WO2021031965A1 - 盘点设备、后端设备、盘点管理系统及盘点方法 - Google Patents

盘点设备、后端设备、盘点管理系统及盘点方法 Download PDF

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Publication number
WO2021031965A1
WO2021031965A1 PCT/CN2020/108770 CN2020108770W WO2021031965A1 WO 2021031965 A1 WO2021031965 A1 WO 2021031965A1 CN 2020108770 W CN2020108770 W CN 2020108770W WO 2021031965 A1 WO2021031965 A1 WO 2021031965A1
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WO
WIPO (PCT)
Prior art keywords
inventory
pile
goods
liftable
navigation vehicle
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PCT/CN2020/108770
Other languages
English (en)
French (fr)
Inventor
隋亮
钱家乐
Original Assignee
灵动科技（北京）有限公司
敦豪物流(北京)有限公司
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Publication date
Application filed by 灵动科技（北京）有限公司, 敦豪物流(北京)有限公司 filed Critical 灵动科技（北京）有限公司
Priority to US17/634,991 priority Critical patent/US20220292444A1/en
Priority to JP2021578005A priority patent/JP7541044B2/ja
Priority to EP20855804.9A priority patent/EP3998564A4/en
Publication of WO2021031965A1 publication Critical patent/WO2021031965A1/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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0241—Quantity of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B66F7/065—Scissor linkages, i.e. X-configuration
    • B66F7/0666—Multiple scissor linkages vertically arranged

Definitions

  • the present disclosure relates to the technical field of article and cargo management, for example, to an inventory device, a back-end device, an inventory management system, and an inventory method.
  • Item inventory is widely used in various fields, such as warehouse management or library fields. Timely and accurate item inventory can reduce the complexity of item search, and at the same time, it can accurately grasp the actual inventory of items. Especially in the field of warehouse management, in order to grasp the flow of goods (inbound, inbound, outbound flow), it is necessary to regularly or temporarily count the actual quantity of warehouse items in order to accurately grasp the inventory quantity.
  • the inventory work is mostly manual on-site inventory check, so it takes a lot of manpower and time to carry out the inventory work.
  • This method has a long operation time, low work efficiency, and human operation data is prone to errors. It cannot achieve fast batch inventory.
  • the present disclosure provides an inventory device, a back-end device, an inventory management system, and an inventory method to solve the problem of manual on-site inventory, improve work efficiency, save time and effort, can increase the speed of determining inventory results, and make inventory results more accurate , To avoid errors.
  • the embodiment of the present invention provides an inventory counting device, including: a navigation vehicle and a liftable inventory module, where the liftable inventory module is provided on the navigation vehicle;
  • the liftable inventory module is used to control the movement of the navigation vehicle based on the movement, and obtain the depth information of the item pile to be counted through the movement;
  • the navigation vehicle is configured to determine the side length information of the item pile based on the depth information, determine the inventory result of the item pile based on the side length information, and send the inventory result to a back-end device.
  • the embodiment of the present invention also provides a back-end device
  • the back-end device is used to receive the inventory result of the pile of items sent by the inventory device, and display the inventory result on the display screen.
  • the embodiment of the present invention also provides an inventory management system, which includes the inventory device provided in the embodiment of the present invention and the back-end device provided in the embodiment of the present invention.
  • the embodiment of the present invention provides an inventory method, including:
  • the navigation vehicle determines each side length information of the item pile based on the depth information, and determines the inventory result of the item pile based on the each side length information, and sends the inventory result to the back-end device.
  • the embodiment of the present invention provides an inventory management method, including:
  • the inventory device uses the liftable inventory module to control movement based on the navigation vehicle, and obtains the depth information of the item pile that needs to be inventoryed through the movement;
  • the inventory device determines each side length information of the item pile based on the depth information through the navigation vehicle, determines the inventory result of the item pile based on the each side length information, and sends the inventory result to the back-end device;
  • the back-end device receives the inventory result of the item pile sent by the inventory device, and displays the inventory result on the display screen.
  • the liftable inventory module moves based on the control of the navigation vehicle, and can obtain depth information of a large number of items, based on the depth information, can obtain more accurate inventory results, and obtain items through the depth information
  • the inventory result of the pile increases the speed of determining the inventory result compared to the method of inventorying items by taking pictures in the related technology. Compared with the method of scanning the radio frequency electronic tags to obtain the inventory results, there is no need to set electronic tags for each item, saving processes , Reduce costs; by sending the inventory results to the back-end equipment, users can understand the inventory results of the pile of items through the back-end equipment, thus avoiding manual on-site inventory of items, improving work efficiency, saving time and effort.
  • Figure 1 is a schematic structural diagram of an inventory device provided by an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of an inventory device provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of measuring the side length of a stack of goods through an inventory device provided by an embodiment of the present invention
  • FIG. 4 is a schematic diagram of measuring the side length of a stack of goods through an inventory device provided by an embodiment of the present invention
  • FIG. 5a is a schematic diagram of a state of an inventory device provided by an embodiment of the present invention during a goods inventory
  • Figure 5b is a schematic diagram of a cargo pile provided by an embodiment of the present invention.
  • Figure 6 is a schematic diagram of a navigation vehicle driving a liftable inventory module around a cargo pile according to an embodiment of the present invention
  • Figure 7 is a schematic structural diagram of a back-end device provided by an embodiment of the present invention.
  • Figure 8 is a schematic diagram of a back-end device display interface provided by an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an inventory management system provided by an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an inventory management system provided by an embodiment of the present invention.
  • FIG 11 is a flowchart of an inventory method provided by an embodiment of the present invention.
  • FIG. 12 is a flowchart of an inventory management method provided by an embodiment of the present invention.
  • the lifting, left and right, or other technical terms involved in the embodiments of the present invention are all based on the position of the inventory device when the liftable inventory module is in the working state of inventory.
  • Figure 1 is a schematic structural diagram of an inventory device provided by an embodiment of the present invention.
  • the inventory device provided by the embodiment of the present invention may be applied to a scenario where one or more item piles in a larger space are inventoried, and the larger space may be a space whose volume is larger than a set volume.
  • the inventory device provided by the embodiment of the present invention can be applied to the scenario of inventorying piles of goods in the warehouse, or the inventory device provided by the embodiment of the present invention can also be applied to the scenario of inventorying items such as books and commodities in.
  • the pile of goods may or may not be on the shelf, and the pile of goods may be a pile of goods formed by at least one goods.
  • the goods in the pile of goods may be goods with packaging boxes or boxes, or other goods conforming to the shape rule, or may also be goods with a set shape.
  • the inventory device provided by the embodiment of the present invention is not limited to the above scenarios, and can also be applied to other scenarios for inventorying items.
  • the inventory device provided by the embodiments of the present invention can be applied to any scenario for inventorying items.
  • the inventory device provided by the embodiment of the present invention includes: a navigation vehicle 10 and a liftable inventory module 11, the liftable inventory module 11 is provided on the navigation vehicle 10; the liftable inventory module 11 is used for the navigation vehicle 10
  • the navigation vehicle 10 is used to determine the side length information of the item pile based on the depth information, and determine the inventory result of the item pile based on the side length information, and the inventory result is obtained through the movement. Send to the back-end device.
  • the depth information refers to the distance information from the stack of items to be counted to the elevating inventory module 11.
  • the navigation vehicle 10 and the elevating inventory module 11 may be electrically connected in a wired manner.
  • the liftable inventory module 11 can send the acquired depth information to the processing device of the navigation vehicle 10.
  • the navigation vehicle 10 can control the liftable inventory module 11 to move up and down through the processing device, and control the navigation vehicle 10 to move left and right to drive the liftable inventory module 11 to move left and right.
  • the liftable inventory module 11 can get more accurate by lifting and moving left and right.
  • the navigation vehicle 10 can determine the side length information of the object pile based on the depth information through the processing device, and determine the inventory result of the object pile based on the side length information , And send to the back-end device.
  • the inventory result can be the number of items in the item pile, or it can also be other information.
  • the back-end devices may include remote management devices, cloud devices, and smart terminals.
  • the smart terminal may be a smart phone, a tablet computer, etc.
  • the liftable inventory module moves based on the control of the navigation vehicle, and can obtain depth information of a large number of items, based on the depth information, can obtain more accurate inventory results, and obtain items through the depth information
  • the inventory result of the pile increases the speed of determining the inventory result compared to the method of inventorying items by taking pictures in the related technology. Compared with the method of scanning the radio frequency electronic tags to obtain the inventory results, there is no need to set electronic tags for each item, saving processes , Reduce costs; by sending the inventory results to the back-end equipment, users can understand the inventory results of the pile of items through the back-end equipment, thus avoiding manual on-site inventory of items, improving work efficiency, saving time and effort.
  • the inventory device provided in the embodiment of the present invention is a warehouse logistics vehicle with inventory function
  • the item pile is a goods pile in a warehouse.
  • the liftable inventory module 11 includes a lifting device and a depth sensor 111; the depth sensor 111 is provided on the lifting device, and the lifting device is provided on the navigation vehicle 10 on.
  • the lifting device is a scissor lift table.
  • the depth sensor 111 is set on the scissor lift platform; the scissor lift platform is set on the navigation vehicle 10, wherein the scissor lift platform may include a platform 1101, a base 1102 and a scissor structure 1103, and the depth sensor 111 is set on On platform 1101.
  • the scissor lift table can be a hydraulic scissor lift table, and the scissor lift table can be replaced by other lifting devices.
  • the manufacturing cost can be reduced, and the movement of the platform can be easily controlled, thereby easily controlling the lifting movement of the depth sensor 111.
  • the depth sensor 111 may be an RGBD camera device and a distance sensor, and the distance sensor may be a laser distance sensor (for example, a laser radar), an ultrasonic distance sensor, or an infrared distance sensor.
  • the liftable inventory module 11 is detachable. That is, the elevating inventory module 11 can be separated from the navigation vehicle 10.
  • the navigation vehicle 10 can be used for loading, and can automatically transport the goods to a designated location to realize the loading function.
  • the navigation vehicle 10 may also include a storage device 101, a first camera device 102, and a driving wheel 103. Inertial measurement unit 104, distance sensor 105, first data transmission module 107, and wireless data transmission module 106.
  • the processing device may include a central processing unit (CPU 108) and an image processing unit (GPU) 109.
  • the first camera device 102 can be used to obtain the identification information of the shelf where the goods pile is located and transmit the identification information to the processing device; the distance sensor 105 can be used to determine the distance between the goods pile and the navigation vehicle 10; the processing device, further It can be used to match the identification information with the stored map information, use the matched location information as the positioning information of the shelf and the positioning information of the cargo pile, and according to the positioning information of the cargo pile and the distance between the cargo pile and the navigation vehicle, The positioning information of the navigation vehicle 10 is determined, so that the navigation vehicle 10 can determine its own position.
  • the inertial measurement unit 104 is used to measure the movement parameters of the navigation vehicle when it moves along the ground, so that the processing device can determine the distance and direction angle of the movement along the ground according to the movement parameters. Relocate the original positioning information, moving distance, and direction angle.
  • the navigation vehicle 10 can control the driving wheels 103 to move through the processing device, thereby driving the elevating inventory module 11 to move left and right, and the motion parameters measured by the inertial measurement unit 104 ,
  • the left-right movement distance and direction angle of the liftable inventory module 104 can be determined, and the processing device controls the navigation vehicle 10 to move according to the left-right movement distance and the direction angle.
  • the storage device 101 can be used to store information.
  • Inventory information can include shelf size, size of each item, inventory task information, etc.
  • the first data transmission module 107 can be used for data communication between the navigation vehicle 10 and the elevating inventory module 11; the wireless data transmission module 106 can be used for data communication between the navigation vehicle 10 and back-end equipment.
  • the navigation vehicle 10 may further include a power supply module 1091.
  • the power supply module 1091 can be electrically connected with each module in the navigation vehicle (the electrical connection relationship is not shown in FIG. Each module in the vehicle 10 supplies power.
  • the liftable inventory module 11 may also include a second camera device 112, a light supplement device 113, a battery 114, and a second data transmission module 115 .
  • the supplement light device 113 may be a supplement light
  • the battery 114 may provide power for each module in the liftable inventory module 11, or when the power supply module 1091 in the navigation vehicle 10 has insufficient power, it cannot be the liftable inventory module 11.
  • the battery 114 can provide power to each module in the liftable inventory module 11.
  • the liftable inventory module 11 can perform data communication with the navigation vehicle 10 through the second data transmission module 115.
  • the second camera device 112 can obtain pictures or videos of the cargo pile; the light supplement device 113 can It is used to supplement light for the second camera device 112 when the brightness of the external ambient light is lower than the set value.
  • the brightness of the external ambient light can be judged by the picture or video of the cargo pile taken by the second camera 112, or the brightness of the external ambient light can be detected by the ambient light sensor.
  • the light supplement device 113 is the second camera 112 for supplement light.
  • the method of using the above-mentioned inventory device to perform goods inventory may be: a liftable inventory module, and the shelf where the goods pile is located is close to the side of the liftable inventory module.
  • the distance of the elevating inventory module, and determining the distance between the side of the shelf far away from the elevating inventory module and the elevating inventory module based on the distance and the size of the shelf; and the lifting movement based on the control of the navigation vehicle, and during the elevating process Obtain the distance between the goods in the pile of goods and the liftable inventory module, and move left and right based on the driving of the navigation vehicle, and obtain the distance between the goods in the pile of goods and the liftable inventory module in the process of moving left and right.
  • the navigation vehicle is used to determine the side length in the height boundary line of the cargo pile based on the distance between the goods in the cargo pile and the liftable inventory module obtained during the lifting process of the liftable inventory module; and The distance between the goods in the stack of goods and the liftable inventory module obtained during the left and right movement of the liftable inventory module, determine the length of the side in the width boundary line, and based on the side of the shelf away from the liftable inventory module and the liftable inventory The distance between the modules and the distance between the goods and the lifting inventory module, determine the side length in the thickness boundary line of the goods pile, determine the quantity information of the goods in the goods pile based on the determined lengths of each side, and compare the quantity The information is sent to the back-end device.
  • the navigation vehicle controls the elevating inventory module to perform lifting movement through the processing device.
  • the navigation vehicle controls the depth sensor 111 to perform elevating movement through the processing device, and obtains the goods in the cargo stack 200 and the elevating inventory module during the lifting process.
  • the distance between the middle depth sensor 111 and the distance information is sent to the processing device in the navigation vehicle.
  • the navigation vehicle can determine the height boundary line through the processing device (the dashed line in Figure 3 is the height boundary line) and determine the height boundary line The length of each side in the middle.
  • the depth image of the cargo stack 200 can be obtained through the RGBD camera device, and the distance between the cargo in the cargo stack 200 and the liftable inventory module can be determined by the depth image of the cargo stack 200, thereby Through this distance, the height boundary line of the cargo pile 200 can be determined.
  • the liftable inventory module By controlling the liftable inventory module to move up and down, multiple depth images can be obtained, and the multiple depth images can be compared to obtain more accurately each of the height boundary lines of the cargo pile Side length.
  • the processing device in the navigation vehicle controls the liftable inventory module to lift, and the distance sensor can obtain the distance between the goods in the cargo stack 200 and the liftable inventory module, and the height can be determined by the distance
  • the boundary line, the height of each side of the boundary line can be obtained through information such as the lifting distance of the lifting inventory module and the detection angle of the distance sensor. Among them, the height boundary is determined by the distance between the goods in the cargo pile 200 and the depth sensor
  • the method of the length of the side length in the line can also refer to the introduction in the related technology.
  • the navigation vehicle can drive the liftable inventory module to move left and right (the single-direction straight arrow in Figure 4 can indicate the direction in which the navigation vehicle drives the liftable inventory module).
  • the navigation vehicle drives the elevating inventory module to move left and right, so that the depth sensor 111 in the elevating inventory module acquires the distance between the goods in the stack 200 and the elevating inventory module during the left and right movement.
  • the processing device of the navigation vehicle can determine the width boundary line (the dotted line in FIG. 4 may indicate the width boundary line), and determine the length of the side of the width boundary line.
  • the method for determining the length of the side length in the width boundary line can be the same as the principle of determining the side length in the height boundary line in the lifting movement of the lifting inventory module, and will not be repeated.
  • the navigation vehicle can distinguish shelves or goods according to the depth information obtained by the elevating inventory module during the lifting process and the left-to-right movement of the elevating inventory module. For example, it can be determined from the depth information that if the detected object has gaps with equal intervals, it can be determined that the detected object is a shelf.
  • the side of the shelf 100 where the goods stack is located is L1 near the liftable inventory module, and the side of the shelf 100 away from the liftable inventory module is L2.
  • the liftable inventory module can get the liftable inventory module and L1 through the depth sensor 111.
  • the distance of is d1, it can also be determined that the distance between the goods in the cargo pile 200 and the lifting inventory module is d2, and the depth sensor 111 sends the measured distance information to the processing device in the navigation vehicle.
  • the navigation vehicle can determine that the distance between the liftable inventory module and L2 is d3, where the side length of the shelf is generally displayed through the back-end equipment
  • the screen is input in advance, but it can also be measured by the depth sensor 111.
  • the navigation vehicle passes the processing device according to the distance between the liftable inventory module and L2 (d3) and the distance between the goods in the cargo pile 200 and the liftable inventory module (d2) to obtain the side length ( d3-d2).
  • the liftable inventory module can be controlled to move to realize the inventory of the goods (the schematic diagram at the time of inventory can refer to Figure 5a); through the above method, the side length of AF of the cargo pile shown in Figure 5b can be calculated. And based on the length of each side and the size of the goods to determine the quantity of goods, and send the quantity information to the back-end equipment.
  • the navigation vehicle first advances to the first measurement point, and the liftable inventory module 11 is maintained at the lowest point of the possible descending height when moving forward (this way, when the navigation vehicle moves in the non-inventory mode, it can ensure that it is traveling The center of gravity is the lowest, the movement is the most stable and not easy to fall).
  • the liftable inventory module 11 measures the size of the goods from the bottom up, and the depth sensor 111 is in the process of raising the first measuring point.
  • the side lengths B1, C, D1 can be measured.
  • the navigation vehicle moves forward from the first measuring point along the length of one side of the cargo pile, and measures the side length A while moving forward.
  • the depth sensor 111 senses that there is a large drop in the depth direction (or greater than the drop threshold, such as When the depth sensing result in Figure 5b is changed from d2 to d3), the navigation vehicle stops moving, and the position at this time is set as the second measurement point.
  • the lifting inventory module 11 can move up and down to measure the size of the cargo pile.
  • the depth sensor 111 can measure the side lengths B2, E, D2 during the up and down movement of the second measuring point.
  • the navigation vehicle will move forward in the direction of the side length of the cargo to measure the side length of F (d3 minus d2); if the cargo There is no physical boundary behind the pile, the navigation vehicle turns so that the depth sensor 111 faces the side length F, and the measurement is performed again according to the above steps.
  • the size (length, width, height information) information of the goods and the size information of the shelf can be pre-stored in the storage device of the navigation vehicle, or the inventory device can be obtained from the storage management system in the back-end device through the navigation vehicle.
  • the warehouse management system can be configured in the back-end equipment. Through the warehouse management system, users can view the inventory results.
  • the navigation vehicle can also be used to drive the liftable inventory module to move around the pile of goods when it is judged that the depth information of the goods pile is insufficient to obtain the depth of the goods pile from other angles. information.
  • the navigation vehicle judges through the processing device that the depth information of the cargo pile is only the depth information of one side of the cargo pile, or judges that there is a gap between the goods in the cargo pile through the depth information, or the side length information of the cargo pile cannot be determined through the depth information
  • the navigation path around the cargo pile is planned, and the liftable inventory module is driven to move around the cargo pile based on the navigation path to obtain the depth information of the cargo pile from other angles.
  • the schematic diagram of the navigation vehicle driving the liftable inventory module to circle around the cargo pile can refer to FIG. 6.
  • the method of planning the navigation path can refer to the method in the related technology
  • the method of moving based on the navigation path can refer to the method in the related technology.
  • the navigation vehicle 10 can obtain the identification information of the shelf where the goods pile is located through the first camera 102, and determine the distance between the goods pile and the navigation vehicle 10 through the distance sensor 105; compare the identification information with the stored map information For matching, the matched position information is used as the positioning information of the shelf and the positioning information of the cargo pile, and the positioning information of the navigation vehicle 10 is determined according to the positioning information of the goods pile and the distance between the goods pile and the navigation vehicle.
  • the navigation vehicle 10 determines a navigation path according to its own positioning information and the positioning information of the cargo pile, and drives the liftable inventory module 11 to move around the cargo pile based on the navigation path.
  • the navigation vehicle 10 can control the movement direction and other parameters through the motion parameters obtained in the inertial measurement unit 104 to realize movement along the navigation path, thereby realizing movement around the goods.
  • the method for positioning itself may also be an indoor positioning method in other related technologies, and the positioning method is not limited.
  • the elevating inventory module 11 obtains pictures or videos of the cargo pile through the second camera 112, and transmits the images or videos to the navigation vehicle 10, the navigation vehicle 10 It is also used to send the picture or video of the cargo pile to the back-end device when it is determined that the navigation path is blocked by an obstacle, so that the back-end device can display the picture or video on the display screen.
  • the navigation vehicle can use the distance sensor 105 to determine whether there is an obstacle on the navigation path. When the navigation path is blocked by the obstacle, it can send the picture or video of the cargo pile taken by the second camera 112 to the back-end device to pass through.
  • the end device displays the picture or video of the cargo pile to the user. Or when the navigation vehicle judges that the current navigation path is blocked, the navigation vehicle can automatically plan other navigation paths to realize a detour to the cargo pile.
  • the inventory counting device provided in the embodiment of the present invention may also be used to receive the operating mode switching instruction sent by the back-end device through the navigation vehicle 10.
  • the working mode is switched according to the switching instruction; wherein the switching instruction includes an instruction to switch from the inventory mode to the loading mode, or an instruction to switch from the inventory mode to the inventory mode.
  • the user can trigger the switching instruction to control the working mode of the inventory device as needed.
  • the inventory counting device receives the working mode switching instruction sent by the back-end device through the navigation vehicle 10, and switches the working mode according to the switching instruction.
  • the inventory device switches the working mode from the inventory mode to the load mode through the navigation vehicle 10, it stops inventorying the pile of goods.
  • the inventory device realizes the switching of the work mode by responding to the work mode switching instruction, which can meet user needs, facilitate users, and realize the inventory/load function of the inventory device.
  • FIG. 7 is a schematic structural diagram of a back-end device provided in an embodiment of the present invention.
  • the back-end device provided in the embodiment of the present invention can be applied in the same scenario as the inventory device provided in the embodiment of the present invention.
  • the back-end device 300 is configured to receive the inventory result of the pile of items sent by the inventory device, and display the inventory result through the display screen 301.
  • the back-end devices include remote management devices, cloud devices or smart terminals.
  • the remote management device may include a server and a display screen.
  • the structure of the back-end device shown in FIG. 7 is merely an illustration, and the structure of the back-end device is not limited to the structure shown in FIG. 7.
  • the back-end device is also used to receive a work mode switching instruction, and send the work mode switching instruction to the inventory device, so that the inventory device can switch the work mode .
  • the back-end device can also realize the monitoring and control of multiple inventory devices.
  • the back-end device can display a control for controlling the switching operation mode of the inventory device. When the user triggers the control, the operation mode switching instruction can be sent to the inventory device. In order to switch the working mode of the inventory device.
  • the back-end device can also display the inventory results of each inventory device, display pictures or videos sent by the inventory device, and display the working mode of each inventory device.
  • the back-end equipment display information can refer to Figure 8.
  • the back-end equipment can display the information of the inventory device in the inventory mode and the information of the inventory device in the load mode.
  • the left area H1 is a navigation vehicle The loading mode and inventory mode information summary and mode conversion area. This area will display the navigation vehicles in loading mode and the real-time quantity and status information of navigation vehicles in inventory mode. In addition, navigation can also be performed in this area Switch between the loading mode and inventory mode of the car.
  • the area H1 on the left of this embodiment shows a total of 2 inventory devices in inventory mode, one is performing inventory tasks, and one is on standby. Area H1 also shows the inventory in inventory mode. There are a total of 20 inventory devices, of which 15 are performing load tasks and 5 are on standby.
  • the area H1 also displays two controls, namely "click to switch 1" and "click to switch 2". Among them, the two controls are used to switch the working mode of the inventory device.
  • the back-end equipment also has the inventory result display area H2, that is, the back-end equipment can also display the inventory results of the inventory equipment.
  • the upper middle area H2 of this embodiment shows the result of the inventory of area A: 100 goods on shelf a1; 98 goods on shelf a2, and shelf a3
  • the depth information of is insufficient; among them, a1, a2 and a3 can be the identifiers of the shelf respectively.
  • the back-end device also has an inventory picture or inventory video display area H3 (located at the upper right of the screen in this embodiment), that is, the back-end device can also display pictures or videos collected by the inventory device during the inventory process 400.
  • the area H3 displays a picture of a pile of goods or a picture of a pile of goods that failed to be counted due to insufficient depth information.
  • the back-end equipment also has a real-time work map display area H4, that is, the back-end equipment can display the current real-time location information of the navigation vehicle, and the back-end equipment can mark whether the navigation vehicle is currently in load mode or inventory mode
  • the lower right area H4 in this embodiment displays the real-time working map and the position of each navigation vehicle.
  • the icon 201 represents the navigation vehicle in loading mode
  • the icon 202 represents the navigation vehicle in inventory mode.
  • the way the back-end device displays information is not limited to the above-mentioned forms, and may also be in other forms, such as changing the location of the area, or displaying the information of each area in pages.
  • the back-end device provided by the embodiment of the present invention can easily understand the inventory result of the pile of items by receiving and displaying the inventory result, thereby avoiding manual on-site item inventory, improving work efficiency, and saving time and effort.
  • Figures 9 and 10 are schematic structural diagrams of an inventory management system provided by an embodiment of the present invention.
  • the inventory management system provided by an embodiment of the present invention may include an inventory management system provided by an embodiment of the present invention and Such as the back-end device 2 provided in the embodiment of the present invention.
  • the introduction of inventory equipment and back-end equipment can refer to the introduction of the foregoing embodiment.
  • FIG. 11 is a flowchart of an inventory method provided by an embodiment of the present invention.
  • the method provided by an embodiment of the present invention is implemented by using an inventory device provided by an embodiment of the present invention.
  • the technical solution provided by the embodiment of the present invention includes:
  • S1110 Use the liftable inventory module to control movement based on the navigation vehicle, and obtain the depth information of the item pile that needs to be counted through the movement.
  • S1120 Determine each side length information of the item pile based on the depth information by the navigation vehicle, determine the inventory result of the item pile based on the each side length information, and send the inventory result to the back-end device.
  • the liftable inventory module moves based on the control of the navigation vehicle, and can obtain depth information of a large number of items, based on the depth information, can obtain more accurate inventory results, and obtain items through the depth information
  • the inventory result of the pile increases the speed of determining the inventory result compared to the method of inventorying items by taking pictures in the related technology. Compared with the method of scanning the radio frequency electronic tags to obtain the inventory results, there is no need to set electronic tags for each item, saving processes , Reduce costs; by sending the inventory results to the back-end equipment, users can understand the inventory results of the pile of items through the back-end equipment, thus avoiding manual on-site inventory of items, improving work efficiency, saving time and effort.
  • FIG. 12 is a flowchart of an inventory management method provided by an embodiment of the present invention.
  • the method provided by the embodiment of the present invention is implemented by the inventory management system provided by the embodiment of the present invention.
  • the technical solution provided by the embodiment of the present invention includes:
  • the inventory device uses the liftable inventory module to control movement based on the navigation vehicle, and obtains the depth information of the item pile that needs to be inventoryed through the movement;
  • the inventory device determines each side length information of the item pile based on the depth information through the navigation vehicle, determines the inventory result of the item pile based on the each side length information, and sends the inventory result to the back-end device;
  • the back-end device receives the inventory result of the item pile sent by the inventory device, and displays the inventory result.
  • the liftable inventory module moves based on the control of the navigation vehicle, and can obtain depth information of a large number of items, based on the depth information, can obtain more accurate inventory results, and obtain items through the depth information
  • the inventory result of the pile increases the speed of determining the inventory result compared to the method of inventorying items by taking pictures in the related technology. Compared with the method of scanning the radio frequency electronic tags to obtain the inventory results, there is no need to set electronic tags for each item, saving processes , Reduce costs; by sending the inventory results to the back-end equipment, users can understand the inventory results of the pile of items through the back-end equipment, thus avoiding manual on-site inventory of items, improving work efficiency, saving time and effort.

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Abstract

本文公开了一种盘点设备、后端设备、盘点管理系统及盘点方法。该盘点设备包括：导航车和可升降盘点模块，所述可升降盘点模块设置于所述导航车上；所述可升降盘点模块，用于基于所述导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；所述导航车，用于基于所述深度信息确定物品堆的边长信息，并基于所述边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备。

Description

盘点设备、后端设备、盘点管理系统及盘点方法
本申请要求在2019年08月16日提交中国专利局、申请号为201910758021.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及物品、货物管理技术领域，例如涉及一种盘点设备、后端设备、盘点管理系统及盘点方法。
背景技术
物品的盘点广泛应用于各种领域，例如仓库管理或者图书馆领域，及时准确的物品盘点可以降低物品查找的复杂度，同时还可以准确掌握物品的实际的库存。尤其是在仓库管理领域，为了掌握货物的流动情况(入库、在库、出库的流动情况)，需要定期或临时对仓库物品的实际数量进行盘点，以便准确地掌握库存数量。
相关技术中，盘点作业多为人工现场盘点核对，因此需要花费大量的人力和时间进行盘点工作，这种方式操作时间长、工作效率低、人为操作数据容易出错，无法实现快速批量盘点，相关技术中还可以拍摄物品的图片，通过图片对物品进行盘点，但是这种方式也需要人工通过图片进行物品盘点，依然存在工作效率低，容易出错的现象，相关技术中还可以通过在每个物品上设置射频电子标签，通过扫描射频电子标签，实现对物品的盘点，但是该方法需要在每个物品上均设置射频电子标签，比较麻烦。
发明内容
本公开提供了一种盘点设备、后端设备、盘点管理系统及盘点方法，以解决人工现场盘点的问题，提高工作效率，省时省力，可以提高盘点结果的确定速度，可以使盘点结果更加准确，避免出错的现象。
本发明实施例提供了一种盘点设备，包括：导航车和可升降盘点模块，所述可升降盘点模块设置于所述导航车上；
所述可升降盘点模块，用于基于所述导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
所述导航车，用于基于所述深度信息确定所述物品堆的边长信息，并基于所述边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备。
本发明实施例还提供了一种后端设备，
所述后端设备，用于接收盘点设备发送的物品堆的盘点结果，并通过显示屏将所述盘点结果进行显示。
本发明实施例还提供了一种盘点管理系统，包括本发明实施例提供的盘点设备以及本发明实施例提供的后端设备。
本发明实施例提供了一种盘点方法，包括：
通过可升降盘点模块基于导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定物品堆的盘点结果，并将所述盘点结果发送至后端设备。
本发明实施例提供了一种盘点管理方法，包括；
盘点设备通过可升降盘点模块基于导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
所述盘点设备通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备；
所述后端设备通过接收所述盘点设备发送的物品堆的盘点结果，并通过显示屏将所述盘点结果进行显示。
本发明实施例提供的技术方案，通过可升降盘点模块基于导航车的控制进行运动，可以获取物品堆较多的深度信息，基于深度信息可以得到更加准确的盘点结果，并且通过深度信息可以得到物品堆的盘点结果，相对于相关技术通过拍摄图片对物品进行盘点的方式，提高了盘点结果的确定速度，相对于扫描射频电子标签得到盘点结果的方式，无需对每个物品设置电子标签，节省工序，降低成本；通过将盘点结果发送至后端设备，可以使用户通过后端设备了解物品堆的盘点结果，从而避免了人工现场进行物品盘点的情况，提高了工作效率，省时省力。
附图说明
图1是本发明实施例提供的一种盘点设备的结构示意图；
图2是本发明实施例提供的一种盘点设备结构框图；
图3是本发明实施例提供的一种通过盘点设备测量货物堆边长时的示意图；
图4是本发明实施例提供的一种通过盘点设备测量货物堆边长时的示意图；
图5a是本发明实施例提供的一种盘点设备进行货物盘点时的状态示意图；
图5b是本发明实施例提供的货物堆的示意图；
图6是本发明实施例提供的导航车带动可升降盘点模块围绕货物堆绕行的示意图；
图7是本发明实施例提供的一种后端设备的结构示意图；
图8是本发明实施例提供的后端设备展示界面示意图；
图9是本发明实施例提供的一种盘点管理系统的结构示意图；
图10是本发明实施例提供的一种盘点管理系统的结构示意图；
图11是本发明实施例提供的一种盘点方法流程图；
图12是本发明实施例提供的一种盘点管理方法流程图。
具体实施方式
下面结合附图和实施例对本公开作说明。此处所描述的具体实施例仅仅用于解释本公开，而非对本公开的限定。为了便于描述，附图中仅示出了与本公开相关的部分而非全部结构。
本发明实施例涉及的升降、左右，或者其他方位技术术语均是以可升降盘点模块正在盘点的工作状态时，盘点设备所处的位置为基准。
图1是本发明实施例提供的一种盘点设备的结构示意图。本发明实施例提供的盘点设备可以应用于较大空间中的一个或者多个物品堆进行盘点的场景中，较大空间可以是体积大于设定体积的空间。可选的，本发明实施例提供的盘点设备可以应用于对仓库中的货物堆进行盘点的场景中，或者本发明实施例提供的盘点设备也可以应用于对图书、商品等物品进行盘点的场景中。其中，货物堆可以在货架上，或者也可以不在货架上，货物堆可以是由至少一个货物形成的货物堆。其中，货物堆中的货物可以是具有包装盒或者包装箱的货物，或者也可以是符合形状规则的其他货物，或者也可以是具有设定形状的货物。
本发明实施例提供的盘点设备并不局限应用于上述的场景，还可以应用于盘点物品的其他场景，本发明实施例提供的盘点设备可以应用于盘点物品的任意场景中。
如图1所示，本发明实施例提供的盘点设备包括：导航车10和可升降盘点模块11，可升降盘点模块11设置于导航车10上；可升降盘点模块11，用于基于导航车10的控制运动，并通过运动获取需要盘点的物品堆的深度信息；导航车10，用于基于深度信息确定物品堆的边长信息，并基于边长信息确定物品堆 的盘点结果，并将盘点结果发送至后端设备。
深度信息是指需要盘点的物品堆到可升降盘点模块11的距离信息。其中，导航车10和可升降盘点模块11可以通过有线的方式进行电连接。可升降盘点模块11可以将获取到的深度信息发送至导航车10的处理装置。导航车10可以通过处理装置控制可升降盘点模块11进行升降运动，并控制导航车10左右运动从而带动可升降盘点模块11进行左右运动，可升降盘点模块11通过升降运动和左右运动可以获得更准确的物品堆的深度信息，并将深度信息发送至导航车10中的处理装置，导航车10通过处理装置可以基于深度信息确定物品堆的边长信息，并基于边长信息确定物品堆的盘点结果，并发送至后端设备。
盘点结果可以是物品堆中物品的数量，或者还可以是其他信息。可选的，后端设备可以包括远程管理设备、云端设备、智能终端。其中，智能终端可以是智能手机、平板电脑等。通过将盘点结果发送至后端设备，可以使用户通过后端设备了解物品堆中物品数量等信息，便于用户进行统计，避免用户需要到现场进行盘点的情况，方便了用户。
本发明实施例提供的技术方案，通过可升降盘点模块基于导航车的控制进行运动，可以获取物品堆较多的深度信息，基于深度信息可以得到更加准确的盘点结果，并且通过深度信息可以得到物品堆的盘点结果，相对于相关技术通过拍摄图片对物品进行盘点的方式，提高了盘点结果的确定速度，相对于扫描射频电子标签得到盘点结果的方式，无需对每个物品设置电子标签，节省工序，降低成本；通过将盘点结果发送至后端设备，可以使用户通过后端设备了解物品堆的盘点结果，从而避免了人工现场进行物品盘点的情况，提高了工作效率，省时省力。
可选的，以本发明实施例提供的盘点设备为具有盘点功能的仓储物流车，物品堆为仓库中的货物堆为例进行说明。
在本发明实施例的一个实施方式中，可选的，如图1所示，可升降盘点模块11包括升降装置和深度传感器111；深度传感器111，设置于升降装置上，升降装置设置于导航车10上。可选的，升降装置为剪叉式升降台。深度传感器111设置于剪叉式升降台上；剪叉式升降台设置于导航车10上，其中，剪叉式升降台可以包括平台1101、基座1102以及剪叉结构1103，深度传感器111设置在平台1101上。其中，剪叉式升降台可以是液压剪叉式升降台，剪叉式升降台可以采用其他升降装置进行替换。可选的，通过采用剪叉式升降台可以减少制作成本，容易控制平台的运动，从而容易控制深度传感器111的升降运动。可选的，深度传感器111可以为RGBD摄像装置和距离传感器，距离传感器可以是激光距离传感器(例如激光雷达)、超声距离传感器、或红外距离传感器 等。
在本发明实施例提供的一种实施方式中，可选的，如图1所示，可升降盘点模块11可拆。即可升降盘点模块11可以与导航车10分离，当可升降盘点模块11与导航车10分离后，导航车10可以用于载物，可以将货物自动运送到指定位置，实现载物功能。
图2是本发明实施例提供的一种盘点设备的结构框图，如图2所示，导航车10除了包括处理装置之外，还可以包括存储设备101，第一摄像装置102、驱动轮103，惯性测量单元104、距离传感器105、第一资料传输模组107和无线资料传输模组106。其中，处理装置可以包括中央处理器CPU 108和图像处理器GPU 109。其中，第一摄像装置102，可以用于获取货物堆所在货架的标识信息，并将标识信息传输给处理装置；距离传感器105，可以用于确定货物堆与导航车10的距离；处理装置，还可以用于将标识信息与存储的地图信息进行匹配，将匹配的位置信息作为货架的定位信息，并作为货物堆的定位信息，以及根据货物堆的定位信息、和货物堆与导航车的距离，确定导航车10的定位信息，从而使导航车10确定自身位置。
如图2所示，惯性测量单元104，用于测量导航车在沿地面运动时的运动参数，以使处理装置根据运动参数可以确定沿地面移动的距离以及方向角等数据，处理装置还可以根据原来的定位信息、移动距离和方向角进行重新定位等操作。当导航车10需要带动可升降盘点模块11进行左右运动时，导航车10通过处理装置可以控制驱动轮103进行运动，从而带动可升降盘点模块11进行左右运动，通过惯性测量单元104测量的运动参数，可以确定可升降盘点模块104左右移动距离以及方向角，处理装置根据左右移动距离以及方向角控制导航车10进行运动。
存储设备101，可以用于存储信息。例如，导航车的定位信息，导航信息、仓库地图信息、送货信息、拣货信息和盘点信息等。盘点信息可以包括货架尺寸，每个货物的尺寸、盘点任务信息等。第一资料传输模组107，可以用于导航车10与可升降盘点模块11之间的数据通信；无线资料传输模块106，可以用于导航车10和后端设备之间的数据通信。在上述实施例的基础上，导航车10还可以包括供电模组1091，供电模组1091可以与导航车中的各个模块进行电连接(图2中未视出电连接关系)，用于为导航车10中的各个模块进行供电。
如图2所示，可升降盘点模块11除了包括剪叉式升降台110和深度传感器111之外，还可以包括第二摄像装置112、补光装置113、电池114和第二资料传输模组115。其中，补光装置113可以是补光灯，电池114可以为可升降盘点模块11中的各个模块进行供电，或者当导航车10中的供电模组1091的电量不 足，无法为可升降盘点模块11中的各个模块供电时，可以由电池114为可升降盘点模块11中的各个模块进行供电。
在本发明实施例中，可升降盘点模块11可以通过第二资料传输模组115与导航车10进行数据通信，第二摄像装置112，可以获取货物堆的图片或者视频；补光装置113，可以用于当外部环境光线亮度低于设定值时，为第二摄像装置112进行补光。可以通过第二摄像装置112拍摄的货物堆的图片或者视频判断外部环境光线的亮度，或者还可以通过环境光传感器检测外部环境光线亮度，当外部环境光线亮度低于设定值时，补光装置113为第二摄像装置112进行补光。
在本发明实施例中，当物品堆是仓库中的货物堆时，采用上述的盘点设备进行货物盘点的方法可以是：可升降盘点模块，获取货物堆所在的货架靠近可升降盘点模块的一边与可升降盘点模块的距离，并基于所述距离以及货架的尺寸确定货架远离可升降盘点模块的一边与所述可升降盘点模块的距离；以及基于导航车的控制进行升降运动，并在升降过程中获取货物堆中的货物与可升降盘点模块之间的距离，和基于导航车的带动进行左右移动，并在左右移动过程中获取货物堆中的货物与可升降盘点模块之间的距离。导航车，用于基于可升降盘点模块在升降过程中获取到的货物堆中货物与所述可升降盘点模块之间的距离，确定所述货物堆的高度边界线中的边长长度；并基于可升降盘点模块在左右移动过程中获取到的货物堆中货物与可升降盘点模块之间的距离，确定宽度边界线中的边长长度，以及基于货架远离可升降盘点模块的一边与可升降盘点模块的距离、以及货物与可升降盘点模块之间的距离，确定所述货物堆的厚度边界线中的边长长度，基于确定的各个边长长度确定货物堆中货物的数量信息，并将数量信息发送至后端设备。
导航车通过处理装置控制可升降盘点模块进行升降运动，如图3所示，导航车通过处理装置控制深度传感器111进行升降运动，并在升降过程中获取货物堆200中的货物与可升降盘点模块中深度传感器111之间的距离，并将距离信息发送至导航车中的处理装置，导航车通过处理装置可以确定高度边界线(图3中虚线所示为高度边界线)，并确定高度边界线中各个边长长度。例如，当深度传感器111为RGBD摄像装置时，通过RGBD摄像装置可以得到货物堆200的深度图像，通过货物堆200的深度图像确定货物堆200中的货物与可升降盘点模块之间的距离，从而通过该距离可以确定货物堆200的高度边界线，通过控制可升降盘点模块进行升降运动，可以得到多张深度图像，并将多张深度图像进行比较，可以更加准确得到货物堆高度边界线的各个边长长度。若深度传感器111为距离传感器，导航车中的处理装置通过控制可升降盘点模块进行升降，通过距离传感器可以得到货物堆200中的货物与可升降盘点模块之间的距离，通过该距离可以确定高度边界线，通过可升降盘点模块升降的距离以及距 离传感器的探测角度等信息可以得到高度边界线中各个边长长度，其中，通过货物堆200中的货物与深度传感器之间的距离，确定高度边界线中边长长度的方法也可以参考相关技术中的介绍。
如图4所示，导航车可以带动可升降盘点模块进行左右移动(图4中的单方向的直线箭头可以表示导航车带动可升降盘点模块的移动方向)。导航车通过控制驱动轮沿地面左右移动，带动可升降盘点模块进行左右移动，从而使可升降盘点模块中的深度传感器111在左右移动过程中获取货物堆200中的货物与可升降盘点模块之间的距离，导航车的处理装置根据该距离可以确定宽度边界线(图4中虚线部分可以表示宽度边界线)，并确定宽度边界线中边长长度。其中，宽度边界线中边长长度确定方法可以与可升降盘点模块升降运动中高度边界线中边长长度确定原理相同，不再累述。
当货物堆在货架上时，可升降盘点模块在升降过程以及左右移动过程中，导航车可以根据可升降盘点模块获取到的深度信息区分货架或者货物。例如，可以通过深度信息判断若探测到的对象具有间隔相等的空隙，则可以判断探测到的对象是货架。
如图4所示，货物堆所在的货架100靠近可升降盘点模块的一边是L1，货架100远离可升降盘点模块的一边为L2，可升降盘点模块可以通过深度传感器111得到可升降盘点模块与L1的距离为d1，也可以确定货物堆200中的货物与可升降盘点模块的距离为d2，深度传感器111将测量的距离信息发送至导航车中的处理装置。导航车通过处理装置基于可升降盘点模块与L1的距离(d1)以及货架的边长，可以确定可升降盘点模块与L2的距离为d3，其中，货架的边长一般是透过后端设备的显示屏预先输入，但也可以是通过深度传感器111测得。导航车通过处理装置根据可升降盘点模块与L2的距离(d3)以及货物堆200中的货物与可升降盘点模块之间的距离(d2)，可以得到货物堆厚度边界线中的边长长度(d3-d2)。
通过上述的方法可以控制可升降盘点模块进行运动，实现对货物进行盘点(盘点时的示意图可以参考图5a)；通过上述的方法可以计算出图5b所示的货物堆的A-F的边长长度，并基于各个边长长度以及货物的尺寸确定货物的数量，并将数量信息发送至后端设备。在一个实施方式中，首先导航车前进至第一量测点，前进时可升降盘点模块11保持在可能下降高度的最低点(如此一来导航车于非盘点模式下移动时，可确保行进中重心最低、移动最稳而不容易倾倒)，导航车到达至第一量测点后，可升降盘点模块11从下往上升量测货物的尺寸，深度传感器111于第一量测点上升过程中可测得边长B1、C、D1。随后，导航车自第一量测点延货物堆的一边长方向前进，于前进的同时量测该边长A，当 深度传感器111感测到深度方向存在较大落差(或者大于落差阈值，如图5b之深度感测结果由d2改变为d3)时，导航车停止移动，并将此时位置定为第二量测点。导航车到达至第二量测点后，可升降盘点模块11上下移动测量货物堆的尺寸，深度传感器111于第二量测点上下移动过程中可测得边长B2、E、D2。最终，若该货物堆的后方有一实体边界(例如墙壁)，则导航车再度延货物的该边长方向前进即可测得F的边长(d3减去d2即可得出)；若该货物堆的后方没有实体边界，则导航车转弯使得深度传感器111面向边长F，并按照上述的步骤再次进行量测。其中，货物的尺寸(长、宽、高信息)信息、货架的尺寸信息可以在导航车的存储设备中预先存储，或者盘点设备通过导航车从后端设备中的仓储管理系统中获取。可选的，仓储管理系统可以配置在后端设备中，通过仓储管理系统，用户可以查看盘点结果。
在本发明实施例的一个实施方式中，可选的，导航车，还可以用于当判断货物堆的深度信息不足时，带动可升降盘点模块围绕货物堆运动，以获取货物堆其他角度的深度信息。当导航车通过处理装置判断货物堆的深度信息仅为货物堆中单面的深度信息，或者通过深度信息判断货物堆中的货物之间存在间隙，或者通过深度信息无法确定货物堆的边长信息时，基于自身的定位信息、货物堆的定位信息规划围绕货物堆运动的导航路径，并基于导航路径带动可升降盘点模块围绕货物堆运动，从其他角度获取货物堆的深度信息。其中，导航车带动可升降盘点模块围绕货物堆绕行的示意图可以参考图6。其中，规划导航路径的方法可以参考相关技术中的方法，基于导航路径进行运动的方法可以参考相关技术中的方法。
如图2所示，导航车10可以通过第一摄像装置102获取货物堆所在货架的标识信息，并通过距离传感器105确定货物堆与导航车10的距离；将所述标识信息与存储的地图信息进行匹配，将匹配的位置信息作为货架的定位信息，并作为货物堆的定位信息，以及根据物品堆的定位信息、和所述货物堆与导航车的距离，确定导航车10的定位信息。导航车10根据自身的定位信息以及货物堆的定位信息确定导航路径，基于导航路径带动可升降盘点模块11围绕货物堆进行运动。其中，在导航过程中，导航车10可以通过惯性测量单元104的中获取的运动参数，控制移动方向等参数，实现沿导航路径运动，从而实现围绕货物进行运动。其中，在导航车在围绕货物堆运动过程中，对于自身定位的方法还可以是其他相关技术中室内定位的方法，对定位方法并不作限制。
在本发明实施例的一个实施方式中，如图2所示，可升降盘点模块11通过第二摄像装置112获取货物堆的图片或者视频，并将图像或者视频传输给导航车10，导航车10，还用于当判断导航路径被障碍物堵塞时，将货物堆的图片或者视频发送至后端设备，以使后端设备通过显示屏展示所述图片或者视频。导 航车可以通过距离传感器105判断在导航路径上是否存在障碍物，当导航路径被障碍物堵塞时，可以将第二摄像装置112拍摄的货物堆的图片或者视频发送至后端设备，以通过后端设备将货物堆的图片或者视频展示给用户。或者当导航车判断当前导航路径被堵塞时，导航车可以自动规划其他导航路径，以实现对货物堆的绕行。
在本发明实施例的一个实施方式中，可选的，如图2所示，本发明实施例提供的盘点设备还可以用于通过导航车10接收所述后端设备发送的工作模式切换指令，根据切换指令将工作模式进行切换；其中，切换指令包括由盘点模式切换到载物模式的指令，或者由载物模式切换到盘点模式的指令。用户可以根据需要触发控制盘点设备工作模式的切换指令。盘点设备通过导航车10接收后端设备发送的工作模式切换指令，根据切换指令将工作模式进行切换。可选的，当盘点设备通过导航车10将工作模式由盘点模式切换到载物模式时，停止对货物堆进行盘点。
由此，盘点设备通过对工作模式切换指令的响应，实现对工作模式的切换，可以满足用户需求，方便用户，实现盘点设备的盘点/载物功能。
图7是本发明实施例提供的一种后端设备的结构示意图，本发明实施例提供的后端设备可以应用于与本发明实施例提供的盘点设备相同的场景中。如图7所示，后端设备300，用于接收盘点设备发送的物品堆的盘点结果，并通过显示屏301将所述盘点结果进行显示。可选的，后端设备包括远程管理设备，云端设备或者智能终端。远程管理设备可以包括服务器和显示屏。
图7所示的后端设备的结构仅仅是一种示意，后端设备的结构并不局限于图7所示的结构。
在本发明实施例的一个实施方式中，可选的，后端设备，还用于接收工作模式切换指令，并将所述工作模式切换指令发送至盘点设备，以使盘点设备进行工作模式的切换。后端设备还可以实现对多个盘点设备的监控和控制，后端设备可以展示用于控制盘点设备切换工作模式的控件，当用户触发该控件时，可以将工作模式切换指令发送至盘点设备，以使盘点设备进行工作模式的切换。其中，后端设备还可以显示各个盘点设备的盘点结果、展示盘点设备发送的图片或者视频，以及显示各个盘点设备的工作模式。后端设备展示信息可以参考图8，如图8所示，后端设备可以展示处于盘点模式下的盘点设备的信息以及载物模式下的盘点设备的信息，例如，左方区域H1为导航车的载物模式和盘点模式资讯总结及模式转换区域，此区域中将展示载物模式下的导航车、以及盘点模式下的导航车的即时数量和状态资讯，另外于此区域中亦可进行导航车的载物模式和盘点模式之间的转换。以图8举例而言，本实施例左方区域H1中展示 了处于盘点模式下盘点设备共2台，1台在执行盘点任务，1台待机，区域H1中还展示了处于载物模式下的盘点设备共20台，其中，15台在执行载物任务，5台待机。其中，区域H1中还展示了两个控件，分别是“点击切换1”和“点击切换2”，其中，两个控件分别用于切换盘点设备的工作模式。如图8所示，后端设备还具备盘点结果展示区域H2，即后端设备还可以展示盘点设备的盘点结果，若盘点成功将会直接显示货物数量，若盘点未能成功将会显示错误信息，包含无法成功盘点之原因等，以图8举例而言，本实施例中间上方区域H2展示了A区的盘点结果是：货架a1上的货物100个；货架a2上的货物98个，货架a3的深度信息不足；其中，a1，a2和a3可以分别是货架的标识。如图8所示，后端设备还具备盘点图片或者盘点视频展示区域H3(以本实施例而言位于画面右上方)，即后端设备还可以展示盘点设备于盘点过程中搜集的图片或者视频400，在一种实施例中，区域H3显示因深度信息不足造成盘点失败的货物堆图片或者货物堆视频。如图8所示，后端设备还具备实时工作地图展示区域H4，即后端设备可以展示导航车目前实时的位置资讯，其中，后端设备可以标注导航车目前处于载物模式下还是盘点模式下，以图8举例而言，本实施例中右下方区域H4展示实时工作地图及各个导航车的位置，其中，图标201表示载物模式下的导航车，图标202表示盘点模式下的导航车，可以使用不同颜色或是外形来区别载物模式或盘点模式下的导航车。后端设备展示信息的方式并不局限于上述的形式，还可以是其他形式，例如改变区域位置、或是将各个区域的信息进行分页展示等。
本发明实施例提供的后端设备，通过接收并展示盘点结果，可以便于了解物品堆的盘点结果，从而避免了人工现场进行物品盘点的情况，提高了工作效率，省时省力。
图9和图10是本发明实施例提供的一种盘点管理系统的结构示意图，如图9-10所示，本发明实施例提供的盘点管理系统可以包括本发明实施例提供的盘点设备1以及如本发明实施例提供的后端设备2。其中，盘点设备以及后端设备的介绍可以参考上述实施例的介绍。
图11是本发明实施例提供的一种盘点方法流程图，本发明实施例提供的方法采用本发明实施例提供的盘点设备来实现。如图11所示，本发明实施例提供的技术方案，包括：
S1110：通过可升降盘点模块基于所述导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息。
S1120：通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定物品堆的盘点结果，并将所述盘点结果发送至后端设备。
本发明实施例中各个步骤的介绍，可以参考上述实施例相关介绍，不再累述。
本发明实施例提供的技术方案，通过可升降盘点模块基于导航车的控制进行运动，可以获取物品堆较多的深度信息，基于深度信息可以得到更加准确的盘点结果，并且通过深度信息可以得到物品堆的盘点结果，相对于相关技术通过拍摄图片对物品进行盘点的方式，提高了盘点结果的确定速度，相对于扫描射频电子标签得到盘点结果的方式，无需对每个物品设置电子标签，节省工序，降低成本；通过将盘点结果发送至后端设备，可以使用户通过后端设备了解物品堆的盘点结果，从而避免了人工现场进行物品盘点的情况，提高了工作效率，省时省力。
图12是本发明实施例提供的一种盘点管理方法流程图，本发明实施例提供的方法采用本发明实施例提供的盘点管理系统来实现。如图12所示，本发明实施例提供的技术方案包括：
S1210：盘点设备通过可升降盘点模块基于所述导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
S1220：所述盘点设备通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定物品堆的盘点结果，并将所述盘点结果发送至后端设备；
S1230：后端设备通过接收所述盘点设备发送的物品堆的盘点结果，并将所述盘点结果进行显示。
本发明实施例中的各个步骤可以参考上述实施例的相关介绍，不再累述。
本发明实施例提供的技术方案，通过可升降盘点模块基于导航车的控制进行运动，可以获取物品堆较多的深度信息，基于深度信息可以得到更加准确的盘点结果，并且通过深度信息可以得到物品堆的盘点结果，相对于相关技术通过拍摄图片对物品进行盘点的方式，提高了盘点结果的确定速度，相对于扫描射频电子标签得到盘点结果的方式，无需对每个物品设置电子标签，节省工序，降低成本；通过将盘点结果发送至后端设备，可以使用户通过后端设备了解物品堆的盘点结果，从而避免了人工现场进行物品盘点的情况，提高了工作效率，省时省力。

Claims (19)

  1. 一种盘点设备，包括：导航车和可升降盘点模块，所述可升降盘点模块设置于所述导航车上；
    所述可升降盘点模块，用于基于所述导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
    所述导航车，用于基于所述深度信息确定所述物品堆的边长信息，并基于所述边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备。
  2. 根据权利要求1所述的设备，其中，所述盘点设备为具有盘点功能的仓储物流车，所述物品堆为仓库中的货物堆。
  3. 根据权利要求2所述的设备，其中，所述可升降盘点模块可拆。
  4. 根据权利要求2所述的设备，其中，所述可升降盘点模块包括升降装置和深度传感器；所述深度传感器，设置于所述升降装置上；所述升降装置设置于所述导航车上。
  5. 根据权利要求4所述的设备，其中，所述升降装置包括剪叉式升降台。
  6. 根据权利要求4所述的设备，其中，所述深度传感器可选自激光雷达、RGBD摄像装置、红外距离传感器和超声距离传感器。
  7. 根据权利要求2所述的设备，其中，
    所述导航车，还用于当判断所述货物堆的深度信息不足时，带动所述可升降盘点模块围绕所述货物堆运动，以获取所述货物堆其他角度的深度信息。
  8. 根据权利要求7所述的设备，其中，
    所述导航车，还用于当判断货物堆的深度信息不足时，基于自身的定位信息、所述货物堆的定位信息规划围绕所述货物堆运动的导航路径，并基于所述导航路径带动所述可升降盘点模块围绕所述货物堆运动。
  9. 根据权利要求8所述的设备，其中，
    所述导航车，还用于通过第一摄像装置获取所述货物堆所在货架的标识信息，并通过距离传感器确定所述货物堆与所述导航车的距离；
    将所述标识信息与存储的地图信息进行匹配，将匹配的位置信息作为所述货架的定位信息，并作为所述货物堆的定位信息，以及根据所述货物堆的定位信息、和所述货物堆与所述导航车的距离，确定所述导航车的定位信息。
  10. 根据权利要求2所述的设备，其中，
    所述可升降盘点模块，还用于通过第二摄像装置获取所述货物堆的图片或者视频；
    所述导航车，还用于当导航路径被障碍物堵塞时，将所述货物堆的图片或者视频发送至所述后端设备，以使后端设备通过显示屏展示所述图片或者视频。
  11. 根据权利要求2所述的设备，其中，
    所述可升降盘点模块，用于获取货物堆所在的货架靠近可升降盘点模块的一边与所述可升降盘点模块的距离，并基于所述距离以及所述货架的尺寸确定所述货架远离所述可升降盘点模块的一边与所述可升降盘点模块的距离；
    以及基于所述导航车的控制进行升降运动，并在升降过程中获取所述货物堆中的货物与所述可升降盘点模块之间的距离，和基于所述导航车的带动进行左右移动，并在左右移动过程中获取所述货物堆中的货物与所述可升降盘点模块之间的距离；
    所述导航车，用于基于所述可升降盘点模块在升降过程中获取到的所述货物堆中货物与所述可升降盘点模块之间的距离，确定所述货物堆的高度边界线中的边长长度；并基于所述可升降盘点模块在左右移动过程中获取到的所述货物堆中货物与所述可升降盘点模块之间的距离，确定所述货物堆的宽度边界线中的边长长度；
    以及基于所述货架远离所述可升降盘点模块的一边与所述可升降盘点模块的距离、和货物与升降盘点模块之间的距离，确定所述货物堆的厚度边界线中的边长长度，并基于各个边长长度确定所述货物堆中货物的数量信息，并将所述数量信息发送至所述后端设备。
  12. 根据权利要求2所述的设备，其中，
    所述盘点设备，用于通过所述导航车接收所述后端设备发送的工作模式切换指令，根据所述切换指令将工作模式进行切换；其中，切换指令包括由盘点模式切换到载物模式的指令，或者由载物模式切换到盘点模式的指令。
  13. 根据权利要求12所述的设备，其中，
    所述盘点设备，还用于当通过导航车将工作模式由盘点模式切换到载物模式时，停止对所述货物堆进行盘点。
  14. 根据权利要求4所述的设备，其中，
    所述导航车于非盘点模式下移动时，所述可升降盘点模块保持在最低下降高度。
  15. 根据权利要求4所述的设备，其中，
    当所述导航车于盘点模式下移动，且所述深度传感器感测到深度方向存在的落差大于落差阈值时，所述导航车停止移动，所述可升降盘点模块开始上下 移动对所述货物堆进行盘点。
  16. 一种后端设备，用于接收如权利要求1-15任一项所述的盘点设备发送的物品堆的盘点结果，并通过显示屏将所述盘点结果进行显示。
  17. 根据权利要求16所述的设备，其中，
    所述后端设备，还用于接收用户触发的工作模式切换指令，并将所述切换指令发送至所述盘点设备，以使所述盘点设备进行工作模式的切换。
  18. 一种盘点方法，包括：
    通过可升降盘点模块基于导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
    通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备。
  19. 一种盘点管理方法，包括；
    盘点设备通过可升降盘点模块基于导航车的控制运动，并通过运动获取需要盘点的物品堆的深度信息；
    所述盘点设备通过导航车基于所述深度信息确定物品堆的各个边长信息，并基于所述各个边长信息确定所述物品堆的盘点结果，并将所述盘点结果发送至后端设备；
    所述后端设备通过接收所述盘点设备发送的物品堆的盘点结果，并通过显示屏将所述盘点结果进行显示。
PCT/CN2020/108770 2019-08-16 2020-08-13 盘点设备、后端设备、盘点管理系统及盘点方法 WO2021031965A1 (zh)

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