TW201832147A - Article routing inspection method and related device - Google Patents

Abstract

An article routing inspection method applied to a moving apparatus, for realising the detection of whether an article is stored in an article storage unit of a detected object. Specifically, a moving apparatus can obtain a movement route corresponding to a detected object before routing inspection. The movement route is a route that is pre-planned according to an arrangement mode of an article storage unit arranged in the detected object and that passes the article storage unit. Therefore, the moving apparatus can autonomously move along the movement route, and detects whether an article is stored in the article storage unit when passing the article storage unit in the autonomous movement process. Compared to a moving apparatus needing to be remotely controlled by ground staff, in the method, the moving apparatus can control its own movement process, thereby realising the automation of an article routing inspection process.

Description

Article inspection method and related equipment

The present application relates to the field of article detection technology, and more particularly, to an article inspection method and related equipment.

Generally, goods such as parcels are stored in the warehouse. In order to facilitate management, multiple rows of shelves are placed in the warehouse, and each row of shelves is provided with a plurality of cargo spaces, and the goods are placed in the cargo spaces. See Figure 1, which is a front view of a row of shelves. As shown in Figure 1, a row of shelves is provided with a plurality of cargo spaces (small rectangular areas in the illustration), and the goods are stored in the cargo space of the shelves. One aspect of managing goods is to count the amount of goods stored on the shelves. The current inventory scheme is to set a two-dimensional code on the goods, manually control the remote control adapted to the drone, control the flight of the drone, and scan the cargo space by the drone equipped with the scanner, and then according to whether The result of scanning the QR code can be used to determine whether goods are stored in the cargo space, so as to achieve the purpose of inventory counting. However, at least the problem with the existing cargo inventory scheme is that the flight of the drone needs to be manually controlled by the remote controller, and the flight control method is not automated enough.

In view of this, the present application provides an item inspection method for solving the problem that the mobile device is not sufficiently automated in the inspection process of the article. The technical solution provided by the present application is as follows: In a first aspect, the present application provides an item inspection method for a mobile device, the method comprising: obtaining a movement route data corresponding to a detection object; a plurality of article storage units are disposed in the detection object, the route indicated by the movement route data passes through the article storage unit; and the mobile device is controlled to move along a route indicated by the movement route data; when the mobile device is in the When moving through the item storage unit, the mobile device is triggered to detect whether an item is stored in the item storage unit, and the detection result is obtained. In a second aspect, the present application provides an item inspection method for a mobile device, the method comprising: obtaining a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, the movement route The route indicated by the data passes through the article storage unit; controls the movement of the mobile device along the route indicated by the movement route data; collects an image of the detection object in the movement, and sends the image to the inspection a management device; wherein the image is used by the patrol management device to detect whether an item is included. In a third aspect, the present application provides an item inspection method for a patrol management apparatus, the method comprising: receiving an image of a detection object transmitted by a mobile device; and detecting a unit from detecting an image of the detection object And transmitting, to the mobile device, a collection instruction; wherein the detection object is provided with a plurality of item storage units, the item storage unit has a corresponding unit label, and the collection instruction is used to trigger the mobile device to collect the Detecting an image of the item storage unit corresponding to the unit label; receiving an image of the item storage unit sent by the mobile device; detecting whether the item storage unit is in accordance with an image of the item storage unit Contains items. In a fourth aspect, the present application provides an item inspection apparatus, including: a processor, configured to obtain a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the movement route data indicates And the route is sent to the navigation module; the navigation module is configured to control the movement of the item inspection device along the route indicated by the movement route data; Further, when the article inspection device passes the article storage unit during the movement, detecting whether an article is stored in the article storage unit, and obtaining a detection result. In a fifth aspect, the present application provides a mobile device, including: a processor, configured to obtain a moving route data corresponding to a detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data The image storage module is configured to collect an image of the detection object during the movement by using the object storage unit; the navigation module is configured to control the movement of the mobile device along the route indicated by the movement route data; And transmitting the image to a communication interface; a communication interface for transmitting the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included. In a sixth aspect, the application provides a patrol management apparatus, including: a communication interface, configured to receive an image of a detection object sent by the mobile device; and receive an image of the item storage unit sent by the mobile device; And configured to send a collection instruction to the mobile device if the unit label is detected from detecting the image of the detection object; wherein the detection object is provided with a plurality of item storage units, and the item storage unit has a corresponding unit a label, the collection instruction is configured to trigger the mobile device to collect an image of an item storage unit in the detection object and corresponding to the unit label; and detect the item storage according to an image of the item storage unit Whether the item is included in the unit. As can be seen from the above technical solutions, the present application provides an item inspection method applied to a mobile device to detect whether or not an item is stored in the item storage unit of the detection object. Specifically, the mobile device can obtain a movement route corresponding to the detection object before the inspection, and the movement route is a route that is pre-planned according to the arrangement manner of the article storage unit provided in the detection object and passes through the article storage unit, and therefore moves The device can move autonomously along the moving route, and when the item storage unit passes through the autonomous movement, it is detected whether the item is stored therein. Compared with the remote control of the mobile device by the ground personnel, the mobile device can control the movement process of the mobile device, thereby realizing the automation of the article inspection process.

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application. Goods such as parcels are usually stored on the shelves. During the management of the goods, the quantity of goods stored on the shelves needs to be counted. Some warehouses that have not yet been automated will use manual counting methods, that is, warehouse managers check whether the goods on the shelves are stored. When checking the position at the high position, the warehouse manager needs to take equipment such as a lift to move to a high position. This type of inspection is not only inefficient but also dangerous. In order to solve the problem of manually using the lifting equipment to check the cargo plan, some warehouses are equipped with fixed cameras, and the artificially observed images of the shelves taken by the camera are used for inventory. Although this method can solve the above problems, the shooting result does not cover the entire shelf because the viewing angle of the camera is limited, so the counting result is not accurate enough. Therefore, in order to improve the efficiency of inventory and ensure the accuracy of the inventory results, a more automated inventory scheme is currently used. As shown in Figure 2, the manual remote control adapts the remote control to control the flight of the drone. After the drone is controlled to fly to the cargo space, the scanner mounted on the drone scans the cargo space according to whether it can be scanned. The result of the two-dimensional code to determine whether goods are stored in the cargo space, thereby achieving an inventory of the quantity of goods stored on the shelf. However, at least the problem with the above cargo inventory scheme is that the flight path of the drone needs to be controlled by the manual remote control to the drone, and the flight process is not sufficiently automated. In order to solve at least the above problem, the present application provides an item inspection method for detecting whether an item is stored in a detection object such as a shelf. It should be noted that the inspection object of the article inspection method is not limited to the shelf, and the object to be detected includes the article storage unit, and the article storage unit is not limited to the storage space on the shelf. The object to be inspected placed in the article storage unit may be a cargo or other articles having a specific shape. In addition, the detection object may include other devices in addition to the article storage unit. Alternatively, the detection object is composed of an item storage unit, that is, the whole formed by the plurality of item storage units arranged according to a certain rule is called a detection object. For example, the whole of a plurality of boxes arranged in a plurality of rows and columns is a detection target. The device to which the object can be placed can be placed upright or it can be placed horizontally. The item inspection method provided by the present application is applied to a mobile device, and the mobile device may be any device capable of performing autonomous movement such as a drone or a robot. Referring to FIG. 3, an application scenario of an item inspection method is shown. The application scenario still takes the inspection of the goods on the shelf as an example, and describes the specific implementation process of the inspection method of the articles. As shown in FIG. 3, the item inspection system may include a ground control device, and the ground control device may transmit the data of the pre-planned movement route to the drone before each inspection. Sending a route to a drone means sending a route to the drone. The pre-planned moving route needs to pass through the object storage unit of the inspection object that needs to be inspected. Different shelves correspond to different moving route materials. Specifically, the different layouts of the shelves are different in the arrangement of the cargo spaces on the shelves, and the different arrangement forms may be reflected in the same or different number of the same positions but different arrangement rules. See the movement routes corresponding to the two different shelves shown in Figures 4A and 4B. Here, the number of the shelves on the shelf shown in FIG. 4A is different from the number of the shelves on the shelf shown in FIG. 3, and therefore, the moving route shown in FIG. 4A is different from the moving route shown in FIG. The position on the shelf shown in FIG. 4B is the same as the number of positions on the shelf shown in FIG. 3, but the arrangement rules of the positions are different. Therefore, the movement route shown in FIG. 4B is different from the movement route shown in FIG. . The length of the moving route represents the length of the flying distance during the inspection of the drone. Therefore, in order to shorten the flying distance of the drone, the moving route can be set according to the arrangement of the cargo space. As shown in FIG. 5A, if the goods are arranged in a row and row manner, the moving route includes a plurality of inflection points in addition to the starting point and the ending point. In addition to the first row and the last row, each intermediate row includes two inflection points, and the moving route between the two inflection points is parallel to the row direction. Of course, for the first line, the movement route between the starting point and the inflection point on the first line is parallel to the row direction; for the last line, the movement route between the end point and the inflection point on the last line is also parallel to the row direction. . Except for the first row and the last row, the moving route between the inflection points of the two rows is parallel to the column direction. Of course, for the first line, the movement route between the inflection point on the line and the inflection point on the subsequent line is parallel to the column direction; for the last line, the inflection point on the line is between the inflection point on the previous line and the inflection point on the previous line. The moving route is also parallel to the column direction. For the goods arranged in a row and row manner, the moving route may be planned as the route of the behavior inspection unit shown in FIG. 5A, and the route may be referred to as a patrol route, or may be planned as shown in FIG. 5B. The route of the inspection unit, which can be called the inspection route. The patrol route and the patrol line are only different in form, but the route composition is the same. The shelves in the warehouse may not be one or multiple. A shelf can be called a row of shelves, and after the drone detects a row of shelves, it needs to fly to another row of shelves. Therefore, the planned moving route may include a transition sub-route and a detection sub-route. The transition sub-route is a route from one shelf to another, and the detection sub-route is a route for detecting whether the cargo on the shelf stores the goods. Therefore, the drone is controlled to move along the route indicated by the transition sub-route to move the drone from one shelf to another; whenever the drone moves to a shelf, the drone is controlled along the detection sub-route corresponding to the shelf Move, thus enabling the detection of multi-row shelves by the drone. In the above example, the arrangement of the cargo spaces is regular. If the arrangement of the cargo spaces is irregular, it is necessary to plan according to the arrangement of the cargo spaces, as long as the route from the previous cargo space to the next cargo space in the moving route is guaranteed. The shortest route is enough. After the movement route is determined, the movement route can be set in the drone in advance, in addition to being transmitted to the drone by the ground control device. In this way, each time the drone performs the inspection task, it can move according to the route indicated by the preset movement route data. Since the arrangement of the item storage units in the detection object changes, the route indicated by the movement route data also needs to be adaptively changed in order to pass through the item storage units. Therefore, the scheme of presetting the movement route data in the mobile device is more suitable for the scenario in which the arrangement of the article storage units in the detection object is relatively fixed. After the drone receives the movement route data corresponding to the shelf to be detected, the mobile device can be controlled to move along the movement route indicated by the movement route data. The specific control process can be implemented in the following two ways. One implementation is that the drone is navigated by the ground control device to control the drone to move along the preset movement route. Another implementation manner is that the flight control module on the drone navigates the drone to control the drone to move along the preset moving route. If it is the second implementation mode, the positioning module and the flight control module can be set on the drone. The flight control module obtains the real-time positioning data of the positioning module to the drone, and plans the moving trajectory of the drone according to the real-time positioning data and the moving route data, so that the moving trajectory coincides with the route indicated by the moving route data. The following describes the positioning process of the positioning module on the drone. Specifically, the shelf can be set in a specific space such as a warehouse. In order to realize the positioning of the flight position of the drone in a specific space, a pulse signal transmitting module can be disposed in the warehouse, and correspondingly, the positioning module on the drone It is a pulse signal receiving module. The pulse signal receiving module may be multiple. After receiving the pulse signal transmitted by each pulse signal, the pulse signal receiving module locates the position of the drone according to the strength of the plurality of pulse signals to obtain the position data of the drone. In an implementation manner, the pulse signal transmitting module can be an ultra-wideband (UWB) signal transmitting module, and the pulse signal receiving module is a module that is an ultra-wideband (UWB) signal receiving module. . As shown in Fig. 6, a UWB signal transmitting module is arranged at each of the four corners of the top of the warehouse. Each UWB signal transmitting module can transmit UWB signals to the outside. After receiving the UWB signals, the UWB signal receiving module on the drone realizes positioning of the UAV according to the strength of each UWB signal. Of course, the number of the pulse signal transmitting modules is not limited to four, and may be two or more other numbers. In order to achieve the accuracy of positioning, the more the pulse signal transmitting module, the better, but considering the implementation cost, the number of suitable pulse signal transmitting modules can be selected according to the actual situation. It should be noted that the pulse signal will be affected by certain substances. If the material of the shelf in the warehouse includes these substances, the pulse signal will be attenuated, which will affect the reception of the pulse signal by the pulse signal receiving module of the drone. Therefore, when arranging the pulse signal transmitting module, the shelf is prevented from blocking the pulse signal. For example, as shown in FIG. 6, the pulse signal transmitting module can be arranged at the top of the warehouse. In order to enlarge the emission area of the signal, the pulse signal transmitting module is arranged at the corner point according to the shape of the top of the warehouse. Of course, if you want to expand the number of pulse signal transmitting modules, you can also arrange the pulse signal transmitting module at other locations. It should be noted that the drone can be various types of drones such as a rotary wing drone. The flight control module on the drone can use the flight control algorithm to control the attitude of the drone during flight to ensure the stability of the flight attitude of the drone. In order to further improve the accuracy of the UAV navigation process and better control the flight attitude, a Strap-down Inertial Navigation System (SINS) can be set on the UAV. The system installs the accelerometer and the gyroscope directly on the carrier, calculates the attitude matrix in real time according to the information measured by the accelerometer and the gyroscope, and calculates the relationship between the carrier coordinate system and the navigation coordinate system, and then the carrier coordinates. The accelerometer information of the system is converted into information in the navigation coordinate system, thereby navigating according to the conversion information. Alternatively, a radar altimeter and an optical flow velocity sensor can be provided on the drone. The flight control module can further obtain the height information measured by the radar altimeter and the horizontal speed information measured by the optical flow speed sensor, and obtain the movement state information calculated by the SINS system, and use the flight control algorithm to move the state information, the height information and the horizontal speed information. Perform comprehensive calculations and perform navigation and attitude control on the flight process based on the comprehensive calculation results. Among them, the flight control algorithm may include various algorithms such as a Kalman filter algorithm. The drone passes through the location as it moves along the moving route. When the drone passes the cargo position, the drone is triggered to detect whether the goods are stored in the cargo space. It should be noted that the drone can detect the cargo space every time a cargo space passes, or it can also detect the passing predetermined cargo space. The detection method can be a two-dimensional code scanning method. Specifically, a two-dimensional code can be set on the goods, and the drone detects whether the goods are stored in the cargo space according to whether the two-dimensional code is scanned. The detection method is not limited to the two-dimensional code scanning method, and may be other methods, such as an image detection method. Specifically, the drone can collect an image of the cargo space and send the image to the ground control device, and the ground control device processes the image to detect whether the cargo is stored in the cargo space. Alternatively, after the drone collects the image of the cargo space, the image is processed by itself to detect whether the goods are stored in the cargo space. The specific image detection method is described in the following content, and is not described here. As can be seen from the above technical solutions, the present application provides an item inspection method applied to a mobile device to detect whether or not an item is stored in the item storage unit of the detection object. Specifically, the mobile device can obtain a movement route corresponding to the detection object before the inspection, and the movement route is a route that is pre-planned according to the arrangement manner of the article storage unit provided in the detection object and passes through the article storage unit, and therefore moves The device can move autonomously along the moving route, and when the item storage unit passes through the autonomous movement, it is detected whether the item is stored therein. Compared with the remote control of the mobile device by the ground personnel, the mobile device can control the movement process of the mobile device, thereby realizing the automation of the article inspection process. It should be noted that, in the above embodiment, the device for externally controlling the unmanned aerial vehicle is a ground control device, but is not limited thereto, and any device that performs external control on the mobile device may be collectively referred to as a control device. In addition, the item storage unit through which the movement route passes may be all the item storage units provided in the detection object. Of course, if it is desired to detect whether or not items are stored in some or some item storage unit, the item passing the route is moved. The storage unit may be some or some item storage unit within the detection object. The item inspection method may further include: generating a inspection result according to whether the detection result of the item is stored. Specifically, the status identifier is generated according to the detection result, and the different status identifiers indicate the state in which the articles are stored or not stored in the article storage unit. For example, the state identifier 1 indicates that there is an article, and the state identifier 0 indicates that the article is not stored. Of course, the status identifier can also be other forms and is not limited to numerical values. The item storage unit has a unit identifier, and the unit identifier is a unique identifier of the item storage unit in the detection object. The unit identifier may be the position of the item storage unit on the detection object such as the second row of the third row, or the location identifier may be the number of the item storage unit such as number 54. The correspondence between the location identifier and the status identifier is established and saved in the inspection result. For example, the unit identifier of the cargo space on the shelf is the cargo space identifier. If the cargo space identifier of a cargo space is 3-2 (indicating the third row and the second column), the status identifier is 1 (1 indicates that the goods are stored), and the inspection is performed. The result includes the correspondence between the location identifier and the status identifier to indicate that the item is stored in the third row and the second row. The article detecting method may further include: counting the number of articles stored in the object according to the inspection result, that is, the article detecting method further includes counting the number of articles. The specific implementation method may be: the statistical status identifier is a preset number indicating the status identifier of the stored item. Of course, the item detection method can also be used to count the number of item storage units in the object that are not stored in the object. The specific implementation method is similar to the foregoing implementation method, that is, the statistical status identifier is a preset number indicating the status identifier of the item not stored. The existing item inventory scheme shown in FIG. 2 has a problem of low accuracy in addition to the problem that manual remote control is required. Specifically, in the solution shown in FIG. 2, the drone continuously scans the two-dimensional code during the flight, and determines whether there is a cargo in the cargo space by scanning the two-dimensional code, but the area of the two-dimensional code is small and has The QR code is worn, resulting in a low scanning success rate of the QR code, which affects the accuracy of the goods inventory result. Therefore, in order to improve the accuracy of the cargo inspection, in the embodiment of the above-mentioned article inspection method, when the drone passes the cargo space during the movement, the specific implementation manner of triggering the drone to detect whether the goods are stored in the cargo space may include the following implementations. the way. In one implementation, the preset movement route includes one or more detection points, and the detection points correspond to the positions of the cargo spaces in the shelf. The detection point is set according to the position of the cargo space on the shelf, that is to say, which one or which cargo spaces on the shelf need to be detected, it is necessary to set corresponding detection points for the cargo spaces in the moving route. When the drone moves along the moving route, when the detection point passes, the drone is triggered to detect whether the item is stored in the cargo space. In this implementation manner, during the movement of the drone along the moving route, it is possible to accurately determine at which position the detection operation is performed, but it is necessary to pre-determine the position, quantity, and the like of the cargo space on the shelf, thereby based on the information. Planning the detection points in the moving route makes the planning of the moving route more difficult. Another implementation method is to set an information collection module on the drone, and the information collection module moves along with the movement of the drone, and determines the detection point according to whether the information collection module collects the cargo space label when moving. Specifically, each cargo space can be set with a cargo space label corresponding to the cargo space, and the set point of the cargo space label indicates a location point at which the cargo space can be detected. That is to say, if the information collecting module can collect the cargo space label at a certain point, it indicates that there is a cargo space at the location of the cargo space label, and then it is possible to detect whether the cargo is stored in the cargo space. As shown in FIG. 7 , a cargo space label is arranged below the cargo space. If the information collecting module on the drone can collect the cargo space label, it indicates that there is a cargo space at the cargo space label position, so that the cargo space can be detected. Whether the goods are stored in the cargo space. In this implementation manner, it is not necessary to plan a detection point in the movement route, and it is determined whether the information collection module can collect the location label to determine whether a detection point is reached, and when the information collection module collects the location label on the mobile. , trigger the drone to detect whether goods are stored in the cargo space. It should be noted that the implementation manner is described by taking the cargo space as an example. Therefore, the unit label corresponding to the article storage unit is a cargo space label. Of course, if the item storage unit is another type of device, the unit label is a label corresponding to other forms. In the implementation, the information collection module can be an image acquisition module such as a camera module or a depth camera sensor, and the image acquisition module can collect the image of the shelf in real time during the flight of the drone, and then determine the information acquisition module. Whether the location tag is collected may be, whether the image of the shelf is included in the image of the shelf, and if the image of the shelf includes the location tag, the image collection module collects the location tag. The location tag may have certain image characteristics, and the image feature may be a color feature, a shape feature, or the like. Therefore, if an image area having a specific image feature can be detected in the shelf image, it means that a location tag can be collected in the shelf image. Wherein, the specific image feature is that the image tag has an image feature such as a specific shape. Assume that the cargo space label is a rectangle having a length of 10 cm and a width of 5 cm, and the camera device on the drone can collect the image of the shelf as shown in FIG. 7, if the rectangle detected from the shelf image meets the above characteristics. , indicating that the shelf image contains a location label. If the location label can be collected from the shelf image, it indicates that there is a location at the location of the location label, so that the drone can be triggered to detect whether the goods are stored in the location. The detection method may be a two-dimensional code scanning method or another method such as image detection. The image detection method will be specifically described below. After determining the detection point indicated by the location label, the drone can be guided to the spatial position corresponding to the detection point, thereby triggering the image acquisition module to collect the image of the location corresponding to the location label. Specifically, after determining the image location of the location label in the location image, determining a spatial location corresponding to the image location; controlling the drone to move to the spatial location, and collecting an image at the spatial location, collecting The image is the image of the location corresponding to the location label, referred to as the location image. After the location image is acquired, an image processing algorithm such as a depth detection algorithm is used to detect whether or not the goods are contained in the image of the location. It should be noted that the depth detection algorithm is an image processing algorithm. When detecting whether the cargo image is included in the cargo image, the present invention is not limited to using the depth detection algorithm, and other image processing algorithms may also be used. Take the depth detection algorithm as an example to describe the detection process. Specifically, the location image is first binarized, and the contour region is extracted from the binarized image. If the extracted contour area satisfies a specific shape feature, which is a shape feature of the cargo, it can be determined that the cargo is stored in the location. If the contour area is not extracted, or the extracted contour area does not satisfy the specific shape feature, it can be determined that the goods are not stored in the location. After obtaining the test result, the drone can send the test result to the ground control device for processing by the ground control device, such as displaying the test result in the display interface. Alternatively, the drone can also transmit the image acquired by the image acquisition module to the ground control device for processing, such as saving or displaying, by the ground control device. FIG. 8 is a schematic structural diagram of an article inspection apparatus provided by the present application, specifically including a processor 801 and a navigation module 802. The processor 801 is configured to obtain a movement route data corresponding to the detection object, wherein the detection object is provided with a plurality of item storage units, the route indicated by the movement route data passes through the item storage unit, and the movement route is The data is sent to the navigation module; the navigation module 802 is configured to control the movement of the item inspection device along the route indicated by the movement route data; the processor 801 is further configured to: when the item inspection device is in the When the article storage unit is moved during the movement, it is detected whether the article is stored in the article storage unit, and the detection result is obtained. In an example, when performing the step of controlling the movement of the item inspection device along the route indicated by the movement route data, the navigation module 802 is specifically configured to determine real-time positioning data of the item inspection device; The real-time positioning data and the moving route data plan a moving trajectory of the item patrol device to match the moving trajectory with the route indicated by the moving route data. In one example, a pulse signal transmitting module is disposed in a space in which the detecting object is located, and the navigation module includes a pulse signal receiving module; and performing the obtaining of the positioning module on the article patrol device During the step of real-time locating data, the navigation module 802 is specifically configured to obtain real-time positioning data generated by the pulse signal receiving module according to the pulse signal transmitted by the pulse signal transmitting module. In one example, the item inspection device is an unmanned aerial vehicle, the pulse signal transmission module is an ultra-wideband signal transmission module, and the pulse signal receiving module is an ultra-wideband signal receiving module. In one example, the detection object is a plurality of, and the route indicated by the movement route data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route; and then performing control on the item inspection device along the movement When the route data indicates the step of moving the route, the navigation module 802 is specifically configured to control the movement of the article inspection device along the route indicated by the transition sub-route to move the article inspection device from a detection object to Another detection object; and each time the article inspection device moves to the detection object, the article inspection device is controlled to move along the detection sub-route corresponding to the detection object. In one example, the route indicated by the movement route data includes a plurality of detection points, and the detection points correspond to the position of the article storage unit in the detection object; The processor 801 is specifically configured to: when the step of storing the article is stored in the article storage unit during the moving through the article storage unit, the processor 801 is configured to: when the article inspection device passes the detection in the moving When the point is detected, it is detected whether the item is stored in the item storage unit. FIG. 9 is a schematic diagram showing another structure of the article inspection device provided by the present application, which specifically includes a processor 801, a navigation module 802, and an information collection module 803. The item storage unit has a corresponding unit label. The information collection module 803 is configured to collect a unit label in the route movement indicated by the item inspection device along the movement path data; and then execute the item when the item inspection device passes the movement in the movement When the unit is configured to detect whether the item is stored in the item storage unit, the processor 801 is specifically configured to: when the information collecting module collects the unit label in the moving, detect the item to be stored. Whether items are stored in the unit. In an example, the information collection module 803 is an image acquisition module, configured to collect an image of the detection object in real time during the movement of the item inspection device; The processor 801 is specifically configured to detect an image of the detection object collected by the image collection module, when the step of detecting whether the item is stored in the item storage unit is collected in the moving Whether the unit label is included; if included, detecting whether an item is stored in the item storage unit. In an example, the image acquisition module is further configured to: after receiving the acquisition instruction, acquire an image of the item storage unit corresponding to the unit label; and send an image of the item storage unit corresponding to the unit label to the processing The processor 801 is specifically configured to send an acquisition instruction to the image collection module, and detect an item storage unit corresponding to the unit label, when performing the step of detecting whether an item is stored in the item storage unit. Whether the item is included in the image. In one example, when performing the step of detecting whether the item is included in the image of the item storage unit, the processor 801 is specifically configured to detect whether to include in the image of the item storage unit using a depth detection algorithm. The item. In an example, the processor 801 is further configured to determine an image position of the unit label in an image of the item storage unit corresponding to the unit label, before sending the collection instruction to the image collection module, and Determining a spatial location corresponding to the image location; and controlling the item inspection device to move to the spatial location. FIG. 10 is a schematic diagram showing the structure of a mobile device provided by the present application, which specifically includes a processor 1001, a navigation module 1002, an image acquisition module 1003, and a communication interface 1004. The processor 1001 is configured to obtain a movement route data corresponding to the detection object, wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit; the navigation module 1002 uses The image capturing module 1003 is configured to collect an image of the detection object in the moving; and send the image to the communication interface; The communication interface 1004 is configured to send the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included. In one example, the route indicated by the movement route data includes a plurality of detection points, and the detection points correspond to the position of the item storage unit in the detection object; then, the detection is performed during the movement. The image capturing module 1003 is specifically configured to: when the mobile device passes the detection point in the moving, collect an item stored in the detection object and corresponding to the detection point. The image of the unit. In an example, the item storage unit has a corresponding unit label; when the step of collecting an image of the detection object in the moving is performed, the image collection module 1003 is specifically configured to: when receiving the acquisition instruction, An image of the item storage unit in the detection object and corresponding to the unit label is acquired. It should be noted that the above mobile device may be the drone shown in FIG. 3. As shown in FIG. 11 , the present application further provides a schematic configuration of a patrol management apparatus, specifically including: a communication interface 1101, configured to receive an image of a detection object sent by the mobile device; and receiving an item storage unit sent by the mobile device The processor 1102 is configured to: if a unit label is detected from detecting an image of the detection object, send an acquisition instruction to the mobile device; wherein the detection object is provided with a plurality of item storage units, The item storage unit has a corresponding unit label, and the collection instruction is configured to trigger the mobile device to collect an image of the item storage unit in the detection object and corresponding to the unit label; and a map according to the item storage unit For example, detecting whether the item storage unit contains an item. In one example, the processor 1102 is further configured to determine an arrangement manner of the plurality of item storage units in the detection object, and generate a movement route data according to the arrangement manner; wherein the route indicated by the movement route data passes the Several item storage units. The communication interface 1101 is further configured to send the mobile route data to the mobile device. It should be noted that the above patrol management device may be the ground control device shown in FIG. 3. It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the embodiments are referred to each other. can. It should also be noted that, in this context, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying such entities or operations. There is any such actual relationship or order between them. Furthermore, the term "comprises" or "comprises" or "comprises" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional elements in the process, method, article, or device that comprises the above described elements. The above description of the disclosed embodiments enables those skilled in the art to make or use the application. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application is not limited to the embodiments shown herein, but is to be accorded the broadest scope of the principles and novel features disclosed herein.

801‧‧‧ processor

802‧‧‧Navigation module

803‧‧‧Information Acquisition Module

1001‧‧‧ processor

1002‧‧‧Navigation module

1003‧‧‧Image Acquisition Module

1004‧‧‧Communication interface

1101‧‧‧Communication interface

1102‧‧‧ Processor

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only For the embodiments of the application, other drawings may be obtained from those of ordinary skill in the art in light of the creative work. 1 is a schematic view of a front side of a shelf; FIG. 2 is a schematic view of an existing item inventory plan; FIG. 3 is a schematic view of an application scenario of the article inspection method provided by the present application; FIG. 4A and FIG. FIG. 5A and FIG. 5B are schematic diagrams showing two kinds of movement routes corresponding to one shelf provided by the present application; FIG. 6 is a schematic diagram of the UWB signal transmission module provided in the present application. FIG. 7 is a schematic diagram of a shelf image collected by the information collection module provided by the present application; FIG. 8 is a schematic structural view of the article inspection device provided by the present application; FIG. 10 is a schematic structural diagram of a mobile device provided by the present application; FIG. 11 is a schematic structural diagram of a patrol management device provided by the present application.

Claims (32)

An item inspection method is applied to a mobile device, the method comprising: obtaining a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item a storage unit; controlling movement of the mobile device along the route indicated by the movement route data; triggering the mobile device to detect the article storage unit when the mobile device passes the article storage unit during the movement Whether items are stored and the test results are obtained. The method for inspecting an article according to the first aspect of the invention, wherein the mobile device is provided with a positioning module; and controlling the movement of the mobile device along the route indicated by the movement route data comprises: obtaining Determining real-time positioning data of the mobile device by the positioning module; planning, according to the real-time positioning data and the moving route data, a moving trajectory of the mobile device, so that the moving trajectory and the moving route data representation The route is consistent. The method for inspecting an article according to claim 2, wherein a pulse signal transmitting module is disposed in a space in which the detecting object is located, and the positioning module is a pulse signal receiving module; The real-time positioning data of the module to the mobile device includes: obtaining real-time positioning data generated by the pulse signal receiving module according to the pulse signal emitted by the pulse signal transmitting module. The method for inspecting articles according to claim 3, wherein the mobile device is a drone, the pulse signal transmitting module is an ultra-wideband signal transmitting module, and the pulse signal receiving module is ultra-wideband. Signal receiving module. The article inspection method according to the first aspect of the invention, wherein the detection object is a plurality of, and the route indicated by the movement route data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route; Moving the mobile device along the route indicated by the movement route data, comprising: controlling movement of the mobile device along the route indicated by the transition sub-route to move the mobile device from one detection object to another detection object Whenever the mobile device moves to the detection object, the mobile device is controlled to move along the detection sub-route corresponding to the detection object. The article inspection method according to claim 1, wherein the route indicated by the movement route data includes a plurality of detection points, and the detection points and the position of the article storage unit in the detection object Corresponding; when the mobile device passes the item storage unit during the moving, triggering the mobile device to detect whether the item is stored in the item storage unit, comprising: when the mobile device is in the moving When the detection point passes, the mobile device is triggered to detect whether an item is stored in the item storage unit. The article inspection method according to claim 1, wherein the mobile device is provided with an information collection module, and the article storage unit has a corresponding unit label; When the moving unit passes the item storage unit, triggering the mobile device to detect whether the item is stored in the item storage unit includes: when the information collecting module collects the unit label in the moving, triggering The mobile device detects whether an item is stored in the item storage unit. The method for inspecting an article according to the seventh aspect of the invention, wherein the information collection module is an image acquisition module, configured to collect an image of the detection object in real time during the movement of the mobile device; When the information collection module collects the unit label in the moving, triggering the mobile device to detect whether the item is stored in the item storage unit includes: detecting whether the image of the detection object is included The unit label; if included, triggering the mobile device to detect whether an item is stored in the item storage unit. The method of inspecting an article according to claim 8 , wherein the triggering the mobile device to detect whether an item is stored in the item storage unit comprises: triggering the image acquisition module to collect the unit An image of the article storage unit corresponding to the tag; detecting whether the article is included in the image of the article storage unit. The article inspection method according to claim 9, wherein the detecting whether the article is included in an image of the article storage unit comprises: using a depth detection algorithm, a map of the article storage unit The in-image detection includes whether or not the item is included. The method of inspecting an article according to claim 9 , wherein the triggering the image acquisition module to collect an image of the item storage unit corresponding to the unit label comprises: determining that the unit label is in the Determining an image location in the image and determining a spatial location corresponding to the image location; controlling movement of the mobile device to the spatial location and acquiring an image at the spatial location; wherein the image An image of the item storage unit corresponding to the unit label. An item inspection method is applied to a mobile device, the method comprising: obtaining a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item a storage unit; controlling movement of the mobile device along the route indicated by the movement route data; collecting an image of the detection object in the movement, and transmitting the image to the inspection management device; wherein the image The inspection management device is configured to detect whether an item is included. The article inspection method according to claim 12, wherein the route indicated by the movement route data includes a plurality of detection points, and the detection points and the position of the article storage unit in the detection object Corresponding; the collecting the image of the detection object in the moving, comprising: when the mobile device passes the detection point in the moving, collecting the detection object and corresponding to the detection point An image of the item storage unit. The article inspection method according to claim 12, wherein the article storage unit has a corresponding unit label; and the collecting the image of the detection object in the moving comprises: receiving an acquisition instruction At the time, an image of the article storage unit corresponding to the unit tag in the detection object is acquired. An item inspection method is applied to a patrol management device, the method comprising: receiving an image of a detection object transmitted by a mobile device; and detecting a cell tag from detecting an image of the detection object, to the mobile device Sending an acquisition instruction; wherein the detection object is provided with a plurality of item storage units, the item storage unit has a corresponding unit label, and the collection instruction is used to trigger the mobile device to collect the detection object and the unit An image of the article storage unit corresponding to the tag; receiving an image of the article storage unit sent by the mobile device; and detecting whether the article storage unit includes the article according to the image of the article storage unit. The method for inspecting an article according to claim 15 , further comprising: determining an arrangement manner of a plurality of article storage units in the detection object; generating a movement route data according to the arrangement manner; wherein the movement route The route indicated by the data passes through the plurality of item storage units; the mobile route data is transmitted to the mobile device. An item inspection device includes: a processor, configured to obtain a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit And sending the moving route data to the navigation module; a navigation module; for controlling movement of the item inspection device along the route indicated by the movement route data; and a processor, further configured to: when the item is inspected When the inspection device passes the article storage unit during the movement, it detects whether an article is stored in the article storage unit, and obtains a detection result. The article patrol device of claim 17, wherein the navigation module for controlling the movement of the article patrol device along the route indicated by the movement route data comprises: a navigation module, specifically Determining real-time positioning data of the article inspection device; and planning a movement trajectory of the article inspection device according to the real-time positioning data and the moving route data, so as to make the movement track and the moving route The route indicated by the data is consistent. According to the item inspection device of claim 18, wherein the space in which the detection object is located is provided with a pulse signal transmission module, and the navigation module includes a pulse signal receiving module; The navigation module of the real-time positioning data of the patrol device of the locating module includes: a navigation module, specifically configured to obtain the pulse signal receiving module to generate a pulse signal generated by the pulse signal transmitting module Real-time location data. The article inspection device according to claim 19, wherein the article inspection device is a drone, the pulse signal transmission module is an ultra-wideband signal transmission module, and the pulse signal receiving module is Ultra-wideband signal receiving module. The article inspection device according to claim 17, wherein the detection object is a plurality of, and the route indicated by the movement route data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route; The navigation module for controlling the movement of the item inspection device along the route indicated by the movement route data includes: a navigation module, specifically for controlling movement of the item inspection device along the route indicated by the transition sub-route , so that the article inspection device moves from one detection object to another detection object; and each time the article inspection device moves to the detection object, the article inspection device is controlled to correspond to the detection object. The detection sub-route moves. The article inspection device of claim 17, wherein the route indicated by the movement route data includes a plurality of detection points, and the position of the detection point and the article storage unit in the detection object Corresponding; a processor for detecting whether an item is stored in the item storage unit when the item inspection device passes the item storage unit in the moving, comprising: a processor, specifically for When the article inspection device passes the detection point during the movement, it is detected whether or not an article is stored in the article storage unit. The article inspection device according to claim 17, wherein the article storage unit has a corresponding unit label; and the article inspection device further comprises: an information collection module, configured to inspect the article The device moves the acquisition unit label along the route indicated by the movement route data; and is configured to detect whether the item storage unit stores the item storage unit when the item inspection device passes the item storage unit during the movement The processor of the item includes: a processor, configured to detect whether an item is stored in the item storage unit when the information collecting module collects the unit label in the moving. The article inspection device according to claim 23, wherein the information collection module is an image acquisition module, configured to collect an image of the detection object in real time during the movement of the article inspection device. And a processor for detecting whether the item is stored in the item storage unit when the information collecting module collects the unit label in the moving, and the method includes: a processor, specifically configured to detect the Whether the unit label is included in the image of the detection object collected by the image acquisition module; if included, detecting whether the item is stored in the item storage unit. The article patrol device of claim 24, wherein the image acquisition module is further configured to: after receiving the acquisition instruction, acquire an image of the item storage unit corresponding to the unit label; The image of the item storage unit corresponding to the unit label is sent to the processor. The processor for detecting whether the item is stored in the item storage unit includes: a processor, configured to send the collection to the image collection module. And instructing to detect whether the item is included in an image of the item storage unit corresponding to the unit label. The apparatus of claim 25, wherein the processor for detecting whether the article is contained in an image of the article storage unit comprises: a processor, specifically for using a depth detection algorithm Detecting whether the item is included in the image of the item storage unit. The article inspection apparatus according to claim 25, wherein the processor is further configured to: before the sending the collection instruction to the image collection module, determine the item corresponding to the unit label on the unit label Storing an image location in an image of the unit and determining a spatial location corresponding to the image location; and controlling movement of the item inspection device to the spatial location. A mobile device, comprising: a processor, configured to obtain a movement route data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit; a module, configured to control movement of the mobile device along the route indicated by the movement route data; an image acquisition module, configured to collect an image of the detection object in the movement; and send the image to a communication interface for transmitting the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included. The mobile device of claim 28, wherein the route indicated by the movement route data includes a plurality of detection points, and the detection points correspond to positions of the article storage unit in the detection object; An image acquisition module for collecting an image of the detection object in the moving, comprising: an image acquisition module, specifically configured to: when the mobile device passes the detection point in the moving, collect An image of the item storage unit in the detection object and corresponding to the detection point. The mobile device according to claim 28, wherein the article storage unit has a corresponding unit label; and an image acquisition module for collecting an image of the detection object in the moving, comprising: The image capture module is configured to collect an image of the item storage unit in the detection object and corresponding to the unit label when receiving the acquisition instruction. A patrol management device, comprising: a communication interface, configured to receive an image of a detection object sent by the mobile device; and receive an image of the item storage unit sent by the mobile device; and a processor configured to detect the detection When the unit label is detected in the image of the object, the collection instruction is sent to the mobile device; wherein the detection object is provided with a plurality of item storage units, the item storage unit has a corresponding unit label, and the collection instruction is used for Triggering the mobile device to collect an image of the item storage unit in the detection object and corresponding to the unit label; and detecting whether the item storage unit includes an item according to an image of the item storage unit. The patrol management device according to claim 31, wherein the processor is further configured to determine an arrangement manner of the plurality of article storage units in the detection object; and generate the movement route data according to the arrangement manner; The route indicated by the movement route data passes through the plurality of item storage units; the communication interface is further configured to send the movement route data to the mobile device.