CN115439069B - Intelligent inventory method, device, equipment and storage medium for unmanned archive warehouse - Google Patents
Intelligent inventory method, device, equipment and storage medium for unmanned archive warehouse Download PDFInfo
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- CN115439069B CN115439069B CN202211168713.XA CN202211168713A CN115439069B CN 115439069 B CN115439069 B CN 115439069B CN 202211168713 A CN202211168713 A CN 202211168713A CN 115439069 B CN115439069 B CN 115439069B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0835—Relationships between shipper or supplier and carriers
- G06Q10/08355—Routing methods
Abstract
The application relates to an intelligent checking method, device, equipment and storage medium for an unmanned archive warehouse, which are applied to the technical field of unmanned warehouse, and the method comprises the following steps: acquiring an inventory task; determining the scanning power of the first robot based on the inventory task; determining a scanning area of the first robot based on the scanning power; and checking the target file in the unmanned file warehouse based on the scanning area to obtain a checking result. The method and the device have the advantages of improving inventory efficiency and realizing unmanned warehouse management.
Description
Technical Field
The application relates to the technical field of unmanned warehouse, in particular to an intelligent checking method, device and equipment for an unmanned file warehouse and a storage medium.
Background
The file warehouse is a special warehouse place, files can be borrowed for delivery and returned to the warehouse, and the files need to be checked regularly in consideration of confidentiality, safety and importance of the files, and the checking records should be recorded accurately in real time and stored for a long time.
With the progress of the first robot technology in recent years, more and more first robots are used in the industries of storage, logistics and the like. The application of the first robot in the scenes has the advantages that labor cost is saved, efficiency is improved, error rate is reduced, and conditions are provided for constructing unmanned warehouse.
Although the first robot has been applied to industries such as warehouse, the present checking of files is performed manually, if the manual operation is completely relied on, not only the missing, wrong recording and missing of records can be caused, but also the defects of low checking efficiency, redundancy of related personnel and the like can be caused due to the overlarge data volume of the files.
Disclosure of Invention
In order to improve inventory efficiency and realize unmanned warehouse management, the application provides an unmanned archive warehouse intelligent inventory method, device, equipment and storage medium.
In a first aspect, the present application provides an intelligent checking method for an unmanned archive warehouse, which adopts the following technical scheme:
an intelligent inventory method for an unmanned archive warehouse, comprising the following steps:
acquiring an inventory task;
determining the scanning power of the first robot based on the inventory task;
determining a scanning area of the first robot based on the scanning power;
and checking the target file in the unmanned file warehouse based on the scanning area to obtain a checking result.
Through adopting above-mentioned technical scheme, when needs are checked unmanned archives warehouse, confirm the scanning area of robot through the task of checking that obtains, check the target archives in the scanning area, constantly adjust the scanning area in the in-process of checking to realize the checking of unmanned archives warehouse target archives, compare in addition with prior art, check the target archives through the robot have the advantage that improves checking efficiency, error rate is low, the checking rate is high.
Optionally, the determining the scanning power of the first robot based on the inventory task includes:
determining an inventory area based on the inventory task;
acquiring current position information of the first robot and position information of a central point of the inventory area;
determining a first distance between the first robot and a central point of the inventory area based on the current position information;
judging whether the first distance is larger than a preset distance or not;
if yes, adjusting the scanning power of the first robot to be the maximum scanning power, and controlling the first robot to move into the inventory area;
and if not, adjusting the scanning power to the scanning power corresponding to the first distance.
Optionally, the controlling the first robot to count into the inventory area includes:
planning a plurality of first travel routes of the first robot based on the current position information and the position information of the inventory area center point;
sequencing a plurality of first travel routes to obtain a first sequencing result;
selecting an optimal travel route based on the first sequencing result, wherein the optimal travel route is a first travel route with the shortest distance;
judging whether an inventory area of other first robots in inventory exists on the optimal travel route;
if so, acquiring second travelling routes of other first robots;
adjusting the optimal travel route based on the second travel route to obtain a third travel route;
the first robot is controlled to move based on the third travel route.
Optionally, before the controlling the first robot to move based on the third travel route, the method further includes:
acquiring the travelling speed of the first robot and the moving distance of the travelling route;
determining a movement time of the first robot based on the movement distance and the travel speed, the movement time being a time when the first robot reaches a center point of the inventory area from the current position;
acquiring the opening speed of the intelligent compact shelf in the checking area;
determining the opening time of the intelligent compact shelf based on the moving time and the opening speed;
and controlling the intelligent compact shelf to be opened based on the opening time.
Optionally, the checking the file label in the unmanned file warehouse based on the scanning area, and obtaining the checking result includes:
acquiring a first file label in an inventory task;
acquiring all file label groups in the scanning area;
comparing the first file label with the file label group one by one;
if the first file label exists in the file label group, accurately positioning the first file label to obtain positioning information, and taking the positioning information as an inventory result;
if the first label does not exist in the file label group, acquiring the related information of the target file represented by the first file label, wherein the related information comprises borrowers and borrowing time, and taking the related information as a checking result.
Optionally, the accurately positioning the first file label includes:
establishing a three-dimensional model based on the intelligent compact shelf;
establishing a rectangular coordinate system based on the three-dimensional model;
acquiring a first coordinate of the first robot on the rectangular coordinate system;
determining a second coordinate of the first file tag based on the scan area and the first coordinate;
and determining positioning information according to the second coordinates and the three-dimensional model.
Optionally, the checking the target archive in the unmanned archive warehouse based on the scanning area includes:
acquiring inventory progress and electric quantity information of the first robot;
judging whether the first robot can finish the inventory task or not based on the electric quantity information and the inventory progress;
if not, selecting a second robot to finish the inventory task, wherein the second robot is a first robot without the inventory task and/or a first robot finished with the inventory task.
In a second aspect, the application provides an unmanned archive warehouse intelligent checking device, which adopts the following technical scheme:
an unmanned archive warehouse intelligent inventory device, comprising:
the acquisition module is used for acquiring inventory tasks;
the first determining module is used for determining the scanning power of the first robot based on the checking task;
a second determining module for determining a scanning area of the first robot based on the scanning power;
and the checking module is used for checking the target files in the unmanned file warehouse based on the scanning area to obtain a checking result.
Through adopting above-mentioned technical scheme, when needs are checked unmanned archives warehouse, confirm the scanning area of robot through the task of checking that obtains, check the target archives in the scanning area, constantly adjust the scanning area in the in-process of checking to realize the checking of unmanned archives warehouse target archives, compare in addition with prior art, check the target archives through the robot have the advantage that improves checking efficiency, error rate is low, the checking rate is high.
In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:
an intelligent terminal comprising a processor coupled to a memory;
the processor is configured to execute a computer program stored in the memory, so that the intelligent terminal executes the unmanned archive warehouse intelligent inventory method according to any one of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:
a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the unmanned archive warehouse intelligent inventory method of any of the first aspects.
Drawings
Fig. 1 is a schematic flow chart of an intelligent checking method for an unmanned archive warehouse according to an embodiment of the present application.
Fig. 2 is a block diagram of an intelligent checking device for an unmanned archive warehouse according to an embodiment of the present application.
Fig. 3 is a block diagram of a structure of an intelligent terminal according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides an intelligent checking method of an unmanned archive warehouse, which can be executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, the server can be an independent physical server, a server cluster or a distributed system formed by a virtual machine or a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a desktop computer, etc.
Fig. 1 is a schematic flow chart of an intelligent checking method for an unmanned archive warehouse according to an embodiment of the present application.
As shown in fig. 1, the main flow of the method is described as follows (steps S101 to S104):
and S1O1, acquiring an inventory task.
In the embodiment, the unmanned archive warehouse comprises an intelligent compact shelf, an intelligent terminal and a plurality of first robots, a worker can remotely issue an inventory task to the intelligent terminal through the Internet, can issue the inventory task in a manual input mode, and then acquires the inventory task through the intelligent terminal; and then the intelligent terminal controls the first robot and the intelligent compact shelf to act according to the inventory task, and performs inventory.
Specifically, the inventory tasks include rough inventory and fine inventory, wherein the rough inventory is to determine whether the target file is in the unmanned file warehouse, and the fine inventory is to determine the accurate position of the target file in the unmanned file warehouse.
In this embodiment, the first robot is provided with a scanning device, and each file is provided with an RFID electronic tag, and the first robot scans the RFID electronic tags through the scanning device, so as to complete the inventory task.
Step S102, determining the scanning power of the first robot based on the inventory task.
Specifically, an inventory area is determined based on an inventory task; acquiring current position information of a first robot and position information of a central point of an inventory area; determining a first distance between the first robot and a central point of the inventory area based on the current position information; judging whether the first distance is larger than a preset distance or not; if yes, the scanning power of the first robot is adjusted to be the maximum scanning power, and the first robot is controlled to move into the inventory area; if not, the scanning power is adjusted to the scanning power corresponding to the first distance.
In this embodiment, since each first robot is responsible for a different area, it is necessary to determine the inventory area where the target archive is located according to the type of the target archive in the inventory task, for example, if the target archive is an economic type archive, the area where the economic type archive is stored is classified as the inventory area, and if the target archive is a legal type archive, the area where the legal type archive is stored is classified as the inventory area.
After the checking area is determined, since a plurality of intelligent compact shelves exist in the checking area, in order to facilitate checking of the target files in the checking area, the position of the center point of the checking area needs to be determined, the first distance between the first robot and the center point is determined according to the position information of the center point and the current position information of the first robot, the first distance is compared with a preset distance, the scanning power of the first robot is adjusted according to a comparison result, and the preset distance is the maximum distance which can be scanned when the scanning power of the first robot is the maximum scanning power.
When the first distance is greater than the preset distance, the scanning power of the first robot needs to be adjusted to be maximum, and then the first robot is controlled to gradually move towards the center point according to the current position information of the first robot and the position information of the center point.
When the first distance is equal to the preset distance, the maximum scanning area of the first robot can fully cover the checking area, so that the target files in the checking area can be checked.
When the first distance is smaller than the preset distance, the scanning power of the first robot can be gradually adjusted according to the first distance, so that the scanning area of the first robot is adjusted, and further, the target file is accurately positioned to finish fine inventory.
Further, controlling the first robot to check the area includes: planning a first travel route of a plurality of first robots based on the current position information and the position information of the central point of the inventory area; sequencing a plurality of first travel routes to obtain a first sequencing result; selecting an optimal travel route based on the first sequencing result, wherein the optimal travel route is the travel route with the shortest distance; judging whether an inventory area of other first robots in inventory exists on the optimal travel route; if so, acquiring second travelling routes of other first robots; adjusting the optimal travel route based on the second travel route to obtain a third travel route; the first robot is controlled to move based on the third travel route.
In this embodiment, when the first distance is greater than the preset distance, the first robot needs to be controlled to move toward the inventory area, and at this time, the travel route of the first robot needs to be planned, so that the first robot reaches the inventory area at the highest speed.
For example, three first travel routes are planned from the first robot to the center point of the inventory area, the moving distances of the first robot for the three first travel routes are calculated respectively, the travel routes are ordered according to the moving distances, a first ordering result is obtained, the first travel route with the shortest moving distance is selected from the first ordering result to serve as an optimal travel route, and then the first robot is controlled to move to the inventory area according to the optimal travel route.
Further, before the first robot is controlled to move to the inventory area according to the optimal travel route, if the inventory area where other first robots are inventory exists on the optimal travel route, the optimal route needs to be adjusted according to the second travel route of the other first robots to obtain a third travel route, so that the influence of the first robot on the other first robots in the moving process is reduced.
However, when the moving distance of the third moving route is greater than the moving distance of the rest of the first moving routes, the moving routes need to be reordered to obtain a second ordering result, and then the optimal moving route is reselected from the second ordering result until the optimal moving route can meet the requirement that the first robot quickly reaches the inventory area.
Further, before controlling the first robot to move based on the third travel route, the method further includes: acquiring the travelling speed of the first robot and the travelling distance of a travelling route; determining the moving time of the first robot based on the moving distance and the travelling speed, wherein the moving time is the time when the first robot reaches the center point of the inventory area from the current position; acquiring the opening speed of the intelligent compact shelf in the checking area; determining the opening time of the intelligent compact shelf based on the moving time and the opening speed; and controlling the intelligent compact shelf to be opened based on the opening time.
In this embodiment, in order to shorten the time for the first robot to inventory, the moving time of the first robot is determined according to the moving distance of the optimal traveling route and the traveling speed of the first robot, and then the intelligent compact shelf is opened in advance according to the moving time, thereby reducing the waiting time of the first robot.
For example, the moving distance is 36 meters, the advancing speed is 6 meters/min, the moving time of the first robot is 6 minutes, the opening speed of the intelligent compact shelf is 4 meters/min, but the time for fully opening the intelligent compact shelf is only 10 seconds, when the first robot advances for 35 meters, the intelligent compact shelf starts to open, so that when the first robot reaches an inventory area, the intelligent compact shelf just opens completely, the inventory of a target file of the inventory area is not influenced by the first robot, and the waiting time of the first robot is saved.
Step S103, determining a scanning area of the first robot based on the scanning power.
In this embodiment, the scanning area of the first robot is a sphere scanning area formed by taking the scanning distance corresponding to the scanning power as a radius, and the scanning area is centered on the first robot.
For example, if the maximum scanning distance of the first robot is 30 meters and the minimum scanning distance is 5 cm, the maximum scanning area of the first robot is a sphere scanning area with the first robot as a center and a radius of 30 meters, and the minimum scanning area of the first robot is a sphere scanning area with the first robot as a center and a radius of 5 cm.
After the first robot acquires the inventory task, the first robot scans the largest scanning area, and then gradually reduces the scanning area to finish positioning the target file.
Step S104, checking the target files in the unmanned file warehouse based on the scanning area to obtain a checking result.
Specifically, a first file label in an inventory task is obtained; acquiring all file label groups in a scanning area; comparing the first file label with the file label group one by one; if the first file label exists in the file label group, accurately positioning the first file label to obtain positioning information, and taking the positioning information as an inventory result; if the first label does not exist in the file label group, acquiring related information of the file represented by the first file label, wherein the related information comprises borrowers and borrowing time, and the related information is used as an inventory result.
In this embodiment, when the first robot arrives at the checking area, the file tag group in the checking area is compared with the first file tag of the target file, and when the rough checking is performed, if the first file tag exists in the file tag group, the rough checking is completed, the accurate checking is performed, that is, the first file tag is accurately positioned, so as to obtain positioning information.
If the first file label does not exist in the file label group, acquiring the related information of the target file represented by the first file label; for example, the target file is a newspaper in July of 2021, but when rough checking is performed, it is found that the target file does not exist in the unmanned file warehouse, and related information of the target file needs to be retrieved, for example, borrowing is a newspaper agency, borrowing time is 2022 July to 2022 october, current checking time is 2022, the target file at this time is not yet returned, and the intelligent terminal takes borrowing person and borrowing time as checking results of the target file.
Further, performing accurate positioning on the first file label to obtain positioning information includes: establishing a three-dimensional model based on the intelligent compact shelf; acquiring a first coordinate of a first robot on a three-dimensional model; determining a second coordinate of the first file tag based on the scan area and the first coordinate; and determining positioning information according to the second coordinates and the three-dimensional model.
When the first robot performs fine inventory on the target file, a rectangular coordinate system is established by using the center point of the intelligent compact shelf, the second coordinate of the first file label is determined according to the first coordinate of the first robot and the second distance between the first file label and the first robot, for example, the first coordinate of the first robot is (1, 5-2), the linear distance between the first robot and the first file label is 0.5 meter, the second coordinate (-2, 5, 2) of the target file represented by the first file label can be determined, and at the moment, the positioning information of the target file can be found in the three-dimensional model through the second coordinate, and then the positioning information is output as an inventory result.
Further, the method further comprises: acquiring inventory progress and electric quantity information of a first robot; judging whether the first robot can finish the inventory task or not based on the electric quantity information and the inventory progress; if not, selecting a second robot to finish the inventory task, wherein the second robot is a first robot without the inventory task and/or a first robot finished with the inventory task.
In this embodiment, when the first robot performs the inventory of the target file, the electric quantity information of the first robot is obtained in real time, and the inventory task is planned according to the electric quantity information and the inventory progress of the first robot, and when the electric quantity of the first robot is insufficient to support the hundred percent of completion of the inventory task, the second robot needs to be selected to complete the inventory task, so as to ensure the effective progress and the inventory efficiency of the inventory task, for example: the current inventory progress of the first robot is fifty percent, but the electric quantity of the first robot is less than ten percent at the moment, the most suitable first robot is selected from the first robots without inventory tasks and/or the first robots which have completed inventory tasks to serve as a second robot, and the second robot is adopted to complete inventory tasks; in this embodiment, the optimal second robot is the first robot that has the greatest amount of electricity and has not performed the inventory task.
Fig. 2 is a block diagram of an intelligent checking device 200 for an unmanned archive warehouse according to an embodiment of the present application.
As shown in fig. 2, the intelligent checking device 200 for an unmanned archive warehouse mainly includes:
an acquisition module 201, configured to acquire an inventory task;
a first determining module 202, configured to determine a scanning power of the first robot based on the inventory task;
a second determining module 203, configured to determine a scanning area of the first robot based on the scanning power;
and the inventory module 204 is configured to inventory the target archive in the unmanned archive warehouse based on the scanning area, thereby obtaining an inventory result.
As an optional implementation manner of this embodiment, the determining, by the first determining module 202, the scan power of the first robot based on the inventory task further specifically includes: determining an inventory area based on the inventory task; acquiring current position information of a first robot and position information of a central point of an inventory area; determining a first distance between the first robot and a central point of the inventory area based on the current position information; judging whether the first distance is larger than a preset distance or not; if yes, the scanning power of the first robot is adjusted to be the maximum scanning power, and the first robot is controlled to move into the inventory area; if not, the scanning power is adjusted to the scanning power corresponding to the first distance.
As an optional implementation manner of this embodiment, the first determining module 202 is further specifically configured to control the first robot to inventory the area to include: planning a first travel route of a plurality of first robots based on the current position information and the position information of the central point of the inventory area; sequencing a plurality of first travel routes to obtain a first sequencing result; selecting an optimal travel route based on the first sequencing result, wherein the optimal travel route is a first travel route with the shortest distance; judging whether an inventory area of other first robots in inventory exists on the optimal travel route; if so, acquiring second travelling routes of other first robots; adjusting the optimal travel route based on the second travel route to obtain a third travel route; the first robot is controlled to move based on the third travel route.
As an alternative implementation of this embodiment, the first determining module 202 is further specifically configured to, before controlling the first robot to move based on the third travel route, the method further includes: acquiring the travelling speed of the first robot and the travelling distance of a travelling route; determining the moving time of the first robot based on the moving distance and the travelling speed, wherein the moving time is the time when the first robot reaches the center point of the inventory area from the current position; acquiring the opening speed of the intelligent compact shelf in the checking area; determining the opening time of the intelligent compact shelf based on the moving time and the opening speed; and controlling the intelligent compact shelf to be opened based on the opening time.
As an optional implementation manner of this embodiment, the inventory module 204 is further specifically configured to perform inventory on an archive tag in the unmanned archive warehouse based on the scan area, where obtaining an inventory result includes: acquiring a first file label in an inventory task; acquiring all file label groups in a scanning area; comparing the first file label with the file label group one by one; if the first file label exists in the file label group, accurately positioning the first file label to obtain positioning information, and taking the positioning information as an inventory result; if the first label does not exist in the file label group, acquiring related information of the target file represented by the first file label, wherein the related information comprises borrowers and borrowing time, and the related information is used as an inventory result.
As an optional implementation manner of this embodiment, the inventory module 204 is further specifically configured to accurately locate the first file tag, where the obtaining positioning information includes: establishing a three-dimensional model based on the intelligent compact shelf; establishing a rectangular coordinate system based on the three-dimensional model; acquiring a first coordinate of a first robot on a rectangular coordinate system; determining a second coordinate of the first file tag based on the scan area and the first coordinate; and determining positioning information according to the second coordinates and the three-dimensional model.
As an optional implementation manner of this embodiment, the inventory module 204 is further specifically configured to perform inventory of the target archive in the unmanned archive repository based on the scanning area, where the inventory module includes: acquiring inventory progress and electric quantity information of a first robot; judging whether the first robot can finish the inventory task or not based on the electric quantity information and the inventory progress; if not, selecting a second robot to finish the inventory task, wherein the second robot is a first robot without the inventory task and/or a first robot finished with the inventory task.
In one example, a module in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specific integratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when a module in an apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke a program. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
Fig. 3 is a block diagram of a structure of an intelligent terminal 300 according to an embodiment of the present application.
As shown in fig. 3, the intelligent terminal 300 includes a processor 301 and a memory 302, and may further include an information input/information output (I/O) interface 303, one or more of a communication component 304, and a communication bus 305.
The processor 301 is configured to control the overall operation of the intelligent terminal 300 to complete all or part of the steps of the intelligent inventory method for the human archive warehouse; the memory 302 is used to store various types of data to support operation at the intelligent terminal 300, which may include, for example, instructions for any application or method operating on the intelligent terminal 300, as well as application-related data. The Memory 302 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as one or more of static random access Memory (Static Random Access Memory, SRAM), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
The I/O interface 303 provides an interface between the processor 301 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 304 is used for wired or wireless communication between the intelligent terminal 300 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, or 4G, or a combination of one or more thereof, and accordingly the communication component 304 can include: wi-Fi part, bluetooth part, NFC part.
The intelligent terminal 300 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), digital signal processor (Digital Signal Processor, abbreviated as DSP), digital signal processing device (Digital Signal Processing Device, abbreviated as DSPD), programmable logic device (Programmable Logic Device, abbreviated as PLD), field programmable gate array (Field Programmable Gate Array, abbreviated as FPGA), controller, microcontroller, microprocessor or other electronic components for performing the unmanned archive warehouse intelligent inventory method as set forth in the above embodiments.
Communication bus 305 may include a pathway to transfer information between the aforementioned components. The communication bus 305 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus 305 may be divided into an address bus, a data bus, a control bus, and the like.
The smart terminal 300 may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like, and may also be a server, and the like.
The application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the steps of the intelligent inventory method of the unmanned archive warehouse when being executed by a processor.
The computer readable storage medium may include: a U-disk, a removable hard disk, a read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the application referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or their equivalents is possible without departing from the spirit of the application. Such as the above-mentioned features and the technical features having similar functions (but not limited to) applied for in this application are replaced with each other.
Claims (7)
1. An intelligent inventory method for an unmanned archive warehouse, which is characterized by comprising the following steps:
acquiring an inventory task;
determining the scanning power of the first robot based on the inventory task;
determining a scanning area of the first robot based on the scanning power;
counting target files in the unmanned file warehouse based on the scanning area to obtain a counting result;
the determining the scanning power of the first robot based on the inventory task includes:
determining an inventory area based on the inventory task;
acquiring current position information of the first robot and position information of a central point of the inventory area;
determining a first distance between the first robot and a central point of the inventory area based on the current position information;
judging whether the first distance is larger than a preset distance or not;
if yes, adjusting the scanning power of the first robot to be the maximum scanning power, and controlling the first robot to move into the inventory area;
if not, the scanning power is adjusted to be the scanning power corresponding to the first distance;
the controlling the first robot to move toward the inventory area includes:
planning a plurality of first travel routes of the first robot based on the current position information and the position information of the inventory area center point;
sequencing a plurality of first travel routes to obtain a first sequencing result;
selecting an optimal travel route based on the first sequencing result, wherein the optimal travel route is a first travel route with the shortest distance;
judging whether an inventory area of other first robots in inventory exists on the optimal travel route;
if so, acquiring second travelling routes of other first robots;
adjusting the optimal travel route based on the second travel route to obtain a third travel route;
controlling the first robot to move based on the third travel route;
before the controlling the first robot to move based on the third travel route, the method further includes:
acquiring the travelling speed of the first robot and the moving distance of the travelling route;
determining a movement time of the first robot based on the movement distance and the travel speed, the movement time being a time when the first robot reaches a center point of the inventory area from the current position;
acquiring the opening speed of the intelligent compact shelf in the checking area;
determining the opening time of the intelligent compact shelf based on the moving time and the opening speed;
and controlling the intelligent compact shelf to be opened based on the opening time.
2. The method of claim 1, wherein the checking the archive label in the unmanned archive warehouse based on the scan area comprises:
acquiring a first file label in an inventory task;
acquiring all file label groups in the scanning area;
comparing the first file label with the file label group one by one;
if the first file label exists in the file label group, accurately positioning the first file label to obtain positioning information, and taking the positioning information as an inventory result;
if the first file label does not exist in the file label group, acquiring related information of the target file represented by the first file label, wherein the related information comprises borrowers and borrowing time, and taking the related information as a checking result.
3. The method of claim 2, wherein the precisely locating the first file tag includes:
establishing a three-dimensional model based on the intelligent compact shelf;
establishing a rectangular coordinate system based on the three-dimensional model;
acquiring a first coordinate of the first robot on the rectangular coordinate system;
determining a second coordinate of the first file tag based on the scan area and the first coordinate;
and determining positioning information according to the second coordinates and the three-dimensional model.
4. The method of claim 1, wherein the inventorying the target archive in the unmanned archive based on the scan area comprises:
acquiring inventory progress and electric quantity information of the first robot;
judging whether the first robot can finish the inventory task or not based on the electric quantity information and the inventory progress;
if not, selecting a second robot to finish the inventory task, wherein the second robot is a first robot without the inventory task and/or a first robot finished with the inventory task.
5. An unmanned archive warehouse intelligence device of checking, its characterized in that includes:
the acquisition module is used for acquiring inventory tasks;
the first determining module is used for determining the scanning power of the first robot based on the checking task;
a second determining module for determining a scanning area of the first robot based on the scanning power;
the inventory module is used for inventory the target files in the unmanned file warehouse based on the scanning area to obtain inventory results;
the first determining module is further specifically configured to determine, based on the inventory task, a scan power of the first robot, including: determining an inventory area based on the inventory task; acquiring current position information of a first robot and position information of a central point of an inventory area; determining a first distance between the first robot and a central point of the inventory area based on the current position information; judging whether the first distance is larger than a preset distance or not; if yes, the scanning power of the first robot is adjusted to be the maximum scanning power, and the first robot is controlled to move into the inventory area; if not, the scanning power is adjusted to the scanning power corresponding to the first distance;
the first determining module is further specifically configured to control the first robot to check the area, including: planning a first travel route of a plurality of first robots based on the current position information and the position information of the central point of the inventory area; sequencing a plurality of first travel routes to obtain a first sequencing result; selecting an optimal travel route based on the first sequencing result, wherein the optimal travel route is a first travel route with the shortest distance; judging whether an inventory area of other first robots in inventory exists on the optimal travel route; if so, acquiring second travelling routes of other first robots; adjusting the optimal travel route based on the second travel route to obtain a third travel route; controlling the first robot to move based on the third travel route;
the first determining module is further specifically configured to, before controlling the first robot to move based on the third travel route, the method further includes: acquiring the travelling speed of the first robot and the travelling distance of a travelling route; determining the moving time of the first robot based on the moving distance and the travelling speed, wherein the moving time is the time when the first robot reaches the center point of the inventory area from the current position; acquiring the opening speed of the intelligent compact shelf in the checking area; determining the opening time of the intelligent compact shelf based on the moving time and the opening speed; and controlling the intelligent compact shelf to be opened based on the opening time.
6. An intelligent terminal, comprising a processor, wherein the processor is coupled with a memory;
the processor is configured to execute a computer program stored in the memory to cause the intelligent terminal to perform the method of any one of claims 1 to 4.
7. A computer readable storage medium comprising a computer program or instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 4.
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| PCT/CN2023/113589 WO2024060896A1 (en) | 2022-09-24 | 2023-08-17 | Intelligent inventory-taking method and apparatus for unmanned archive warehouse, and smart terminal and storage medium |
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