CN117422360A - Inventory method, device, equipment and storage medium of intelligent tray - Google Patents
Inventory method, device, equipment and storage medium of intelligent tray Download PDFInfo
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Abstract
The invention provides a checking method, a device, equipment and a storage medium of an intelligent tray, wherein the method comprises the following steps: controlling the intelligent tray to move according to the position information of the materials to be checked, and controlling the intelligent tray to carry out loading operation when the intelligent tray moves to the position corresponding to the position information; acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image; if so, calculating the quantity of the loaded materials according to the weight of the materials, and comparing the quantity of the materials with the stock quantity of the materials to be checked to obtain the checking result of the materials to be checked. According to the method, more goods positions are covered through the movable characteristic of the intelligent tray, the goods positions comprise all the positions in the large-scale vertical warehouse, and the materials to be checked can be shot and identified at different positions through the movement and loading operation of the intelligent tray, so that the problem that the fixed shooting mode cannot meet the detection of the positions of the large-scale vertical warehouse is effectively solved.
Description
Technical Field
The invention relates to the field of logistics inventory, in particular to an inventory method, device and equipment of an intelligent tray and a storage medium.
Background
For standing a warehouse, the traditional warehouse-checking mode is manual, so that the mode not only consumes labor, but also is low in efficiency and easy to make mistakes. Thus, a number of ways of inventorying by means of devices are currently occurring, such as: shooting the on-site goods shelves by using a camera and a remote image transmission unit through a monitoring camera on the storage goods shelves, remotely transmitting the shot images to an inventory service module, and inventory the number information of goods and goods shelves on the basis of a target detection model and an image text recognition network. However, the inventory method of the fixed shooting shelf simply using machine vision for its regionalization cannot satisfy the detection of the large-sized stock position.
Disclosure of Invention
The invention mainly aims to solve the technical problem that the existing warehouse inventory can not meet the detection of large-scale warehouse positions.
The first aspect of the invention provides an inventory method of an intelligent tray, which comprises the following steps:
the intelligent tray is controlled to move according to the position information of the materials to be checked, and the intelligent tray is controlled to carry out loading operation when the intelligent tray moves to the position corresponding to the position information;
Acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image;
if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked.
Optionally, in a second implementation manner of the first aspect of the present invention, before the controlling the intelligent tray to move according to the position information of the material to be checked, and when the intelligent tray moves to a position corresponding to the position information, before controlling the intelligent tray to perform the loading operation, the method further includes:
acquiring an inventory material set, wherein the inventory material set comprises all materials to be inventory;
space-time clustering is carried out on the inventory material set to obtain a plurality of clustering clusters, wherein each clustering cluster comprises a plurality of inventory materials with similar space-time factors;
and planning paths among the plurality of clusters and the materials to be checked in each cluster to obtain the moving path of the intelligent tray.
Optionally, in an implementation manner of the material seed of the first aspect of the present invention, the performing space-time clustering on the inventory material set to obtain a plurality of clusters includes:
Acquiring space information and time information of all materials to be checked, wherein the space information is the coordinate position of the corresponding materials to be checked, and the time information is the corresponding checking time interval of the materials to be checked;
calculating distance values among all materials to be checked according to the space information, and generating a neighborhood space of each material to be checked according to a preset field radius;
determining the number of samples in a neighborhood space of each material to be checked according to the distance value and the checking time interval, and judging whether the number of samples is larger than a preset minimum number of samples or not;
taking the materials to be checked, the number of which is greater than the minimum number of samples, as a clustering center to obtain a plurality of initial clustering clusters, and judging whether intersection exists in each initial clustering cluster;
combining the initial cluster clusters with the intersection, and obtaining a plurality of cluster clusters according to the initial cluster clusters which are not combined and the combined initial cluster clusters.
Optionally, in a third implementation manner of the first aspect of the present invention, performing path planning between the multiple clusters and the materials to be checked in each cluster, and obtaining a moving path of the intelligent tray includes:
Performing first path planning among the plurality of clusters to obtain a first path;
planning a second path among materials to be checked in each cluster to obtain a second path;
and combining the first path and the second path to obtain a moving path of the intelligent tray.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the acquiring a material image and a material weight of the loaded material on the intelligent tray, and determining whether the loaded material is a material to be checked according to the material image includes:
acquiring a material image and the weight of the material loaded on the intelligent tray, and carrying out image recognition on the material image to obtain the recognition classification of the loaded material;
performing character recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code to obtain a recognition sound-shape code;
acquiring material classification and material names of the materials to be checked, and converting the material names of the materials to be checked into a form of sound-shape codes to obtain the sound-shape codes of the materials;
judging whether the identification classification is the same as the material classification and whether the similarity between the identification sound-shape code and the material sound-shape code is larger than a preset similarity threshold;
If the identification classification is the same as the material classification and the similarity between the identification sound-shape code and the material sound-shape code is greater than a preset similarity threshold, the loaded material is the material to be checked;
if the identification classification is different from the material classification or the similarity between the identification sound-shape code and the material sound-shape code is not greater than a preset similarity threshold, the loaded material is not the material to be checked.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the performing text recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code, where obtaining the identifying sound-shape code includes:
performing character recognition on the material image to obtain a material name of the loaded material, and acquiring a sound code mapping rule and a shape code mapping rule;
word segmentation is carried out on the material names of the loaded materials, so that a plurality of corresponding name characters are obtained;
converting the plurality of name characters through the tone code mapping rule and the shape code mapping rule respectively to obtain corresponding identification tone codes and identification shape codes;
and splicing the identification sound code and the identification shape code to obtain the corresponding identification sound shape code.
Optionally, in a sixth implementation manner of the first aspect of the present invention, the calculating, according to the weight of the material, the number of materials of the loaded material, and comparing the number of materials with the stock number of the materials to be checked, to obtain the checking result of the materials to be checked includes:
acquiring the unit weight of the loaded material, and calculating the material quantity of the loaded material according to the material weight and the unit weight;
comparing the material quantity with the stock quantity of the material to be checked, and judging whether the material quantity is the same as the stock quantity of the material to be checked;
if the materials to be checked are the same, obtaining a checking result of the materials to be checked;
and if the materials to be checked are different, obtaining a checking result of the materials to be checked which need to be checked manually.
The second aspect of the present invention provides an inventory device of an intelligent tray, the inventory device of the intelligent tray comprising:
the mobile control module is used for controlling the intelligent tray to move according to the position information of the materials to be checked, and controlling the intelligent tray to carry out loading operation when the intelligent tray moves to the position corresponding to the position information;
The judging module is used for acquiring a material image and the weight of the material loaded on the intelligent tray and judging whether the material loaded is to be checked or not according to the material image;
and the inventory module is used for calculating the material quantity of the loaded material according to the weight of the material when the loaded material is the material to be checked, and comparing the material quantity with the inventory quantity of the material to be checked to obtain the inventory result of the material to be checked.
A third aspect of the present invention provides an inventory device for an intelligent tray, including: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line; the at least one processor invokes the instructions in the memory to cause the inventory device of the intelligent tray to perform the steps of the inventory method of the intelligent tray described above.
A fourth aspect of the present invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the steps of the inventory method of a smart tray as described above.
According to the inventory method, the inventory device, the inventory equipment and the storage medium of the intelligent tray, the intelligent tray is controlled to move according to the position information of the materials to be inventory, and when the intelligent tray moves to the position corresponding to the position information, the intelligent tray is controlled to carry out loading operation; acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image; if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked. According to the method, more goods positions are covered through the movable characteristic of the intelligent tray, the goods positions comprise all the positions in the large-scale vertical warehouse, and the materials to be checked can be shot and identified at different positions through the movement and loading operation of the intelligent tray, so that the problem that the fixed shooting mode cannot meet the detection of the positions of the large-scale vertical warehouse is effectively solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of a method for checking a smart tray according to an embodiment of the present invention;
FIG. 2 is a schematic view of one embodiment of the inventory device of the intelligent tray according to the embodiment of the invention;
FIG. 3 is a schematic view of another embodiment of the inventory device of the intelligent tray according to the embodiment of the invention;
fig. 4 is a schematic view of an embodiment of the inventory device of the intelligent tray according to the embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "comprising" and "having" and any variations thereof, as used in the embodiments of the present invention, are intended to cover non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
For the convenience of understanding the present embodiment, a method for checking an intelligent tray disclosed in the embodiment of the present invention will be described in detail. As shown in fig. 1, the method for checking the intelligent tray comprises the following steps:
101. the intelligent tray is controlled to move according to the position information of the materials to be checked, and the intelligent tray is controlled to carry out loading operation when the intelligent tray moves to the position corresponding to the position information;
in one embodiment of the invention, the intelligent tray acquires information of surrounding environment through the technical means of built-in sensors, navigation systems and the like. On the basis, according to the position information of the materials to be checked, the intelligent tray can calculate an optimal moving path in advance and move by controlling an executing mechanism such as a motor. Meanwhile, the intelligent tray needs to constantly adjust its own position to maintain accurate alignment with the target position. When the intelligent tray moves to the target position, a loading mechanism of the intelligent tray needs to be controlled, the material to be checked is moved to the intelligent tray from the original position, and the stability and the safety of the material are ensured.
In one embodiment of the present invention, before the intelligent tray is controlled to move according to the position information of the material to be checked, and the intelligent tray is controlled to perform the loading operation when the intelligent tray moves to the position corresponding to the position information, the method further includes: acquiring an inventory material set, wherein the inventory material set comprises all materials to be inventory; space-time clustering is carried out on the inventory material set to obtain a plurality of clustering clusters, wherein each clustering cluster comprises a plurality of inventory materials with similar space-time factors; and planning paths among the plurality of clusters and the materials to be checked in each cluster to obtain the moving path of the intelligent tray.
Specifically, in order to realize automatic inventory, an inventory material set needs to be acquired first. The inventory material set should contain all the materials to be inventoried to ensure that each material can be incorporated into the inventory process. When acquiring the inventory material set, methods and techniques may be utilized to collect the material information to be inventory. For example, in a large vertical, inventory information of materials may be obtained by a warehouse management system or materials management software. Such information may include the number, name, gauge, storage location, etc. of the material. The bill of materials to be checked can be obtained by querying a system or a software database. Furthermore, in some special cases, an in-field survey or manual verification may be required to obtain a collection of materials to be inventoried. For example, in some small warehouses that do not rely on system management, it may be necessary to manually check and record material information one by one.
In particular, spatio-temporal clustering is a method of grouping materials according to their similarity in time and space. In the inventory process, the space-time factor of the material may include the storage location of the material, the inventory time, etc. By analyzing and comparing the space-time factors, the materials can be clustered, so that the materials in each cluster have higher space-time similarity. In performing the space-time clustering, some clustering algorithms, such as K-means clustering, hierarchical clustering, etc., may be used. The algorithms can determine the best clustering mode according to the distance or the similarity between materials. Through iterative calculation and adjustment, the materials are divided into a plurality of clusters, so that the materials to be checked in each cluster have higher similarity in space-time. Through space-time clustering, the processing and the movement of materials can be more efficiently organized in the checking process. Similar materials are gathered together, so that the moving distance and time of the intelligent tray can be reduced, and the inventory efficiency is improved.
Specifically, path planning refers to a process of finding an optimal path in a space to satisfy a specific condition. In automated inventory, path planning may be used to determine the travel route of the intelligent pallet so that it can complete the scanning and collection of all the materials to be inventory in as short a time as possible. When path planning is performed on a plurality of clusters and materials to be checked in each cluster, some algorithms and techniques, such as an a-algorithm, a Dijkstra algorithm, etc., can be utilized. These algorithms may consider a number of factors, such as the distance moved by the intelligent tray, the cost of time, and energy consumption, to determine the optimal path. Before the optimal path is determined, the start point and the end point of the path planning need to be set, i.e. where the intelligent tray starts moving and where it stops moving. In automatic inventory, an intelligent tray is usually positioned at a certain starting point, and then sequentially moves to the positions of the materials to be inventory according to a path planning result, so that the scanning and collecting processes are completed.
Further, the performing space-time clustering on the inventory material set to obtain a plurality of clusters includes: acquiring space information and time information of all materials to be checked, wherein the space information is the coordinate position of the corresponding materials to be checked, and the time information is the corresponding checking time interval of the materials to be checked; calculating distance values among all materials to be checked according to the space information, and generating a neighborhood space of each material to be checked according to a preset field radius; determining the number of samples in a neighborhood space of each material to be checked according to the distance value and the checking time interval, and judging whether the number of samples is larger than a preset minimum number of samples or not; taking the materials to be checked, the number of which is greater than the minimum number of samples, as a clustering center to obtain a plurality of initial clustering clusters, and judging whether intersection exists in each initial clustering cluster; combining the initial cluster clusters with the intersection, and obtaining a plurality of cluster clusters according to the initial cluster clusters which are not combined and the combined initial cluster clusters.
Specifically, in order to perform the inventory work, first, spatial information and time information of all the materials to be checked need to be acquired. The space information refers to the coordinate position of the material to be checked, and can be obtained by means of scanning or a sensor and the like. The time information is the checking time interval of the materials to be checked. The spatial information can be obtained by technical means, for example, a laser scanner, a camera, a GPS and other devices are used for obtaining the coordinate position of the material to be checked. These devices can capture the specific location of the material and represent it as coordinate information, typically in the form of three-dimensional coordinates (x, y, z). The time information is an inventory time interval of the materials to be checked, and records the time ranges of the beginning and the ending of the inventory of the materials. The time range can be determined according to the service requirement, and can be a fixed time or a front-back interval of a certain time node.
Specifically, the distance value between the materials to be checked needs to be calculated according to the coordinate positions of the materials. The distance value can be calculated by different methods such as Euclidean distance or Manhattan distance, and a proper distance calculation method is selected according to actual conditions. After the distance between the materials to be checked is calculated, a neighborhood space of each material to be checked can be generated according to the preset radius of the field, and the neighborhood space contains other materials with the distance within the radius range of the field. Next, it is necessary to determine whether each material to be checked can serve as a cluster center by calculating the number of samples in the neighborhood space. Specifically, a threshold value for the minimum sample number may be set, and if the number of samples in the neighborhood space of the material to be checked is greater than the threshold value, the material is considered to be a cluster center.
Specifically, according to the preset radius and distance values of the field, determining the neighborhood space of each material to be checked, and obtaining other material sets with the distance from the material within the radius range of the field. And then, screening the materials in the neighborhood space by combining the checking time interval of the materials to be checked. Only material present during the inventory time interval is included in the samples in the neighborhood space. Next, the number of samples in the neighborhood space of each item to be checked is calculated. And counting the quantity of materials meeting the time interval requirement in the neighborhood space, and obtaining the sample quantity of the materials to be checked. And finally, judging whether the obtained sample number is larger than a preset minimum sample number threshold value. If the number of samples is greater than the minimum sample number threshold, the material to be checked is considered to have enough neighborhood space sample support and can be used as a clustering center; conversely, if the number of samples is less than or equal to the minimum sample number threshold, this may mean that the neighborhood space around the material is sparse and unsuitable for being used as a clustering center.
Specifically, for each cluster, a to-be-checked material list contained in the cluster can be calculated. Then, by comparing the material lists among different clusters, it is determined whether there is an intersection between them. If there is an intersection between clusters, it is indicated that a portion of the material is classified into different clusters at the same time. In this case, cluster clusters where intersections exist need to be merged. The merging method may be to merge two or more clusters with intersections into a new cluster, which contains all the material with intersections. After the merging operation, there may be some initial clusters that are not merged. These unmerged clusters represent collections of material that have no significant intersection with other clusters. These clusters can be considered as individual clusters.
Further, the performing path planning between the multiple clusters and the materials to be checked in each cluster to obtain a moving path of the intelligent tray includes: performing first path planning among the plurality of clusters to obtain a first path; planning a second path among materials to be checked in each cluster to obtain a second path; and combining the first path and the second path to obtain a moving path of the intelligent tray.
Specifically, after obtaining a plurality of clusters, path planning is required to determine the moving path of the intelligent pallet. Specifically, the path specification is divided into two phases: the first stage is to plan paths among clusters to obtain a first path; the material stage is to conduct path planning among materials to be checked in each cluster to obtain a second path; and finally, combining the first path and the second path to form a moving path of the intelligent tray. First is path planning in the first stage. In this stage, the order of movement between clusters needs to be determined to minimize the movement distance of the intelligent tray. For a given plurality of clusters, heuristic search or other algorithms can be used to find a shortest path through all clusters. This path is the first path. The following is the path planning for the material phase. In this stage, the order of movement between the materials to be checked within each cluster needs to be determined to minimize the checking time and the movement distance of the intelligent tray. For each cluster, algorithm such as TSP (travel provider problem) can be adopted to calculate the shortest path between materials to be checked. These paths are the second paths. And finally, combining the first path and the second path to form a moving path of the intelligent tray. Specifically, each cluster can be traversed in sequence according to the sequence of the first path, and the materials to be checked are traversed in sequence according to the sequence of the second path in each cluster, so that the checking task is completed. Therefore, the moving distance and the counting time of the intelligent tray can be minimized, and the counting efficiency and accuracy are improved.
102. Acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image;
in one embodiment of the present invention, the acquiring the material image and the material weight of the loaded material on the intelligent tray, and determining whether the loaded material is the material to be checked according to the material image includes: acquiring a material image and the weight of the material loaded on the intelligent tray, and carrying out image recognition on the material image to obtain the recognition classification of the loaded material; performing character recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code to obtain a recognition sound-shape code; acquiring material classification and material names of the materials to be checked, and converting the material names of the materials to be checked into a form of sound-shape codes to obtain the sound-shape codes of the materials; judging whether the identification classification is the same as the material classification and whether the similarity between the identification sound-shape code and the material sound-shape code is larger than a preset similarity threshold; if the identification classification is the same as the material classification and the similarity between the identification sound-shape code and the material sound-shape code is greater than a preset similarity threshold, the loaded material is the material to be checked; if the identification classification is different from the material classification or the similarity between the identification sound-shape code and the material sound-shape code is not greater than a preset similarity threshold, the loaded material is not the material to be checked.
Specifically, the intelligent tray is a device capable of automatically identifying, processing and storing material information. One of the functions is to acquire information about the material loaded on the pallet, including the image of the material and the weight of the material. Such information may be obtained by means of sensors or the like. Then, for the acquired material image, image recognition is required. The method is characterized in that the images are analyzed and processed, and the appearance characteristics of the materials are extracted and classified by utilizing a computer vision technology. By identifying the characteristics of the materials such as color, shape, texture and the like, the materials can be classified into specific material categories, and corresponding identification and classification results are given.
Specifically, the phonetic and graphic code is a method for encoding Chinese characters, which converts each Chinese character into a code consisting of an 11-bit alphanumeric sequence. The coding mode maintains the pronunciation and character shape characteristics of Chinese characters to a certain extent. The application of the sound-shape code can effectively solve the problems of wrongly written characters, missing characters or multiple characters possibly occurring when the OCR technology is used for identifying the names of the materials. The sound-shape code is composed of two parts. The first part is a sound code part and comprises vowels, initials, complement codes, tones and the like. The second part is a character pattern code part, which comprises structural bits, four-corner codes, accessory codes of the four-corner codes and digits representing the stroke number of the Chinese characters. In practical application, it is a common processing method to calculate the edit distance between the identifying sound-shape code and each material sound-shape code and calculate the similarity between them according to the edit distance. An edit distance algorithm, also known as the Levenshtein distance, is used to measure the minimum number of edits required to convert one string to another. These editing operations include character substitution, insertion, and deletion. By calculating the minimum number of edits between a pair of pictophonetic codes, i.e., the edit distance, their similarity can be determined. The smaller the edit distance, the more similar the two pictophonetic codes are represented.
Further, the text recognition is performed on the material image to obtain a material name of the loaded material, the material name is converted into a form of a sound-shape code, and the obtaining of the recognition sound-shape code includes: performing character recognition on the material image to obtain a material name of the loaded material, and acquiring a sound code mapping rule and a shape code mapping rule; word segmentation is carried out on the material names of the loaded materials, so that a plurality of corresponding name characters are obtained; converting the plurality of name characters through the tone code mapping rule and the shape code mapping rule respectively to obtain corresponding identification tone codes and identification shape codes; and splicing the identification sound code and the identification shape code to obtain the corresponding identification sound shape code.
Specifically, in this embodiment, text recognition is performed on the material image, and the text in the picture is converted into text information by using OCR technology. And then, acquiring the material name of the loaded material according to the identification result. Next, the vocoded mapping rule and the shape code mapping rule need to be acquired. The tone code mapping rule is a rule for converting Chinese characters into tone codes, and the shape code mapping rule is a rule for converting Chinese characters into shape codes. These rules may be obtained through a pre-defined dictionary or coding specification. And carrying out word segmentation processing on the material names of the loaded materials, and splitting the whole material names into a plurality of name characters. The word segmentation process may use a chinese word segmentation algorithm, such as a maximum matching method, a forward maximum matching method, or a reverse maximum matching method. Then, according to the tone mapping rule and the shape code mapping rule, converting a plurality of name characters obtained by word segmentation. Converting each name character into a corresponding sound code according to a sound code mapping rule; and converting each name character into a corresponding shape code according to the shape code mapping rule. And finally, splicing the converted identification sound code and the identification shape code to obtain the corresponding identification sound shape code. The splicing process can simply connect the identification code and the identification code together to form a complete voice-shape code.
103. If so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked.
In one embodiment of the present invention, the calculating the material quantity of the loaded material according to the material weight, and comparing the material quantity with the stock quantity of the material to be checked, to obtain the checking result of the material to be checked includes: acquiring the unit weight of the loaded material, and calculating the material quantity of the loaded material according to the material weight and the unit weight; comparing the material quantity with the stock quantity of the material to be checked, and judging whether the material quantity is the same as the stock quantity of the material to be checked; if the materials to be checked are the same, obtaining a checking result of the materials to be checked; and if the materials to be checked are different, obtaining a checking result of the materials to be checked which need to be checked manually.
In particular, it is necessary to obtain the unit weight of the load. The unit weight refers to the average weight per unit of material, which can be obtained by weighing or other measurement methods. And acquiring the stock quantity of the materials to be checked. Inventory quantity refers to the quantity of material to be checked recorded in the system and may be obtained from a warehouse management system or other related system. And comparing the calculated material quantity of the loaded materials with the stock quantity of the materials to be checked, and judging whether the material quantity and the stock quantity are the same. If the two quantity values are equal, it means that the quantity of material and the stock quantity are identical. If the quantity of material and the quantity of stock are not equal, there is an inconsistency and further processing and verification is required. If the quantity of the materials is the same as the stock quantity of the materials to be checked, the checking result of the materials to be checked is indicated to be correct. In this case, you can mark the counting result of the material to be counted as "counted" and record relevant information such as the counting date, time, and the counter in the system. If the quantity of the material is different from the stock quantity, a manual check is required, i.e. by manually checking the actual quantity of the material and checking it against the stock quantity. After the manual checking, you need to record the result of the manual checking into the system and update the stock quantity. In addition, the inventory process and system also need to be analyzed to find out the cause of the discrepancy and take corresponding measures to prevent the re-occurrence of similar problems.
In this embodiment, the intelligent tray is controlled to move according to the position information of the material to be checked, and when the intelligent tray moves to a position corresponding to the position information, the intelligent tray is controlled to carry out loading operation; acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image; if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked. According to the method, more goods positions are covered through the movable characteristic of the intelligent tray, the goods positions comprise all the positions in the large-scale vertical warehouse, and the materials to be checked can be shot and identified at different positions through the movement and loading operation of the intelligent tray, so that the problem that the fixed shooting mode cannot meet the detection of the positions of the large-scale vertical warehouse is effectively solved.
The method for checking the intelligent tray in the embodiment of the present invention is described above, and the following describes a checking device for the intelligent tray in the embodiment of the present invention, referring to fig. 2, and one embodiment of the checking device for the intelligent tray in the embodiment of the present invention includes:
The mobile control module 201 is configured to control the intelligent tray to move according to position information of a material to be checked, and control the intelligent tray to perform loading operation when the intelligent tray moves to a position corresponding to the position information;
the judging module 202 is configured to obtain a material image and a material weight of a loaded material on the intelligent tray, and judge whether the loaded material is a material to be checked according to the material image;
and the inventory module 203 is configured to calculate a quantity of the loaded material according to the weight of the material when the loaded material is the material to be checked, and compare the quantity of the loaded material with the inventory quantity of the material to be checked to obtain an inventory result of the material to be checked.
In the embodiment of the invention, the inventory device of the intelligent tray runs the inventory method of the intelligent tray, and the inventory device of the intelligent tray controls the intelligent tray to move according to the position information of the materials to be inventory, and controls the intelligent tray to carry out loading operation when the intelligent tray moves to the position corresponding to the position information; acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image; if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked. According to the method, more goods positions are covered through the movable characteristic of the intelligent tray, the goods positions comprise all the positions in the large-scale vertical warehouse, and the materials to be checked can be shot and identified at different positions through the movement and loading operation of the intelligent tray, so that the problem that the fixed shooting mode cannot meet the detection of the positions of the large-scale vertical warehouse is effectively solved.
Referring to fig. 3, a second embodiment of the inventory device of the intelligent pallet according to the present invention includes:
the mobile control module 201 is configured to control the intelligent tray to move according to position information of a material to be checked, and control the intelligent tray to perform loading operation when the intelligent tray moves to a position corresponding to the position information;
the judging module 202 is configured to obtain a material image and a material weight of a loaded material on the intelligent tray, and judge whether the loaded material is a material to be checked according to the material image;
and the inventory module 203 is configured to calculate a quantity of the loaded material according to the weight of the material when the loaded material is the material to be checked, and compare the quantity of the loaded material with the inventory quantity of the material to be checked to obtain an inventory result of the material to be checked.
In one embodiment of the present invention, the inventory device of the intelligent pallet further includes a path planning module 204, and the path planning module 204 includes:
a material set acquiring unit 2041, configured to acquire an inventory material set, where the inventory material set includes all materials to be inventory;
The space-time clustering unit 2042 is used for performing space-time clustering on the inventory material set to obtain a plurality of clusters, wherein each cluster comprises a plurality of inventory materials with similar space-time factors;
and a planning unit 2043, configured to plan paths among the multiple clusters and the materials to be checked in each cluster, so as to obtain a moving path of the intelligent tray.
In one embodiment of the present invention, the spatio-temporal clustering unit 2042 is specifically configured to:
acquiring space information and time information of all materials to be checked, wherein the space information is the coordinate position of the corresponding materials to be checked, and the time information is the corresponding checking time interval of the materials to be checked;
calculating distance values among all materials to be checked according to the space information, and generating a neighborhood space of each material to be checked according to a preset field radius;
determining the number of samples in a neighborhood space of each material to be checked according to the distance value and the checking time interval, and judging whether the number of samples is larger than a preset minimum number of samples or not;
taking the materials to be checked, the number of which is greater than the minimum number of samples, as a clustering center to obtain a plurality of initial clustering clusters, and judging whether intersection exists in each initial clustering cluster;
Combining the initial cluster clusters with the intersection, and obtaining a plurality of cluster clusters according to the initial cluster clusters which are not combined and the combined initial cluster clusters.
In one embodiment of the present invention, the planning unit 2043 is specifically configured to:
performing first path planning among the plurality of clusters to obtain a first path;
planning a second path among materials to be checked in each cluster to obtain a second path;
and combining the first path and the second path to obtain a moving path of the intelligent tray.
In one embodiment of the present invention, the determining module 202 is specifically configured to:
acquiring a material image and the weight of the material loaded on the intelligent tray, and carrying out image recognition on the material image to obtain the recognition classification of the loaded material;
performing character recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code to obtain a recognition sound-shape code;
acquiring material classification and material names of the materials to be checked, and converting the material names of the materials to be checked into a form of sound-shape codes to obtain the sound-shape codes of the materials;
Judging whether the identification classification is the same as the material classification and whether the similarity between the identification sound-shape code and the material sound-shape code is larger than a preset similarity threshold;
if the identification classification is the same as the material classification and the similarity between the identification sound-shape code and the material sound-shape code is greater than a preset similarity threshold, the loaded material is the material to be checked;
if the identification classification is different from the material classification or the similarity between the identification sound-shape code and the material sound-shape code is not greater than a preset similarity threshold, the loaded material is not the material to be checked.
In one embodiment of the present invention, the determining module 202 is specifically further configured to:
performing character recognition on the material image to obtain a material name of the loaded material, and acquiring a sound code mapping rule and a shape code mapping rule;
word segmentation is carried out on the material names of the loaded materials, so that a plurality of corresponding name characters are obtained;
converting the plurality of name characters through the tone code mapping rule and the shape code mapping rule respectively to obtain corresponding identification tone codes and identification shape codes;
and splicing the identification sound code and the identification shape code to obtain the corresponding identification sound shape code.
In one embodiment of the present invention, the inventory module 203 is specifically configured to:
acquiring the unit weight of the loaded material, and calculating the material quantity of the loaded material according to the material weight and the unit weight;
comparing the material quantity with the stock quantity of the material to be checked, and judging whether the material quantity is the same as the stock quantity of the material to be checked;
if the materials to be checked are the same, obtaining a checking result of the materials to be checked;
and if the materials to be checked are different, obtaining a checking result of the materials to be checked which need to be checked manually.
The embodiment describes the specific functions of each module and the unit constitution of part of the modules in detail on the basis of the previous embodiment, controls the intelligent tray to move according to the position information of the materials to be checked through each module and each unit in the modules, and controls the intelligent tray to carry out loading operation when the intelligent tray moves to the position corresponding to the position information; acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image; if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked. According to the method, more goods positions are covered through the movable characteristic of the intelligent tray, the goods positions comprise all the positions in the large-scale vertical warehouse, and the materials to be checked can be shot and identified at different positions through the movement and loading operation of the intelligent tray, so that the problem that the fixed shooting mode cannot meet the detection of the positions of the large-scale vertical warehouse is effectively solved.
The inventory device of the intelligent tray in the embodiment of the present invention is described in detail from the point of view of the modularized functional entity in fig. 2 and 3, and the inventory device of the intelligent tray in the embodiment of the present invention is described in detail from the point of view of hardware processing.
Fig. 4 is a schematic structural diagram of an inventory device of an intelligent tray according to an embodiment of the present invention, where the inventory device 400 of the intelligent tray may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 410 (e.g., one or more processors) and a memory 420, and one or more storage media 430 (e.g., one or more mass storage devices) storing application programs 433 or data 432. Wherein memory 420 and storage medium 430 may be transitory or persistent storage. The program stored on the storage medium 430 may include one or more modules (not shown), each of which may include a series of instruction operations in the inventory device 400 of the intelligent tray. Still further, the processor 410 may be configured to communicate with the storage medium 430 to execute a series of instruction operations in the storage medium 430 on the inventory device 400 of the intelligent tray to implement the steps of the inventory method of the intelligent tray described above.
The inventory device 400 of the intelligent tray may also include one or more power supplies 440, one or more wired or wireless network interfaces 450, one or more input/output interfaces 460, and/or one or more operating systems 431, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the inventory device structure of the intelligent tray shown in fig. 4 is not limiting of the inventory device of the intelligent tray provided by the present invention, and may include more or fewer components than illustrated, or may combine certain components, or may be arranged in a different arrangement of components.
The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, and may also be a volatile computer readable storage medium, where instructions are stored in the computer readable storage medium, when the instructions are executed on a computer, cause the computer to perform the steps of the inventory method of the intelligent tray.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system or apparatus and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: 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 above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The inventory method of the intelligent tray is characterized by comprising the following steps of:
the intelligent tray is controlled to move according to the position information of the materials to be checked, and the intelligent tray is controlled to carry out loading operation when the intelligent tray moves to the position corresponding to the position information;
acquiring a material image and the weight of the material loaded on the intelligent tray, and judging whether the material loaded is to be checked or not according to the material image;
if so, calculating the material quantity of the loaded materials according to the material weight, and comparing the material quantity with the stock quantity of the materials to be checked to obtain a checking result of the materials to be checked.
2. The method for checking an intelligent tray according to claim 1, wherein before the intelligent tray is controlled to move according to the position information of the material to be checked, and the intelligent tray is controlled to perform the loading operation when the intelligent tray is moved to the position corresponding to the position information, the method further comprises:
acquiring an inventory material set, wherein the inventory material set comprises all materials to be inventory;
Space-time clustering is carried out on the inventory material set to obtain a plurality of clustering clusters, wherein each clustering cluster comprises a plurality of inventory materials with similar space-time factors;
and planning paths among the plurality of clusters and the materials to be checked in each cluster to obtain the moving path of the intelligent tray.
3. The method for checking an intelligent tray according to claim 2, wherein the performing space-time clustering on the checked material set to obtain a plurality of clusters includes:
acquiring space information and time information of all materials to be checked, wherein the space information is the coordinate position of the corresponding materials to be checked, and the time information is the corresponding checking time interval of the materials to be checked;
calculating distance values among all materials to be checked according to the space information, and generating a neighborhood space of each material to be checked according to a preset field radius;
determining the number of samples in a neighborhood space of each material to be checked according to the distance value and the checking time interval, and judging whether the number of samples is larger than a preset minimum number of samples or not;
taking the materials to be checked, the number of which is greater than the minimum number of samples, as a clustering center to obtain a plurality of initial clustering clusters, and judging whether intersection exists in each initial clustering cluster;
Combining the initial cluster clusters with the intersection, and obtaining a plurality of cluster clusters according to the initial cluster clusters which are not combined and the combined initial cluster clusters.
4. The method for checking an intelligent tray according to claim 2, wherein the performing path planning between the plurality of clusters and the materials to be checked in each cluster to obtain the moving path of the intelligent tray comprises:
performing first path planning among the plurality of clusters to obtain a first path;
planning a second path among materials to be checked in each cluster to obtain a second path;
and combining the first path and the second path to obtain a moving path of the intelligent tray.
5. The method for checking an intelligent tray according to claim 1, wherein the acquiring a material image and a material weight of a loaded material on the intelligent tray, and determining whether the loaded material is a material to be checked according to the material image comprises:
acquiring a material image and the weight of the material loaded on the intelligent tray, and carrying out image recognition on the material image to obtain the recognition classification of the loaded material;
performing character recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code to obtain a recognition sound-shape code;
Acquiring material classification and material names of the materials to be checked, and converting the material names of the materials to be checked into a form of sound-shape codes to obtain the sound-shape codes of the materials;
judging whether the identification classification is the same as the material classification and whether the similarity between the identification sound-shape code and the material sound-shape code is larger than a preset similarity threshold;
if the identification classification is the same as the material classification and the similarity between the identification sound-shape code and the material sound-shape code is greater than a preset similarity threshold, the loaded material is the material to be checked;
if the identification classification is different from the material classification or the similarity between the identification sound-shape code and the material sound-shape code is not greater than a preset similarity threshold, the loaded material is not the material to be checked.
6. The method of claim 5, wherein the performing text recognition on the material image to obtain a material name of the loaded material, and converting the material name into a form of a sound-shape code, and obtaining the recognition sound-shape code comprises:
performing character recognition on the material image to obtain a material name of the loaded material, and acquiring a sound code mapping rule and a shape code mapping rule;
Word segmentation is carried out on the material names of the loaded materials, so that a plurality of corresponding name characters are obtained;
converting the plurality of name characters through the tone code mapping rule and the shape code mapping rule respectively to obtain corresponding identification tone codes and identification shape codes;
and splicing the identification sound code and the identification shape code to obtain the corresponding identification sound shape code.
7. The method for counting the intelligent tray according to claim 1, wherein the calculating the material quantity of the loaded material according to the material weight and comparing the material quantity with the stock quantity of the material to be counted, and obtaining the result of counting the material to be counted comprises:
acquiring the unit weight of the loaded material, and calculating the material quantity of the loaded material according to the material weight and the unit weight;
comparing the material quantity with the stock quantity of the material to be checked, and judging whether the material quantity is the same as the stock quantity of the material to be checked;
if the materials to be checked are the same, obtaining a checking result of the materials to be checked;
and if the materials to be checked are different, obtaining a checking result of the materials to be checked which need to be checked manually.
8. An intelligent tray inventory device, characterized in that, intelligent tray inventory device includes:
the mobile control module is used for controlling the intelligent tray to move according to the position information of the materials to be checked, and controlling the intelligent tray to carry out loading operation when the intelligent tray moves to the position corresponding to the position information;
the judging module is used for acquiring a material image and the weight of the material loaded on the intelligent tray and judging whether the material loaded is to be checked or not according to the material image;
and the inventory module is used for calculating the material quantity of the loaded material according to the weight of the material when the loaded material is the material to be checked, and comparing the material quantity with the inventory quantity of the material to be checked to obtain the inventory result of the material to be checked.
9. An inventory device of an intelligent tray, characterized in that the inventory device of an intelligent tray comprises: a memory and at least one processor, the memory having instructions stored therein;
the at least one processor invoking the instructions in the memory to cause the inventory device of the intelligent tray to perform the steps of the inventory method of the intelligent tray of any of claims 1-7.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, perform the steps of the inventory method of the intelligent tray of any of claims 1-7.
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