WO2020062688A1 - 一种基于行走机器人的周转箱跟踪系统、方法及装置与终端和存储介质 - Google Patents

一种基于行走机器人的周转箱跟踪系统、方法及装置与终端和存储介质 Download PDF

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Publication number
WO2020062688A1
WO2020062688A1 PCT/CN2018/125217 CN2018125217W WO2020062688A1 WO 2020062688 A1 WO2020062688 A1 WO 2020062688A1 CN 2018125217 W CN2018125217 W CN 2018125217W WO 2020062688 A1 WO2020062688 A1 WO 2020062688A1
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Prior art keywords
turnover box
identity information
robot
walking robot
binding
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PCT/CN2018/125217
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English (en)
French (fr)
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万琪
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炬星科技（深圳）有限公司
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Priority to KR1020207028532A priority Critical patent/KR102546759B1/ko
Publication of WO2020062688A1 publication Critical patent/WO2020062688A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06018—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding
    • G06K19/06028—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding using bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0833—Tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/10—Office automation; Time management

Definitions

  • the invention belongs to the technical field of turnover box handling, and particularly relates to a turnover robot tracking system, method, device, terminal, and storage medium based on a walking robot.
  • the existing turnover container handling technology can fulfill the purpose of storage or delivery of goods, but the specific status of the turnover container in the entire handling process cannot be monitored, which makes it impossible to know the storage of the goods in the turnover container in real time. Or out-of-warehouse state. In addition, there is a problem of low efficiency in manual transportation.
  • the existing tote box transportation technology has a technical problem that it is impossible to know in real time the state of the tote box transportation and low transportation efficiency.
  • An object of one aspect of the present invention is to provide a turnover box tracking system based on a walking robot, so as to realize the transparency of the turnover state of the turnover box, monitor the status information of the turnover box in real time, and thereby achieve the purpose of real-time monitoring of the update status of the goods in the turnover box.
  • a walking robot for walking and transporting a turnover box in a logistics warehouse the turnover box can be loaded on a pallet of the walking robot;
  • An identifier identifying the tag of the turnover box to generate the turnover box identity information and sending;
  • the user terminal obtains the turnover box identity information, and generates a binding request message by sending a package with the preset robot identity information to send;
  • the cloud receives the binding request message to bind the turnover box identity information paired with the registered turnover box information and the robot identity information, and then feedback the successful binding result to the user terminal.
  • the identifier is a radio frequency identifier; the radio frequency identifier is installed on the tray and is used to automatically identify a radio frequency tag of the turnover box.
  • the identifier is a code scanner; the code scanner is arranged on the robot body of the walking robot and is used for scanning the two-dimensional code of the turnover box.
  • the user terminal prompts the user to bind successfully.
  • Another object of the present invention is to provide a turnover box tracking method based on a walking robot, including:
  • the turnover box identity information is generated and sent by the tag that identifies the turnover box; the turnover box can be loaded on the pallet of the walking robot, and the walking robot is used to walk in the logistics warehouse Transport said totes;
  • the above turnover box tracking method includes:
  • the user is prompted to bind successfully.
  • Another object of the present invention is to provide a turnover box tracking device based on a walking robot, including:
  • An identity acquisition module is used to obtain turnover box identity information; the turnover box identity information is generated and sent by a tag that identifies the turnover box; the turnover box can be loaded on a tray of the walking robot, and the walking robot is used for Transporting the turnover box in a logistics warehouse;
  • a message generation module configured to package the turnover box identity information with preset robot identity information to generate a binding request message
  • a message sending module configured to send the binding request message to the cloud, so that the cloud will bind the turnover box identity information paired with the registered turnover box information and the robot identity information to feedback a successful binding result ;
  • the binding receiving module is configured to receive the successful binding result.
  • the turnover box tracking device includes:
  • a prompting module is configured to prompt the user that the binding is successful according to the successful binding result.
  • Another object of the present invention is to provide a terminal including a processor and a memory, where the memory stores a computer program, and the computer program runs in the processor to implement any of the above-mentioned turnaround box tracking methods.
  • Another object of the present invention is to provide a storage medium storing a computer program, where the computer program is run in a processor to implement any of the above-mentioned turnaround box tracking methods.
  • the invention provides a turnover box tracking system, method and device based on a walking robot, and a terminal and a storage medium. Among them, by setting a walking robot for walking and transporting the turnover box in the logistics warehouse, the turnover box can be loaded on the pallet of the walking robot, and then the identifier is set so that the identifier can identify the tag of the turnover box to generate the turnover box identity information.
  • FIG. 1 is a schematic structural diagram of a turnover box tracking system based on a walking robot according to an embodiment
  • FIG. 2 is a principle block diagram of a walking robot-based turnover box tracking system according to an embodiment
  • FIG. 3 is a flowchart of a walking robot-based turnover box tracking method according to an embodiment
  • FIG. 4 is a structural diagram of a walking robot-based turnover box tracking device according to an embodiment.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or Integrated connection; it can be mechanical or electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can also be the internal connection of two components; it can be a wireless connection or a wired connection.
  • installation should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or Integrated connection; it can be mechanical or electrical connection; it can be directly connected or indirectly connected through an intermediate medium; it can also be the internal connection of two components; it can be a wireless connection or a wired connection.
  • the specific meanings of the above terms in the present disclosure may be understood on a case-by-case basis.
  • FIG. 1 is a schematic structural diagram of a walking robot-based turnover box tracking system according to an embodiment, and illustrates a walking robot-based turnover box tracking system to achieve transparency in the handling state of the turnover box and monitor the status of the turnover box in real time Information, so as to achieve the purpose of real-time monitoring of the update status of the goods in the turnover box.
  • the totes are transported by the walking robot to improve the transport efficiency.
  • FIG. 2 is a principle block diagram of a walking robot-based turnover box tracking system according to an embodiment, and illustrates a walking robot-based turnover box tracking system.
  • a walking robot-based turnover box tracking system includes a walking robot 10, a recognizer 20, a user terminal 30, and a cloud 40.
  • the walking robot 10 is used for walking and transporting a turnover box in a logistics warehouse.
  • the turnover box can be loaded on a pallet of the walking robot 10.
  • the identifier 20 recognizes the tag of the turnover box to generate the turnover box identity information and sends it.
  • the user terminal 30 obtains the turnover box identity information, and generates a binding request message by sending a package with the preset robot identity information.
  • the cloud 40 receives a binding request message to bind the turnover box identity information paired with the registered turnover box information and the robot identity information, and then feed back a successful binding result to the user terminal 30.
  • the identifier 20 may be a radio frequency identifier 20.
  • the radio frequency identifier 20 is installed on the tray and used for automatically identifying the radio frequency tag of the turnover box.
  • the identifier 20 may be a code scanner.
  • the code scanner is arranged on the robot body of the walking robot 10 and is used for scanning the two-dimensional code of the turnover box.
  • the user terminal 30 prompts the user that the binding is successful.
  • the walking robot 10 is provided for walking and transporting the turnover box in the logistics warehouse, so that the turnover box can be loaded on the pallet of the walking robot 10, and then the identifier 20 is provided to make the identifier 20 identify the turnover box.
  • the tag is used to generate the turnover box identity information to send, and then the user terminal 30 is set to enable the client terminal 30 to obtain the turnover box identity information, so that the turnover box identity information and the preset robot identity information are packaged to generate a binding request message, and then sent through Set the cloud 40 to receive the binding request message, make a pairing judgment on the turnover box identity information carried in the binding request message and the registered turnover box information, and bind the paired turnover box identity information and the robot identity information to feedback
  • the result is successfully bound to the user terminal 30, so that not only the status of the turnover box is transparent, the status information of the turnover box is monitored in real time, the effect of real-time monitoring of the update status of the goods in the turnover box is reached, but the walking robot 10 carries the turnover box , Which improves the handling efficiency.
  • the cloud 40 can establish a connection with the walking robot 10 through the network, thereby tracking the working state of the walking robot 10. Therefore, after the turnover box is bound to the walking robot 10, tracking the dynamics of the walking robot 10, for example, tracking the walking trajectory of the walking robot 10, can realize the tracking of the turnover box. At the same time, tracking to the turnover box enables real-time monitoring of the goods in the corresponding turnover box, for example, real-time monitoring of whether the goods in the corresponding turnover box are at the unloading station or other stations.
  • the user terminal 30 may be a computer device installed on the body of the walking robot 10, or may be any mobile device having a data processing function.
  • the user terminal 30 may pre-store the identity information of the walking robot 10, for example, pre-store the number information of the walking robot 10, so as to be used for packaging with the identity information of the turnover box.
  • the cloud 40 parses the binding request message, extracts the turnover box identity information, and compares and binds the pre-registered turnover box information to confirm the corresponding turnover box .
  • the specific comparison and binding method can be:
  • turnover box identity information is paired with the previously registered turnover box information, bind the turnover box identity information to the identity information of the walking robot 10;
  • turnover box identity information is not paired with the previously registered turnover box information, the turnover box identity information and the identity information of the walking robot 10 are not bound.
  • the cloud 40 binds the turnover box identity information paired with the registered turnover box information and the robot identity information, and then feedbacks the successful binding result to the user terminal 30, so that the user terminal 30 responds according to the feedback result. For example, the user is prompted to bind successfully.
  • the method of prompting the user to bind successfully may be to generate a user interface, and the interface displays binding success information.
  • the way to prompt the user to bind successfully may be to call the voice interface for voice notification.
  • the cloud 40 does not bind the identity information of the turnover box with the identity information of the walking robot 10, it can feed back the result of the binding failure to the user terminal 30, so that the user terminal 30 prompts the user that the binding fails.
  • the user may determine his or her work according to the prompt result of the user terminal 30. For example, continue binding when the binding fails. After the binding is successful, the user can also make different choices according to the different identification methods.
  • radio frequency identification can automatically identify the identity of the turnover box, which can reduce manual participation, thereby reducing errors and improving efficiency.
  • code scanner can be installed on the robot body of the walking robot 10, which is convenient for users.
  • FIG. 3 is a flowchart of a walking robot-based turnover box tracking method according to an embodiment, and illustrates a walking robot-based turnover box tracking method. The method includes the following steps:
  • Step S0 Obtain the turnover box identity information; the turnover box identity information is generated and sent by the tag that identifies the turnover box; the turnover box can be loaded on the pallet of the walking robot, and the walking robot is used to walk and transport the turnover box in the logistics warehouse;
  • Step S1 package the turnover box identity information with the preset robot identity information to generate a binding request message
  • Step S2 Send a binding request message to the cloud, so that the cloud will bind the turnover box identification information paired with the registered turnover box information and the robot identity information to feedback the successful binding result;
  • Step S3 Receive a successful binding result.
  • the above-mentioned turnover box tracking method further includes steps:
  • Step S4 according to the successful binding result, the user is prompted to bind successfully.
  • a walking robot 10 is provided for walking and transporting a turnover box in a logistics warehouse, so that the turnover box can be loaded on a tray of the walking robot 10, and then an identifier 20 is provided for identification.
  • the device 20 recognizes the label of the turnover box to generate the turnover box identity information and sends it, and then sets the user terminal 30 to enable the client terminal 30 to obtain the turnover box identity information, so that the turnover box identity information is packaged with the preset robot identity information to generate a binding request report.
  • the successful binding result is fed back to the user terminal 30, which not only achieves the transparency of the turnover box's handling status, monitors the status information of the turnover box in real time, reaches the effect of real-time monitoring of the update status of the goods in the turnover box, but also the walking robot 10The turnover box is moved, which improves the transportation efficiency.
  • the cloud 40 can establish a connection with the walking robot 10 through the network, thereby tracking the working state of the walking robot 10. Therefore, after the turnover box is bound to the walking robot 10, tracking the dynamics of the walking robot 10, for example, tracking the walking trajectory of the walking robot 10, can realize the tracking of the turnover box. At the same time, tracking to the turnover box enables real-time monitoring of the goods in the corresponding turnover box, for example, real-time monitoring of whether the goods in the corresponding turnover box are at the unloading station or other stations.
  • the user terminal 30 may be a computer device installed on the body of the walking robot 10, or may be any mobile device having a data processing function.
  • the user terminal 30 may pre-store the identity information of the walking robot 10, for example, pre-store the number information of the walking robot 10, so as to be used for packaging with the identity information of the turnover box.
  • the cloud 40 parses the binding request message, extracts the turnover box identity information and compares and binds with the pre-registered turnover box information to confirm the current turnover box.
  • the specific comparison and binding method can be:
  • turnover box identity information is paired with the previously registered turnover box information, bind the turnover box identity information to the identity information of the walking robot 10;
  • turnover box identity information is not paired with the previously registered turnover box information, the turnover box identity information and the identity information of the walking robot 10 are not bound.
  • the cloud 40 binds the turnover box identity information paired with the registered turnover box information and the robot identity information, and then feedbacks the successful binding result to the user terminal 30, so that the user terminal 30 responds according to the feedback result. For example, the user is prompted to bind successfully.
  • the method of prompting the user to bind successfully may be to generate a user interface, and the interface displays binding success information.
  • the way to prompt the user to bind successfully may be to call the voice interface for voice notification.
  • the cloud 40 does not bind the identity information of the turnover box with the identity information of the walking robot 10, it can feed back the result of the binding failure to the user terminal 30, so that the user terminal 30 prompts the user that the binding fails.
  • the user may determine his or her work according to the prompt result of the user terminal 30. For example, continue binding when the binding fails. After the binding is successful, the user can also make different choices according to the different identification methods.
  • radio frequency identification can automatically identify the identity of the turnover box, which can reduce manual participation, thereby reducing errors and improving efficiency.
  • code scanner can be installed on the robot body of the walking robot 10, which is convenient for users.
  • FIG. 4 is an architecture diagram of a walking robot-based turnover box tracking device according to an embodiment, and illustrates a walking robot-based turnover box tracking device.
  • the device includes:
  • the identity obtaining module 01 is configured to obtain identity information of a turnover box.
  • Turnover box identity information is generated and sent by a tag that identifies the turnover box.
  • the turnover box can be loaded on the pallet of the walking robot, which is used to walk and transport the turnover box in the logistics warehouse.
  • the message generating module 02 is configured to package the turnover box identity information and the preset robot identity information to generate a binding request message.
  • the message sending module 03 is configured to send a binding request message to the cloud, so that the cloud binds the turnover box identification information paired with the registered turnover box information and the robot identity information to feedback a successful binding result.
  • the binding receiving module 04 is configured to receive a successful binding result.
  • the invention also provides a terminal, which includes a processor and a memory.
  • the memory stores a computer program, and the computer program is run in the processor to implement the above-mentioned walking robot-based turnover box tracking method.
  • the present invention also provides a storage medium.
  • the storage medium stores a computer program, and the computer program is run in a processor to implement the above-mentioned walking robot-based turnover box tracking method.
  • Embodiments of the present invention provide a turnover box tracking system, method, and device based on a walking robot, and a terminal and a storage medium. Among them, by setting a walking robot for walking and transporting the turnover box in the logistics warehouse, the turnover box can be loaded on the pallet of the walking robot, and then the identifier is set so that the identifier can identify the tag of the turnover box to generate the turnover box identity information.

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Abstract

一种基于行走机器人的周转箱跟踪系统，通过设置用于在物流仓库内行走运输周转箱的行走机器人（10），再通过设置识别器（20），使识别器（20）识别周转箱的标签以生成周转箱身份信息发送，再通过设置用户端（30），使用户端（30）获取周转箱身份信息，让周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文后发送，再通过设置云端（40）来接收绑定请求报文，并对周转箱身份信息与注册的周转箱信息进行配对判断，将配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端（30），从而不仅实现周转箱的搬运状态透明化，到达实时监控周转箱内的货物更新状态的效果，而且行走机器人对周转箱进行搬运，提高了搬运效率。

Description

一种基于行走机器人的周转箱跟踪系统、方法及装置与终端和存储介质 技术领域
本发明属于周转箱搬运技术领域，尤其涉及一种基于行走机器人的周转箱跟踪系统、方法及装置与终端和存储介质。
 背景技术
传统物流的仓库管理为仓库管理员全程管理模式，整个仓库的货物进出和调度管理和清单管理都依赖于人工完成。随着信息技术的发展，智能仓库管理日益取代传统人工管理。在智能仓库管理中，行走机器人扮演着重要的角色，行走机器人技术也在不断发展。在行走机器人技术中，涉及到周转箱搬运技术。周转箱具有可反复使用的特点，通常情况下，装载不同的货物需要相应的周转箱。现有的周转箱搬运多数停留人工层面，主要包括装货、搬运及卸货三个流程。在搬运流程中，通常是搬运工通过手推车将周转箱搬运到指定地点，以完成货物仓储或出库的目的。
虽然，在物流仓库中，现有的周转箱搬运技术可以完成货物仓储或出库的目的，但是，周转箱在整个搬运流程中的具体状态无法监控，从而造成无法实时获知周转箱中货物的仓储或出库状态，另外，人工搬运也存在效率低的问题。
因此，现有的周转箱搬运技术存在无法实时获知周转箱的搬运状态和搬运效率低的技术问题。
 技术问题
本发明一方面的目的在于提供一种基于行走机器人的周转箱跟踪系统，以实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，从而到达实时监控周转箱内的货物更新状态的目的。
 技术解决方案
本发明实施例提供的一种基于行走机器人的周转箱跟踪系统，包括：
行走机器人，用于在物流仓库内行走运输周转箱；所述周转箱可装载于所述行走机器人的托盘上；
识别器，识别所述周转箱的标签以生成周转箱身份信息发送；
用户端，获取所述周转箱身份信息，以与预设的机器人身份信息打包生成绑定请求报文发送；
云端，接收所述绑定请求报文，以将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果给所述用户端。
优选地，所述识别器为射频识别器；所述射频识别器安装在所述托盘上，用于自动识别所述周转箱的射频标签。
优选地，所述识别器为扫码器；所述扫码器设置在所述行走机器人的机器人本体上，用于扫描所述周转箱的二维码。
优选地，所述用户端收到所述成功绑定结果后提示用户绑定成功。
本发明另一方面的目的在于提供一种基于行走机器人的周转箱跟踪方法，包括：
获取周转箱身份信息；所述周转箱身份信息由识别器识别周转箱的标签生成并发送；所述周转箱可装载于所述行走机器人的托盘上，所述行走机器人用于在物流仓库内行走运输所述周转箱；
将所述周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文；
发送所述绑定请求报文给云端，以使云端将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果；
接收所述成功绑定结果。
优选地，上述周转箱跟踪方法包括：
根据所述成功绑定结果，提示用户绑定成功。
本发明另一方面的目的在于提供一种基于行走机器人的周转箱跟踪装置，包括：
身份获取模块，用于获取周转箱身份信息；所述周转箱身份信息由识别器识别周转箱的标签生成并发送；所述周转箱可装载于所述行走机器人的托盘上，所述行走机器人用于在物流仓库内行走运输所述周转箱；
报文生成模块，用于将所述周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文；
报文发送模块，用于发送所述绑定请求报文给云端，以使云端将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果；
绑定接收模块，用于接收所述成功绑定结果。
优选地，上述周转箱跟踪装置包括：
提示模块，用于根据所述成功绑定结果，提示用户绑定成功。
本发明另一方面的目的在于提供一种终端，包括处理器和存储器，所述存储器存储有计算机程序，所述计算机程序在所述处理器中运行可实现上述任一种周转箱跟踪方法。
本发明另一方面的目的在于提供一种存储介质，存储有计算机程序，所述计算机程序在处理器中运行可实现上述任一种周转箱跟踪方法。
 有益效果
本发明提供一种基于行走机器人的周转箱跟踪系统、方法及装置与一种终端和存储介质。其中，通过设置用于在物流仓库内行走运输周转箱的行走机器人，使周转箱可装载于行走机器人的托盘上，再通过设置识别器，使识别器识别周转箱的标签以生成周转箱身份信息发送，再通过设置用户端，使用户端获取周转箱身份信息，让周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文后发送，再通过设置云端来接收绑定请求报文，并对绑定请求报文中携带的周转箱身份信息与注册的周转箱信息进行配对判断，将配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端，从而不仅实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，到达实时监控周转箱内的货物更新状态的效果，而且行走机器人对周转箱进行搬运，提高了搬运效率。
 附图说明
图1是一实施例提供的基于行走机器人的周转箱跟踪系统的结构示意图；
图2是一实施例提供的基于行走机器人的周转箱跟踪系统的原理框图；
图3是一实施例提供的基于行走机器人的周转箱跟踪方法的流程图；
图4是一实施例提供的基于行走机器人的周转箱跟踪装置的架构图。
 本发明的实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，在本公开的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，还可以是两个元件内部的连通，可以是无线连接，也可以是有线连接。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
此外，下面所描述的本公开不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1是一实施例提供的基于行走机器人的周转箱跟踪系统的结构示意图，示出了一种基于行走机器人的周转箱跟踪系统，以实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，从而到达实时监控周转箱内的货物更新状态的目的。另外，通过行走机器人对周转箱进行搬运，提高搬运效率。
图2是一实施例提供的基于行走机器人的周转箱跟踪系统的原理框图，示出了一种基于行走机器人的周转箱跟踪系统。
参见图1-2，一种基于行走机器人的周转箱跟踪系统，包括：行走机器人10、识别器20、用户端30及云端40。
行走机器人10用于在物流仓库内行走运输周转箱。周转箱可装载于行走机器人10的托盘上。
识别器20，识别周转箱的标签以生成周转箱身份信息发送。
用户端30，获取周转箱身份信息，以与预设的机器人身份信息打包生成绑定请求报文发送。
云端40，接收绑定请求报文，以将与注册的周转箱信息配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端30。
优选地，识别器20可以为射频识别器20。射频识别器20安装在托盘上，用于自动识别周转箱的射频标签。识别器20可以为扫码器。扫码器设置在行走机器人10的机器人本体上，用于扫描周转箱的二维码。
进一步地，用户端30收到成功绑定结果后提示用户绑定成功。
本实施例中，通过设置用于在物流仓库内行走运输周转箱的行走机器人10，使周转箱可装载于行走机器人10的托盘上，再通过设置识别器20，使识别器20识别周转箱的标签以生成周转箱身份信息发送，再通过设置用户端30，使用户端30获取周转箱身份信息，让周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文后发送，再通过设置云端40来接收绑定请求报文，并对绑定请求报文中携带的周转箱身份信息与注册的周转箱信息进行配对判断，将配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端30，从而不仅实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，到达实时监控周转箱内的货物更新状态的效果，而且行走机器人10对周转箱进行搬运，提高了搬运效率。
需要说明的是，云端40可以通过网络与行走机器人10建立连接，从而对行走机器人10的工作状态进行跟踪。因此，当周转箱与行走机器人10绑定后，追踪行走机器人10的动态，例如，追踪行走机器人10的行走轨迹，便能够实现对周转箱的跟踪。同时，追踪到周转箱，就能对相应周转箱中的货物进行实时监控，例如，可以实时监控相应周转箱中的货物处于卸货工位还是其他工位。
还需要说明的是，用户端30可以是安装在行走机器人10的本体上的计算机设备，也可以是任何具有数据处理功能的移动设备。用户端30可以预存行走机器人10的身份信息，例如，预存行走机器人10的编号信息，以便用来与周转箱的身份信息打包。
还需要说明的是，云端40接收绑定请求报文后，对绑定请求报文进行解析，提取周转箱身份信息与预先注册的周转箱信息进行比对绑定，从而确认当下对应的周转箱。具体的比对绑定方式可以为：
判断周转箱身份信息与预先注册的周转箱信息是否配对；
如果周转箱身份信息与预先注册的周转箱信息配对，则将周转箱身份信息与行走机器人10的身份信息进行绑定；
如果周转箱身份信息与预先注册的周转箱信息不配对，则不对周转箱身份信息与行走机器人10的身份信息进行绑定。
云端40将与注册的周转箱信息配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端30，以使用户端30根据反馈结果做出响应。例如，提示用户绑定成功。其中，提示用户绑定成功的方式可以是生成用户界面，界面上显示绑定成功信息。提示用户绑定成功的方式可以是调用语音接口进行语音通知。
另外，云端40如果不对周转箱身份信息与行走机器人10的身份信息进行绑定，可以反馈绑定失败的结果给用户端30，以使用户端30提示用户绑定失败。
还需要说明的是，用户可以根据用户端30的提示结果确定自己的工作。例如，在绑定失败时继续绑定。在绑定成功后，用户还可以根据识别方式的不同而做出不同选择。
例如，如果选择扫码识别，在绑定成功后，用户便可以将周转箱放到机器人自带的托盘上。如果选择射频识别方式，由于周转箱放置在托盘上后其射频标签能被托盘上的射频识别器20自动识别，因此用户只需给机器人下达协作完成的指令即可。可以理解的是，射频识别能对周转箱的身份完成自动识别，可以减少人工参与，从而减少误差并提高效率。
还需要说明的是，扫码器可以安装在行走机器人10的机器人本体上，方便用户使用。
还需要说明的是，通过给周转箱设置身份标签，并将其身份信息注册存储在云端40，可以实现对周转箱的数字化管理，可以方便查询调用适合的周转箱装载特定货物。
图3是一实施例提供的一种基于行走机器人的周转箱跟踪方法的流程图，示出了一种基于行走机器人的周转箱跟踪方法，该方法包括如下步骤：
步骤S0，获取周转箱身份信息；周转箱身份信息由识别器识别周转箱的标签生成并发送；周转箱可装载于行走机器人的托盘上，行走机器人用于在物流仓库内行走运输周转箱；
步骤S1，将周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文；
步骤S2，发送绑定请求报文给云端，以使云端将与注册的周转箱信息配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果；
步骤S3，接收成功绑定结果。
进一步地，上述周转箱跟踪方法还包括步骤：
步骤S4，根据成功绑定结果，提示用户绑定成功。
本实施例中，参见图1-2，通过设置用于在物流仓库内行走运输周转箱的行走机器人10，使周转箱可装载于行走机器人10的托盘上，再通过设置识别器20，使识别器20识别周转箱的标签以生成周转箱身份信息发送，再通过设置用户端30，使用户端30获取周转箱身份信息，让周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文后发送，再通过设置云端40来接收绑定请求报文，并对绑定请求报文中携带的周转箱身份信息与注册的周转箱信息进行配对判断，将配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端30，从而不仅实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，到达实时监控周转箱内的货物更新状态的效果，而且行走机器人10对周转箱进行搬运，提高了搬运效率。
需要说明的是，云端40可以通过网络与行走机器人10建立连接，从而对行走机器人10的工作状态进行跟踪。因此，当周转箱与行走机器人10绑定后，追踪行走机器人10的动态，例如，追踪行走机器人10的行走轨迹，便能够实现对周转箱的跟踪。同时，追踪到周转箱，就能对相应周转箱中的货物进行实时监控，例如，可以实时监控相应周转箱中的货物处于卸货工位还是其他工位。
还需要说明的是，用户端30可以是安装在行走机器人10的本体上的计算机设备，也可以是任何具有数据处理功能的移动设备。用户端30可以预存行走机器人10的身份信息，例如，预存行走机器人10的编号信息，以便用来与周转箱的身份信息打包。
还需要说明的是，云端40接收绑定请求报文后，对绑定请求报文进行解析，提取周转箱身份信息与预先注册的周转箱信息进行比对绑定，从而确认当下对应的周转箱。具体的比对绑定方式可以为：
判断周转箱身份信息与预先注册的周转箱信息是否配对；
如果周转箱身份信息与预先注册的周转箱信息配对，则将周转箱身份信息与行走机器人10的身份信息进行绑定；
如果周转箱身份信息与预先注册的周转箱信息不配对，则不对周转箱身份信息与行走机器人10的身份信息进行绑定。
云端40将与注册的周转箱信息配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端30，以使用户端30根据反馈结果做出响应。例如，提示用户绑定成功。其中，提示用户绑定成功的方式可以是生成用户界面，界面上显示绑定成功信息。提示用户绑定成功的方式可以是调用语音接口进行语音通知。
另外，云端40如果不对周转箱身份信息与行走机器人10的身份信息进行绑定，可以反馈绑定失败的结果给用户端30，以使用户端30提示用户绑定失败。
还需要说明的是，用户可以根据用户端30的提示结果确定自己的工作。例如，在绑定失败时继续绑定。在绑定成功后，用户还可以根据识别方式的不同而做出不同选择。
例如，如果选择扫码识别，在绑定成功后，用户便可以将周转箱放到机器人自带的托盘上。如果选择射频识别方式，由于周转箱放置在托盘上后其射频标签能被托盘上的射频识别器20自动识别，因此用户只需给机器人下达协作完成的指令即可。可以理解的是，射频识别能对周转箱的身份完成自动识别，可以减少人工参与，从而减少误差并提高效率。
还需要说明的是，扫码器可以安装在行走机器人10的机器人本体上，方便用户使用。
图4是一实施例提供的一种基于行走机器人的周转箱跟踪装置的架构图，示出了一种基于行走机器人的周转箱跟踪装置，该装置包括：
身份获取模块01，用于获取周转箱身份信息。周转箱身份信息由识别器识别周转箱的标签生成并发送。周转箱可装载于行走机器人的托盘上，行走机器人用于在物流仓库内行走运输周转箱。
报文生成模块02，用于将周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文。
报文发送模块03，用于发送绑定请求报文给云端，以使云端将与注册的周转箱信息配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果。
绑定接收模块04，用于接收成功绑定结果。
本发明还提供一种终端，包括处理器和存储器，存储器存储有计算机程序，计算机程序在处理器中运行可实现上述的基于行走机器人的周转箱跟踪方法。
本发明还提供一种存储介质，该存储介质存储有计算机程序，计算机程序在处理器中运行可实现上述的基于行走机器人的周转箱跟踪方法。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
 工业实用性
本发明实施例提供一种基于行走机器人的周转箱跟踪系统、方法及装置与一种终端和存储介质。其中，通过设置用于在物流仓库内行走运输周转箱的行走机器人，使周转箱可装载于行走机器人的托盘上，再通过设置识别器，使识别器识别周转箱的标签以生成周转箱身份信息发送，再通过设置用户端，使用户端获取周转箱身份信息，让周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文后发送，再通过设置云端来接收绑定请求报文，并对绑定请求报文中携带的周转箱身份信息与注册的周转箱信息进行配对判断，将配对的周转箱身份信息和机器人身份信息绑定后反馈成功绑定结果给用户端，从而不仅实现周转箱的搬运状态透明化，实时监督周转箱的状态信息，到达实时监控周转箱内的货物更新状态的效果，而且行走机器人对周转箱进行搬运，提高了搬运效率。

Claims (10)

  1. 一种基于行走机器人的周转箱跟踪系统，包括：
    行走机器人，用于在物流仓库内行走运输周转箱；所述周转箱可装载于所述行走机器人的托盘上；
    识别器，识别所述周转箱的标签以生成周转箱身份信息发送；
    用户端，获取所述周转箱身份信息，以与预设的机器人身份信息打包生成绑定请求报文发送；
    云端，接收所述绑定请求报文，以将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果给所述用户端。
  2. 如权利要求1所述的周转箱跟踪系统，其中，所述识别器为射频识别器；所述射频识别器安装在所述托盘上，用于自动识别所述周转箱的射频标签。
  3. 如权利要求1所述的周转箱跟踪系统，其中，所述识别器为扫码器；所述扫码器设置在所述行走机器人的机器人本体上，用于扫描所述周转箱的二维码。
  4. 如权利要求1-3任意一项所述的周转箱跟踪系统，其中，所述用户端收到所述成功绑定结果后提示用户绑定成功。
  5. 一种基于行走机器人的周转箱跟踪方法，其中，包括：
    获取周转箱身份信息；所述周转箱身份信息由识别器识别周转箱的标签生成并发送；所述周转箱可装载于所述行走机器人的托盘上，所述行走机器人用于在物流仓库内行走运输所述周转箱；
    将所述周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文；
    发送所述绑定请求报文给云端，以使云端将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果；
    接收所述成功绑定结果。
  6. 如权利要求5所述的周转箱跟踪方法，其中，包括：
    根据所述成功绑定结果，提示用户绑定成功。
  7. 一种基于行走机器人的周转箱跟踪装置，包括：
    身份获取模块，用于获取周转箱身份信息；所述周转箱身份信息由识别器识别周转箱的标签生成并发送；所述周转箱可装载于所述行走机器人的托盘上，所述行走机器人用于在物流仓库内行走运输所述周转箱；
    报文生成模块，用于将所述周转箱身份信息与预设的机器人身份信息打包生成绑定请求报文；
    报文发送模块，用于发送所述绑定请求报文给云端，以使云端将与注册的周转箱信息配对的所述周转箱身份信息和所述机器人身份信息绑定后反馈成功绑定结果；
    绑定接收模块，用于接收所述成功绑定结果。
  8. 如权利要求7所述的周转箱跟踪装置，其中，包括：
    提示模块，用于根据所述成功绑定结果，提示用户绑定成功。
  9. 一种终端，包括处理器和存储器，所述存储器存储有计算机程序，其中，所述计算机程序在所述处理器中运行可实现权利要求5或6所述的周转箱跟踪方法。
  10. 一种存储介质，存储有计算机程序，所述计算机程序在处理器中运行可实现权利要求5或6所述的周转箱跟踪方法。
     
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