step in the embodiment of the application.

Embodiments of the present application provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause an electronic device to perform a method as described in one or more of the above embodiments. In this embodiment of the present application, the electronic device includes a server, a terminal device, and other devices.

Embodiments of the present disclosure may be implemented as an apparatus for performing a desired configuration using any suitable hardware, firmware, software, or any combination thereof, which may include a server (cluster), terminal, or the like. Fig. 5 schematically illustrates an example apparatus 500 that may be used to implement various embodiments described herein.

For one embodiment, fig. 5 illustrates an example apparatus 500 having one or more processors 502, a control module (chipset) 504 coupled to at least one of the processor(s) 502, a memory 506 coupled to the control module 504, a non-volatile memory (NVM)/storage 508 coupled to the control module 504, one or more input/output devices 510 coupled to the control module 504, and a network interface 512 coupled to the control module 504.

The processor 502 may include one or more single-core or multi-core processors, and the processor 502 may include any combination of general-purpose or special-purpose processors (e.g., graphics processor, application processor, baseband processor, etc.). In some embodiments, the apparatus 500 can be used as a server, a terminal, or the like in the embodiments of the present application.

In some embodiments, the apparatus 500 can include one or more computer-readable media (e.g., memory 506 or NVM/storage 508) having instructions 514 and one or more processors 502 in combination with the one or more computer-readable media configured to execute the instructions 514 to implement the modules to perform the actions described in this disclosure.

For one embodiment, the control module 504 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 502 and/or any suitable device or component in communication with the control module 504.

The control module 504 may include a memory controller module to provide an interface to the memory 506. The memory controller modules may be hardware modules, software modules, and/or firmware modules.

Memory 506 may be used, for example, to load and store data and/or instructions 514 for apparatus 500. For one embodiment, memory 506 may include any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, memory 506 may comprise a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).

For one embodiment, the control module 504 may include one or more input/output controllers to provide an interface to the NVM/storage 508 and the input/output device(s) 510.

For example, NVM/storage 508 may be used to store data and/or instructions 514. NVM/storage 508 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).

NVM/storage 508 may include a storage resource as part of the device on which apparatus 500 is installed or it may be accessible by the device without necessarily being part of the device. For example, NVM/storage 508 may be accessed over a network via input/output device(s) 510.

Input/output device(s) 510 may provide an interface for apparatus 500 to communicate with any other suitable device, input/output device 510 may include a communication component, an audio component, a sensor component, and the like. Network interface 512 may provide an interface for device 500 to communicate over one or more networks, and device 500 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols, such as accessing a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, 5G, etc., or a combination thereof.

For one embodiment, at least one of the processor(s) 502 may be packaged together with logic of one or more controllers (e.g., memory controller modules) of the control module 504. For one embodiment, at least one of the processor(s) 502 may be packaged together with logic of one or more controllers of the control module 504 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 502 may be integrated on the same mold as logic of one or more controllers of the control module 504. For one embodiment, at least one of the processor(s) 502 may be integrated on the same die with logic of one or more controllers of the control module 504 to form a system on chip (SoC).

In various embodiments, the apparatus 500 may be, but is not limited to being: a server, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.), among other terminal devices. In various embodiments, the apparatus 500 may have more or fewer components and/or different architectures. For example, in some embodiments, the apparatus 500 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and a speaker.

The detection device can adopt a main control chip as a processor or a control module, sensor data, position information and the like are stored in a memory or an NVM/storage device, a sensor group can be used as an input/output device, and a communication interface can comprise a network interface.

The embodiment of the application also provides electronic equipment, which comprises: a processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform a method as described in one or more of the embodiments herein.

Embodiments also provide one or more machine-readable media having executable code stored thereon that, when executed, cause a processor to perform a method as described in one or more of the embodiments of the present application.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.

In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has outlined in detail a picking method, a picking apparatus, a picking device, an electronic device and a storage medium provided by the present application, wherein specific examples are applied to illustrate the principles and embodiments of the present application, and the above examples are only used to help understand the method and core idea of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. A method of picking, the method comprising:

scanning a logistics object and determining picking information corresponding to the logistics object;

in the process of throwing the logistics object into the picking equipment, acquiring image data and corresponding change data of a commodity shelf of the picking equipment, wherein a container is placed on the commodity shelf, and the change data comprises at least one of the following components: elastic wave information and micro deformation information;

determining position information of deformation on the picking equipment according to the change data;

determining container information of a container corresponding to the position information according to the image data, wherein the container information comprises a container number;

And determining and prompting the picking result of the logistics object according to the picking information and the container information, wherein the picking result comprises correct picking and/or incorrect picking.

2. The method of claim 1, the determining positional information of the deformation on the picking device based on the change data, comprising:

collecting elastic wave information of at least one positioning sensor on the commodity shelf;

and determining the position information of deformation according to the elastic wave information.

3. The method of claim 1, wherein determining positional information for deformation on the picking device based on the change data comprises:

acquiring micro deformation information of at least one positioning sensor on the commodity shelf;

and determining the position information of deformation according to the micro deformation information.

4. The method according to claim 1, wherein determining container information of the container to which the position information corresponds from the image data includes:

identifying the image data, and determining the characteristic information of the container corresponding to the position information, wherein the characteristic information comprises at least one of shape information, contour information, size information and color information of the container;

And determining the container information of the container according to the characteristic information.

5. The method of claim 1, wherein determining and prompting a picking result of the logistic object based on the picking information and the container information, comprises:

determining the appointed container information of the appointed container corresponding to the logistics object according to the sorting information;

matching the container information with the appointed container information to determine a picking result;

and prompting according to the sorting result.

6. The method of claim 5, wherein the prompting based on the picking result comprises at least one of:

sending out a corresponding vibration prompt through the vibration prompt component;

sending out corresponding prompt tones through the sound prompt component so as to prompt;

and displaying corresponding prompt information through the display prompt component so as to prompt.

7. The method of claim 1, wherein determining a pick result for the logistic object based on the pick information and the container information comprises:

collecting micro deformation data of at least one weighing sensor on the commodity shelf;

And determining the sorting result of the logistics object according to the micro deformation data, the sorting information and the container information.

8. The method of claim 7, wherein the shelf includes a plurality of layers of partitions for placing the containers, the load cells are disposed on the partitions, and parameter information of the load cells is related to the number of layers of the partitions, and the parameter information includes at least one of a measurement range and a measurement accuracy.

9. The method of claim 7, further comprising the step of calibrating the measurement sensor:

acquiring micro deformation data of the weighing sensor in a calibration state, and determining the weighing weight;

and determining a revision amount according to the weighing weight and the calibration weight, wherein the revision amount is used for determining the weight of the logistics object by combining micro deformation data of the weighing sensor in a weighing state.

10. A picking apparatus, comprising:

a control terminal and a vehicle body; the vehicle body comprises a storage rack, a prompt assembly, a positioning sensor assembly, an image acquisition assembly and a scanning assembly;

the commodity shelf is provided with at least one container;

the scanning assembly scans the logistics object to determine picking information corresponding to the logistics object;

The positioning sensor component is arranged on the commodity shelf, and detects change data corresponding to the commodity shelf in the process of throwing the commodity circulation object into the picking equipment, wherein the change data comprises at least one of the following: elastic wave information and micro deformation information;

the image acquisition component is arranged above the commodity shelf and faces the commodity shelf, and acquires image data of a container placed on the commodity shelf;

the control terminal determines the position information of deformation on the picking equipment according to the change data; determining container information of a container corresponding to the position information according to the image data, wherein the container information comprises a container number; determining a picking result of the logistics object according to the picking information and the container information, wherein the picking result comprises correct picking and/or incorrect picking;

and the prompting component prompts according to the picking result.

11. The apparatus of claim 10, wherein the device comprises a plurality of sensors,

the positioning sensor component collects elastic wave information of the commodity shelf to serve as change data.

12. The apparatus of claim 10, wherein the device comprises a plurality of sensors,

the positioning sensor component collects micro-deformation information of the commodity shelf to serve as change data.

13. The apparatus of claim 10, wherein the device comprises a plurality of sensors,

and the control terminal determines the sorting result of the logistics object according to the sorting information, the container information and the micro-deformation data of at least one weighing sensor, and the weighing sensor is arranged on the commodity shelf so as to detect the weight of the logistics object.

14. The apparatus of claim 13, wherein the shelf includes a plurality of layers of partitions for placing the containers, the load cells are disposed on the partitions, and parameter information of the load cells is related to the number of layers of the partitions, and the parameter information includes at least one of a measurement range and a measurement accuracy.

15. The apparatus of claim 14, wherein the device comprises a plurality of sensors,

the control terminal acquires micro deformation data of the weighing sensor in a calibration state and determines the weighing weight; and determining a revision amount according to the weighing weight and the calibration weight, wherein the revision amount is used for determining the weight of the logistics object by combining micro deformation data of the weighing sensor in a weighing state.

16. A picking device, comprising:

the scanning processing module is used for scanning the logistics object and determining picking information corresponding to the logistics object;

The delivery processing module is used for collecting image data and corresponding change data of a commodity shelf of the picking equipment in the process of delivering the commodity circulation object to the picking equipment, a container is placed on the commodity shelf, and the change data comprises at least one of the following components: elastic wave information and micro deformation information;

the delivery container determining module is used for determining position information of deformation on the picking equipment according to the change data; determining container information of a container corresponding to the position information according to the image data, wherein the container information comprises a container number;

and the picking result determining module is used for determining and prompting the picking result of the logistics object according to the picking information and the container information, wherein the picking result comprises correct picking and/or incorrect picking.

17. An electronic device, comprising: a processor; and

memory having executable code stored thereon that, when executed, causes the processor to perform the method of one or more of claims 1-9.

18. A machine readable medium having stored thereon executable code which when executed causes a processor to perform the method of one or more of claims 1-9.