WO2021098789A1 - Procédé de vérification d'informations de marchandises et système associé, robot et terminal de traitement - Google Patents

Procédé de vérification d'informations de marchandises et système associé, robot et terminal de traitement Download PDF

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Publication number
WO2021098789A1
WO2021098789A1 PCT/CN2020/130162 CN2020130162W WO2021098789A1 WO 2021098789 A1 WO2021098789 A1 WO 2021098789A1 CN 2020130162 W CN2020130162 W CN 2020130162W WO 2021098789 A1 WO2021098789 A1 WO 2021098789A1
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WIPO (PCT)
Prior art keywords
cargo information
goods
robot
cargo
information
Prior art date
Application number
PCT/CN2020/130162
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English (en)
Chinese (zh)
Inventor
艾鑫
Original Assignee
深圳市海柔创新科技有限公司
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Publication of WO2021098789A1 publication Critical patent/WO2021098789A1/fr

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    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • This application relates to the field of intelligent warehousing, and relates to a detection method and system, robots and processing terminals of cargo information.
  • storage robots can transport bins according to a predetermined route in a warehouse where goods are stored, where multiple pieces of goods are placed in the bins.
  • the operator sorts the goods in the bin.
  • some business scenarios directly control the warehousing robot for the next operation.
  • Other business scenarios require manual inventory or verification of whether the goods in the bin are correct, such as whether the goods are picked less, picked more, or wrongly picked, etc.
  • the embodiments of the present application provide a method for detecting cargo information, a system, a robot, and a processing terminal, which can automatically detect cargo information to verify picking/release operations.
  • an embodiment of the present application provides a method for detecting cargo information, which is applied to a robot, and the method includes:
  • Receiving a first take/release instruction obtain at least one material box according to the first take/release instruction, and transport the at least one material box to a first target location;
  • the first cargo information of the goods in the at least one material box is detected.
  • the detecting the first cargo information of the cargo in the at least one bin includes:
  • a preset frequency periodically detect the first cargo information of the goods in the at least one material box, wherein the at least one material box is in a pickup/delivery state.
  • the detecting the first cargo information of the cargo in the at least one bin includes:
  • the first cargo information of the cargo in the at least one material box is detected, wherein the at least one material box is in a pickup/delivery state.
  • the detecting the first cargo information of the cargo in the at least one bin according to the verification instruction includes:
  • the first cargo information of the cargo in the current bin is detected, where the current bin is the bin after the specified quantity of goods has been picked/placed.
  • the detecting the first cargo information of the cargo in the at least one bin according to the verification instruction includes:
  • the first cargo information of the goods in all the bins transported by the robot is detected, wherein any one of the all bins is a bin after a specified quantity of goods has been taken/placed.
  • the method further includes:
  • the method further includes:
  • the second cargo information is acquired, and the first cargo information in the at least one bin is verified through the second cargo information.
  • the obtaining the second cargo information and verifying the first cargo information in the at least one bin through the second cargo information includes:
  • the first comparison result is a result that the first cargo information and the second cargo information are inconsistent, the first operation is performed;
  • the second operation is performed.
  • the performing the second operation includes:
  • the goods are all provided with radio frequency identification tags
  • the first goods information is obtained by detecting the radio frequency identification tags of the goods in the at least one bin; or,
  • the robot is provided with a weight detection device, the weight detection device is used to detect the weight of the at least one bin, and the first cargo information is obtained from the weight of the at least one bin detected by the weight detection device .
  • the detecting the first cargo information of the cargo in the at least one bin when acquiring the at least one bin includes:
  • the third cargo information is further obtained.
  • the detecting the first cargo information of the cargo in the at least one bin includes:
  • the first cargo information is detected by the cargo information detection device provided on the handling device;
  • the first cargo information is detected by the cargo information detection device provided on the storage unit.
  • the method further includes:
  • the transfer device When it is detected that the target bin has been picked/placed with a specified amount of goods, the transfer device is used to transfer the target bin back to the target storage unit.
  • an embodiment of the present application provides a method for detecting cargo information, which is applied to a processing terminal, and the method includes:
  • the second cargo information is acquired, and the first cargo information in the at least one bin is verified through the second cargo information.
  • it further includes:
  • the pickup/release information is prompted, where the pickup/release information includes a pickup/release location, a pickup/release quantity, and/or an inventory unit.
  • the obtaining the first cargo information includes:
  • the obtaining the second cargo information and verifying the first cargo information in the at least one bin through the second cargo information includes:
  • the fifth operation is performed.
  • an embodiment of the present application provides a robot, including:
  • At least one processor At least one processor
  • a memory connected in communication with the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any item of the cargo information. Detection method.
  • an embodiment of the present application provides a processing terminal, including:
  • At least one processor At least one processor
  • a memory connected in communication with the at least one processor
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any item of the cargo information. Detection method.
  • an embodiment of the present application provides a cargo information detection system, including:
  • the processing terminal communicates with the robot.
  • the first pick-up/release instruction is received, at least one container is acquired according to the first pick-and-release instruction, and the container is transported To the first target position.
  • receiving the first pick-up/release instruction obtain at least one material box according to the first pick-up/release instruction, and transport the material box to the first target location. Therefore, it can automatically detect cargo information in order to verify the pickup/release operation, avoid errors, and also improve the efficiency of verification or inventory.
  • Fig. 1a is a schematic structural diagram of a handling robot provided by an embodiment of the present application.
  • Figure 1b is a schematic structural diagram of a storage shelf provided by an embodiment of the present application.
  • Figure 1c is a top view of the fork of the handling device provided by an embodiment of the application, in which the pallet of the handling device is blurred;
  • FIG. 2 is a schematic diagram of the architecture of a cargo information detection system provided by an embodiment of the present application.
  • FIG. 3 is an equivalent schematic diagram of a warehouse provided by an embodiment of the present application, in which a robot can travel in the warehouse;
  • FIG. 4 is a schematic flowchart of a method for detecting cargo information provided by an embodiment of the present application
  • FIG. 5 is a schematic flowchart of a method for detecting cargo information according to another embodiment of the present application.
  • Fig. 6 is a block diagram of a circuit principle of an electronic device provided by an embodiment of the present application.
  • the handling robot provided in this article can be applied to any suitable industry field or technical field, such as the field of smart warehousing, smart logistics, smart sorting, or home furnishing.
  • the handling robot can be configured into any suitable structure to realize the handling function.
  • FIG. 1a is a schematic structural diagram of a handling robot provided by an embodiment of the present application.
  • the handling robot 100 includes a chassis 10, a storage tray 20, a lifting device (not shown in the figure), and a handling device 30.
  • the chassis 10 carries a storage tray 20, a lifting device, and a conveying device 30.
  • the chassis 10 is movable, and drives the storage tray 20, the lifting device and the conveying device 30 to move together.
  • the handling robot 100 can carry goods between a plurality of storage shelves.
  • the storage tray 20 includes a plurality of storage units 201 located on different floors, and each storage unit 201 is used to place objects, where the objects here include goods or commodities or non-sale goods or other objects. In some embodiments, it can also be understood that the goods can be put into a container of a certain volume.
  • the lifting device is used to drive the handling device 30 for lifting movement.
  • the lifting device may be a transmission mechanism such as a sprocket mechanism or a belt pulley mechanism, and output power by a motor, a pneumatic motor, and a hydraulic transmission system.
  • the conveying device 30 is used for conveying goods between the multi-layer rack and the storage rack.
  • Fig. 1b is a schematic structural diagram of a storage shelf provided by an embodiment of the present application.
  • the handling robot 100 can carry a material box 21 for storing goods located on a storage shelf 101, where the storage shelf 101 is composed of a number of brackets 22 and a supporting plate 23, and the material box 21 can be placed on the supporting plate 23.
  • the support plate 23 may be pre-divided into a number of positions, and each position may place a bin 21.
  • the position information of the bin 21 and the goods information stored in the bin 21 are preset in the system.
  • the cargo information includes the SKU (Stock Keeping Unit) information of all the cargoes, and the SKU can include the size, color, weight, etc. of the cargo.
  • the handling device 30 and/or each storage unit 201 are equipped with cargo information detection Device.
  • the goods information detection device can be a radio frequency reader or a weight detection device.
  • the radio frequency reader can be an RFID reader. Every piece of goods stored in the bin 21 can be provided with an RFID tag.
  • the RFID tag of each goods has Unique number, and each unique RFID number has a mapping relationship with the SKU of the goods. Therefore, after detecting the RFID tag information in the bin, the name, weight, quantity and other goods information of the goods in the bin can be obtained through the SKU information.
  • the weight detection device of the transporting device 30 or the storage unit 201 is activated, and the quantity of goods in the storage box is detected by the SKU information of the goods in the storage box 21 preset in the inventory system information.
  • the conveying device 30 can move goods on any storage unit 201 in the storage tray 20, or any one of the multi-layer storage shelves 101, or single-layer shelves of different heights.
  • handling device 30 is not limited to being applied to the handling robot 100.
  • the handling device may also be applied to the shuttle, sorting platform and other fields.
  • the handling device 30 includes a fork 34, the fork 34 includes a pallet 340, a telescopic arm (not shown in the figure), a fixed push rod 346, a movable push rod 348, and an image detection device 350.
  • the fork 34 may also include a weight detection device 342 or an RFID reader (not shown in the figure).
  • the pallet 340 is used to place goods, and is a horizontally placed flat plate.
  • the pallet 340 has opposite upper and lower surfaces, and the upper surface is used to place the goods.
  • the weight detection device 342 is provided on the lower surface of the pallet 340 and is used to detect the weight of the goods placed on the pallet 340.
  • the weight detection device 342 may be a pressure sensor, which has a block shape.
  • the multiple weight detection devices 342 are evenly distributed on a horizontal plane, that is, a plane parallel to the pallet 340. By arranging the multiple weight detection devices evenly distributed, it is possible to prevent the goods from being located on one side of the pallet 340 to cause inaccurate detection.
  • the weight information of the goods detected by the weight detection device 342 is processed by the processor mounted on the handling robot 100 to obtain the quantity information of the goods, or by uploading the detected weight information of the goods to the processing terminal, and then processed through the processing terminal.
  • the quantity information of the goods is processed by the processor mounted on the handling robot 100 to obtain the quantity information of the goods, or by uploading the detected weight information of the goods to the processing terminal, and then processed through the processing terminal. The quantity information of the goods.
  • the telescopic arm In the direction parallel to the support plate 340, the telescopic arm is located on one side of the support plate 340, and the telescopic arm can extend horizontally, that is, extend in a direction parallel to the support plate 340.
  • the RFID reader can be installed on the fixed push rod 346 or the telescopic arm to detect the RFID tag of the goods in order to obtain the information of the goods in the bin.
  • the handling robot 100, the processing terminal 202, and the picking platform 204 form a pick-and-place verification system.
  • the handling robot 100 communicates with the processing terminal 202 to arrange and plan inventory operations. , Operation and check of picking and placing goods.
  • the picking platform 204 is set on the operation platform, and the operator can use the picking platform 204 to complete related picking operations, and make the picking platform 204 communicate with the processing terminal 202 or the handling robot 100 to complete related warehousing operations.
  • the processing terminal 202 can also control the navigation of the handling robot 100.
  • the handling robot 100 receives a pick-and-place instruction from the processing terminal 202, where the pick-and-place includes the pick-up location, the destination location, the planned route, and the goods. information.
  • the handling robot 100 moves along the planned path to the pickup location in the warehouse according to the pickup and release of the goods, and after obtaining the corresponding goods, transports the goods to the destination location.
  • the handling robot 100 sends its own location information to the processing terminal 202, so that the processing terminal 202 can determine the current occupancy status of the channel in the warehouse according to the location information sent by each handling robot 100.
  • the handling robot 100 receives the occupancy status of the channel in the warehouse sent by the processing terminal 202, and requests the processing terminal 202 to adjust the planned path according to the occupancy status of the channel in the warehouse.
  • the processing terminal 202 here may be a server, and the server is a physical server or a logical server virtualized by multiple physical servers.
  • the processing terminal 202 may also be a server group composed of multiple servers that can communicate with each other, and each functional module may be distributed on each server in the server group.
  • the processing terminal 202 can also be understood as an electronic device that integrates logic processing and a user interaction interface.
  • the processing terminal 202 and other warehouse management devices may form a warehouse management system (Warehouse Management System, WMS), or the processing terminal 202 is configured with SAP software (System Applications and Products), and so on.
  • WMS warehouse Management System
  • SAP software System Applications and Products
  • the processing terminal 202 may be integrated with functions corresponding to the warehouse management system.
  • the system when warehousing goods, the system will record the SKU (Stock Keeping Unit) information of each goods.
  • SKU information can include the size, weight, color, RFID number and other information of each goods. For example, please Refer to Table 1:
  • each piece of goods is equipped with an RFID tag, and each RFID tag is equipped with a unique RFID number.
  • the same type of goods has the same SKU, and the same SKU can correspond to a batch of goods with different RFID numbers.
  • the system will record SKU information, quantity, and different RFID codes corresponding to the same SKU.
  • the handling robot 100 can travel in a preset space and pick and place objects in the preset space, where the preset space is the range of the movement space of the handling robot.
  • the definition of the preset space may be different, for example, for For home business scenarios, the preset space is the sum of the various indoor spaces separated by walls.
  • the default space is the warehouse.
  • the warehouse 300 includes an aisle 31, a public area 32, and an operating table area 33.
  • the lane 31 is formed by at least two rows of shelves 311 placed opposite each other.
  • the shelves on the same side are arranged side by side.
  • the number of shelves on the same side can be multiple, and the warehouse can include multiple rows of shelves, and any of the multiple rows of shelves are adjacent to each other.
  • An aisle 31 is formed between the two shelves. Therefore, multiple rows of shelves can form multiple aisles 31, and the handling robot 100 can pick up the goods on the storage shelves 311 in the aisle 31.
  • the common area 32 is the area where the handling robots 100 share the same route when navigating. For example, the handling robot A1 needs to go to the first bin of the first row of shelves to pick up goods, and the handling robot A2 needs to transfer the second bin of the first row of shelves. The goods in the middle are transported to the console area 33, so the handling robot A1 and the handling robot A2 need to pass through the common area 32.
  • the console area 33 is the area where each handling robot handles bins or goods. For example, when the handling robot 100 counts an abnormality in an object, the handling robot 100 places the abnormal object at a preset position in the console area 33 to take inventory. The administrator manually counts the objects again at the preset position. After the inventory is correct, the inventory manager configures the corresponding handling robot 100 with the object in the console area 33, so that the handling robot 100 can transport the object back to the corresponding storage shelf position.
  • various indoor positioning methods can be used to assist positioning and navigation. Through navigation, the handling robot can travel to the corresponding position, obtain the material box, complete the inventory, pick and place operations, and verify the pick and place operations.
  • the processing terminal sends an inventory instruction to the handling robot, and the handling robot receives the inventory instruction and travels to the target position according to the inventory instruction.
  • a material box is placed in the location.
  • the transfer robot uses the transfer device to take out the bin from the target position.
  • the handling robot starts the work of the RFID reader to detect the RFID tags of all the goods placed in the bin, so the handling robot can get the RFID number of each item.
  • the handling robot can match the cargo number of each piece of goods with the SKU recorded by the system, and detect whether the quantity of goods in the bin is the same as the preset number or whether the SKU number is the same as the preset SKU number. If the same, the handling robot will Put the material box back to the target position. If it is different, the handling robot will put the material box back to the target position, but record the abnormal inventory of the material box, or move the material box to the storage unit to move the material box to the designated position.
  • the handling robot can also take inventory of goods spontaneously, that is, automatically travel to the target position according to a preset time, and take out the bin from the target position to complete the inventory operation.
  • the handling robot can send the RFID number of each item to the processing terminal, so that the processing terminal compares the RFID number of each item with the RFID number recorded by the system to determine the goods Whether the quantity or SKU is consistent and the comparison result is sent to the handling robot, if the comparison result is that the quantity of goods stored in the bin and/or the SKU number is consistent with the result recorded by the system, the handling robot will return the bin to the target position. If the comparison result is inconsistent, the handling robot will return the material box to the target position, but record the abnormal situation of the inventory of the material box, or move the material box to the storage unit to move the material box to the designated position.
  • the storage unit of the handling robot is equipped with an RFID reader.
  • the processing terminal sends an inventory instruction to the handling robot, and the handling robot travels to the target position according to the inventory instruction, and the handling robot uses The handling device takes out the material box from the target location and places the material box in the corresponding storage unit. Then, the handling robot starts the RFID reader/writer of the storage unit to detect the RFID tags of all the goods placed in the bin. It is understandable that the robot can start the RFID reader/writer of the storage unit by analyzing the received pick-up instruction, or start the RFID reader/writer when the handling device puts the bin into the storage unit.
  • the RFID reader can read the RFID tags to obtain the goods information during the inventory operation to complete the inventory operation Be prepared. Using this inventory method, its inventory efficiency and accuracy are high.
  • the cargo information is detected by the video reader/writer of the handling device and/or the robot storage unit.
  • the embodiment of the present application provides a method for detecting the information of picking and placing goods to realize the verification operation of the picking and placing of goods.
  • the pickup/release information detection method S400 includes:
  • the first pick-and-place instruction is used to instruct the robot to transport the material box to the first target position.
  • the robot can transport the material box that has been placed on the robot to the first target position, or when the material is loaded.
  • the robot can also travel to the corresponding position where the box is placed on the storage shelf, take out the box from the corresponding position and transport the box to the first target location .
  • each first pickup/release instruction points to each first target location.
  • the first pick-up/release instruction may also be one, and the first pick-up/release instruction carries the location information of one or two first target locations.
  • the first fetch/place instruction may be sent to the robot by the processing terminal.
  • the first target location is the console area. After the robot reaches the first target location, the operator, robotic arm, or other equipment can perform warehousing operations on the bin or the goods in the bin.
  • Business operations can include pick-and-place operations, verification operations, or inventory operations, and so on.
  • the first target location can be one location or more than two locations, as long as it is the location where the operator, robotic arm or other equipment performs storage operations on the bin or the goods in the bin. There is no limit to the number of first target locations and the specific business functions acting on the first target locations.
  • the process in which the robot transports the container to the first target position may also be specifically the following process: First, the robot travels to at least one second target position according to the first fetch/place instruction, where, The second target position is used to place one or more than two bins. When there are multiple bins to be picked up and placed at different second target locations, the first pick up/placement instruction also carries each material. The first position where the box is stored.
  • the robot obtains the bin corresponding to each second target position.
  • each second target position is placed on the handling device, or when the robot is provided with a handling device and a storage unit, each second target position is corresponding to The bins are placed in the handling device and/or storage unit.
  • the operator can immediately take and place the goods in the material box on the handling device.
  • the robot can use the handling device to immediately return the material box to the designated position. .
  • the operator When the material box is placed in the corresponding storage unit and the goods are taken and placed, the operator performs the operation of taking and placing the goods in the material box on the storage unit.
  • the robot can use the handling device to take out the material box from the corresponding storage unit. The operator picks and places the goods in the material box on the handling device. When the pick and place is completed, the robot uses the handling device to move the material box back Corresponding storage unit.
  • the operator can take and place the goods in the material box on the handling device or the storage unit when picking up and unloading the goods.
  • the robot transports at least one bin to the first target location.
  • the number of storage units is multiple, and the relative heights of every two adjacent storage units are different. As shown in FIG. 1a for each storage unit in the storage tray, the relative height of each storage unit is different. , And stacked in sequence.
  • the height of the robot is often greater than the height of the operator, especially the robot is equipped with a storage tray composed of several storage units.
  • the robot can obtain the second pick-and-place instruction, and according to the second pick-and-place instruction, use the handling device to remove the goods from the target.
  • the corresponding target bin is taken out from the storage unit, and when it is detected that the target bin has been picked/placed with the specified quantity of goods, the target bin is transported back to the target storage unit using the handling device.
  • the picking platform displays the pick/release task of the robot.
  • the pick/release task includes the position of each bin to be picked/released in the robot’s first position.
  • Several layers of storage units, the number of picked/released goods, and/or SKU information for example, five bins including bins A1 to A5, and the five bins are respectively placed in the five storage units B1 to B5, where , The relative heights of the five storage units from B1 to B5 increase sequentially.
  • the robot parses from the second fetch/place instruction that it needs to transport the material box A5 placed in the storage unit B5, so the robot determines that the storage unit B5 is the target storage unit, and uses the handling device to retrieve the corresponding target material from the target storage unit B5 Box A5.
  • the operator can pick up the goods in the target bin A5 on the conveying device.
  • the processing terminal determines that it is necessary to take out the material box A5, it sends a second take/place instruction to take out the material box A5 from the storage unit B5 to the robot.
  • the operator When the operator picks up the goods in the target bin A5 according to the picking quantity, after the picking is completed, the operator operates the picking platform, and the picking platform sends a second trigger instruction to the processing terminal so that the processing terminal sends the picking completion to the robot Instruction, after the robot receives the pick-up completion instruction, according to the pick-up completion instruction, the target bin A5 is transported back to the target storage unit B5 using the transport device.
  • the robot transfers the high-level bins A4, A3, A2, etc., from the storage units B4, B3, B2, etc., to the handling device in the above-mentioned manner. Of the goods have completed the pick-up and release operations.
  • the robot may be provided with a button, and the operator can issue a second fetch/release instruction by using the button.
  • the operator can issue the second fetch/release instruction.
  • the voice collector can collect the second fetch/release instruction.
  • the robot can also detect whether the target bin has been taken/filled out of the specified quantity of goods.
  • the robot uses an RFID reader to periodically detect the RFID tags of each item in the target bin. The total number of RFID tags of the goods is equal to the reference quantity that should be left, then the robot thinks that the target bin has been taken/filled out of the specified quantity of goods.
  • the robot uses a weight detection device to periodically check whether the quantity of goods in the target bin is the same as the reference quantity remaining in the bin. If the detection results are consistent, the robot considers that the picking/release of the goods has been completed.
  • S42 Detect the first cargo information of the cargo in the at least one bin at the first target location or when the at least one bin is acquired;
  • the first cargo information can be used to indicate the cargo information of the at least one bin after the completion of picking and placing, which can be the weight of the current bin after the completion of picking and placing, or it can be the completion of picking and placing.
  • the first cargo information can be obtained by detecting the cargo in the bin by the cargo information detection device installed on the robot.
  • the cargo information detection device can be a weight detection device or a radio frequency reader/writer.
  • the robot is provided with a weight detection device, the weight detection device is used to detect the weight of at least one bin, and the first cargo information is obtained from the weight of the at least one bin detected by the weight detection device, for example, when the at least one During or after the completion of the pick-up operation of the material box, the robot weight detection device collects the weight of the at least one material box, and the weight can be used as the first cargo information.
  • each of the goods in the at least one material box is provided with a radio frequency identification tag
  • the first goods information is obtained by detecting the radio frequency identification label of the goods in the at least one material box, for example, when the at least one
  • the robot activates the RFID reader of the storage unit or the handling device to detect the RFID tag of each piece of goods placed in the at least one bin, so that the first cargo information can be obtained .
  • the method can automatically detect the cargo information, so as to verify the pickup/release operations, avoid errors, and also improve the efficiency of verification.
  • the robot can detect the first cargo information through the weight detection device or the radio frequency reader or the like provided in the handling device or the storage unit, it sends the first cargo information to the processing terminal, and the processing terminal passes the pre- The obtained second cargo information verifies whether the first cargo information is accurate. Or after the robot detects the first cargo information, it verifies whether the first cargo information is accurate through the second cargo information obtained from the processing terminal in advance; or after detecting the first cargo information, it sends the first cargo information to the processing terminal , Verify whether the first cargo information is accurate by processing the second cargo information acquired in real time by the terminal.
  • the robot after the robot obtains the first cargo information, it can also obtain the second cargo information, and verify the first cargo information in at least one bin through the second cargo information.
  • the second cargo information is recorded by the processing terminal, or dynamically generated by the processing terminal based on the first cargo information, or pre-recorded by the robot or dynamically generated in real time based on the first cargo information, or the robot is pre-recorded or dynamically generated from the first cargo information in real time.
  • the second cargo information is the current weight and SKU number of at least one container, or the second cargo information is that the at least one container should remain The RFID number and SKU number of the device.
  • the original container A1 with 10 pieces of goods C1 needs to be taken out of 3 pieces of goods C1. Assuming that the operator completes the pick-up operation without error, then there should be 7 pieces left in the container A1.
  • the cargo C1, that is, the second cargo information is that the container A1 should store 7 cargo C1.
  • the original container A1 containing 10 pieces of cargo C1 needs to be taken out of 3 pieces of cargo C1, and the cargo C1 is a standard weight.
  • the SKU information of the cargo C1 in the processing terminal or robot will be preset There is the standard weight information of the goods C1 and the inventory information of the corresponding bins.
  • the inventory information includes the storage quantity of the goods placed in the corresponding bins.
  • the weight information of the bins before each picking and placing can be taken and placed
  • the storage quantity of the goods before the goods and the net weight of the bins without any goods are calculated or obtained by other methods; therefore, the processing terminal can be based on the weight information of the bins before picking and placing the goods, and the standard weight information of each goods And the quantity of the goods picked up/released this time, calculate the second goods information.
  • the second cargo information may include a certain value of the quantity of goods or a range of the quantity of goods, such as 7 pieces of goods, or 7 to 10 pieces of goods, and may also include a certain weight value or a range of threshold values.
  • the range such as 50 catties, or 49 catties to 51 catties.
  • the robot obtains the first comparison result between the first cargo information and the second cargo information.
  • the first comparison result is a result that the first cargo information and the second cargo information are inconsistent
  • execute First operation For example, when the first operation is performed, the robot generates a prompt message to remind the operator how many pieces of goods are left unfinished or unfilled, and the prompt mode may be voice prompt or screen prompt.
  • the robot When the robot generates prompt information, it can also generate error information or not, so as to alert the operator.
  • the prompt information generated by the robot can be inspection information.
  • the operator reviews the goods in the bin according to the inspection information, and waits for the operator to check whether the quantity of goods in the corresponding bin is correct. If so, proceed to the next step. If not, the operator corrects the cargo in the bin on the spot or moves the bin to the designated location.
  • the second operation is performed. For example, when the second operation is performed, the robot, the picking platform or the processing terminal determines whether all the containers are If the designated quantity of goods has been picked/released, if not, a prompt message will be sent to the processing terminal so that the processing terminal will pick/release the goods according to the prompt message.
  • the way to determine whether all the bins have been taken/released for the specified quantity of goods can be: the robot judges whether it has received a control instruction, where the control instruction is used to instruct the robot to transport all the bins to be taken/released for the specified quantity of goods. When it is received, the robot considers that all the bins have been taken/placed for the specified quantity of goods. When it has not been received, the robot can send a prompt message to the processing terminal or perform no action.
  • control instruction can be sent by the processing terminal to the robot.
  • the operator determines that all the bins of the robot have been taken out of the specified quantity of goods according to the display screen of the sorting platform, so the operator uses the sorting platform Send a trigger instruction to the processing terminal, so that the processing terminal sends a control instruction to the robot according to the trigger instruction.
  • control command may also be sent by other electronic devices, for example, an operator's handheld terminal, a button installed on the robot, and so on.
  • the robot When all the bins have been picked/placed for the specified quantity of goods, and the robot receives the leaving instruction, the robot will leave the console according to the leaving instruction, where the leaving instruction can be automatically generated by the robot, or by the processing terminal or picking
  • the platform or other electronic equipment issues to the robot, for example, the processing terminal automatically issues a leave instruction to the robot.
  • the operator operates the picking platform, and the picking platform issues a third trigger instruction to the processing terminal, so that the processing terminal issues a leave instruction to the robot according to the third trigger instruction.
  • the robot is provided with a leave button, and the operator presses the leave button to issue a leave instruction. Or, the operator will notify the robot to leave by voice and so on.
  • the first comparison result is obtained by the robot comparing the first cargo information with the second cargo information.
  • the first comparison result is obtained by comparing the first cargo information with the second cargo information by the processing terminal in communication with the robot, for example, the robot sends to the processing terminal
  • the processing terminal compares the first cargo information with the second cargo information to obtain the first comparison result, and sends the first comparison result to the robot in the form of data.
  • the processing terminal sends the second cargo information to the robot, and the robot compares the first cargo information with the second cargo information to obtain the first comparison result.
  • the processing terminal compares the first cargo information with the second cargo information to obtain the first comparison result.
  • the embodiment of the application does not limit the robot itself to compare the first cargo information with the second cargo information, nor does it limit the processing terminal itself to compare the first cargo information with the second cargo information. Comparison.
  • the first comparison result may have different manifestations, may be in the form of data, or may be in the form of agreeing on a certain rule and executing it in accordance with the rule.
  • the console before the console performs the loading and unloading operations on the bins, in order to avoid that the bins taken out from the second target location initially do not meet the loading and unloading conditions or the quantity of goods in the bins is different from the pre-stored in the system.
  • the quantity of goods is not the same, and the quantity of goods detected can be fed back to the processing terminal. If the detected quantity is not enough to pick up the goods, the processing terminal can dispatch other robots to obtain other same goods and deliver them to the first target location. If the detected goods quantity is inconsistent with the pre-stored quantity, the robot can be dispatched to take the goods. Box for other processing.
  • the quantity of goods in the container taken out from the second target position cannot meet the specified quantity that the system needs to take out: the current quantity of goods in the container taken out from the second target position is 5 pieces, but the system needs to take out goods from Seven pieces of the material box are taken out, and the current quantity of goods in the material box taken out from the second target position does not meet the specified quantity that the system needs to take out. Therefore, when the robot takes out the material box from the second target position, the robot detects the first cargo information of all the goods in the material box at each second target position. And further obtain the third cargo information.
  • the third cargo information may be obtained by the robot from the processing terminal in advance, or may be obtained from the processing terminal in real time.
  • the third operation can be performed as follows: when the second comparison result is the first cargo information and the first cargo information
  • the material box is transported to the designated position, or the material box is returned to the second target position, or abnormal information is further generated, and the abnormal information is sent to the processing terminal.
  • the robot notifies the processing terminal, or the processing terminal automatically dispatches other robots to carry the bins of the same SKU to the console.
  • the method for detecting the goods in the obtained bin at the second target location can be the same as the foregoing method.
  • the goods information detection device RFID reader, weight detection device
  • the robot can check the first cargo information at any time when picking up or releasing the cargo. For example, the robot periodically detects the first cargo information of the cargo in at least one bin according to a preset frequency. Said that at least one bin is in the take/delivery state. When it is detected that the quantity of goods in the bin has changed from the quantity in the previous period, prompt information will be sent in real time.
  • the prompt information can be the quantity of goods to be picked up in the bin, etc. .
  • the robot carries five bins A1 to A5, and the five bins are respectively placed in five storage units B1 to B5, wherein the relative heights of the five storage units B1 to B5 increase sequentially.
  • the picking platform prompts the operator to pick up the material box A1 placed in the storage unit B1.
  • the number of picking is 3 pieces.
  • there are 10 pieces of goods placed in the material box A1 and the connection between the box A1 and the 10 pieces of goods is established. as follows:
  • the second goods information pre-stored in the robot or system is as follows:
  • the sorting platform shows that the container A1 needs to pick up 3 pieces.
  • the operator takes out 1 piece of cargo (the cargo number is RFID0002) from bin A1.
  • the robot starts the RFID reader set in storage unit B1 to scan bin A1 according to the scanning frequency of 1 second.
  • the t1 first goods information of the bin A1 can be obtained, where the first goods information is (SKU0001, RFID0001, RFID0003, RFID0004...RFID0010).
  • the robot prompts the first cargo information at t1, or sends the first cargo information at t1 to the processing terminal, and the processing terminal forwards it to the sorting platform.
  • the sorting platform then displays that the container A1 needs to pick up 2 more items.
  • the operator takes out another piece of cargo from bin A1 (the cargo number is RFID0003).
  • the robot starts the RFID reader set in the storage unit B1 according to the scanning frequency of 1 second.
  • the box A1 is scanned, so the robot can obtain the t2 first goods information of the box A1, where the first goods information is (SKU0001, RFID0001, RFID0004, RFID0005...RFID0010).
  • the robot obtains the first comparison result between the first cargo information and the second cargo information at t2.
  • the first comparison result is the result of the inconsistency between the first cargo information and the second cargo information
  • it prompts the t2
  • the first cargo information, or the t2-th first cargo information is sent to the processing terminal, and the processing terminal forwards it to the sorting platform, and the sorting platform then displays that the container A1 needs to pick up one more.
  • the operator takes out another piece of cargo from bin A1 (the cargo number is RFID0005).
  • the robot starts the RFID reader/writer set in storage unit B1 to check the bin according to the scanning frequency of 1 second. A1 scans, so the robot can obtain the t3 first goods information of the bin A1, where the first goods information is (SKU0001, RFID0001, RFID0004, RFID0006, RFID0007...RFID0010).
  • the robot obtains the first comparison result between the first cargo information and the second cargo information at t3.
  • the first comparison result is the result that the first cargo information and the second cargo information are consistent
  • the t3 The first cargo information is sent to the processing terminal, and the processing terminal is forwarded to the sorting platform, and the sorting platform then displays that the container A1 still needs to pick up 0 pieces.
  • the operator can use the sorting platform or the sorting platform to automatically switch to the screen of the next material box that needs to be picked up.
  • the operator operates the sorting platform to send a trigger instruction to the processing terminal, so that the processing terminal sends a control instruction to the robot according to the trigger instruction, and the robot according to the control instruction , Confirm that the sorting of all bins has been completed.
  • the operator uses the sorting platform to trigger the processing terminal to send a leave instruction to the robot.
  • the robot will leave the operation table according to the leave instruction and return all the bins to the original position Or other designated locations.
  • the robot when picking and placing goods, can verify the first cargo information of a bin for the entire container. For example, the robot obtains the calibration. Inspection instructions, according to the verification instructions, detect the first cargo information of the goods in the current bin, where the current bin is the bin after the specified quantity of goods has been picked/placed.
  • the robot carries five bins from A1 to A5, and the five bins are placed in the five storage units from B1 to B5.
  • the relative heights of the five storage units from B1 to B5 are sequentially increase.
  • the picking platform prompts the operator to complete the following picking operations:
  • the material box A1 placed in the storage unit B1 is picked up, and the picked-up quantity is 3 pieces, of which 10 pieces of goods are placed in the material box A1.
  • the material box A2 placed in the storage unit B2 is picked up, and the picked-up quantity is 6 pieces, of which a total of 10 pieces of goods are placed in the material box A2.
  • the material box A3 placed in the storage unit B3 is picked up, and the picked-up quantity is 4 pieces, of which a total of 10 pieces of goods are placed in the material box A3.
  • the sorting platform shows that the container A1 needs to pick up 3 pieces.
  • the operator sequentially takes out 3 pieces of goods (the goods numbers are RFID0002, RFID0003 and RFID0004) from the material box A1.
  • the operator After picking up 3 pieces from bin A1, the operator operates the sorting platform to issue a verification instruction to the processing terminal, and the processing terminal sends a verification instruction to the robot to detect the first cargo information of the goods in the current bin A1; or The operator issues a verification instruction to the robot through the sorting platform. According to the verification instruction, the robot activates the RFID reader/writer set in the storage unit B1 to detect the first cargo information of the cargo in the current bin A1.
  • the robot obtains the first comparison result between the first cargo information and the second cargo information at t1.
  • the first comparison result is the result that the first cargo information and the second cargo information are consistent
  • the t1 The first cargo information is sent to the processing terminal, and the processing terminal forwards it to the sorting platform; or the robot sends the first cargo information of t1 to the sorting platform; the sorting platform then displays that the container A1 still needs to pick 0 pieces.
  • the first comparison result is the result that the first cargo information and the second cargo information are inconsistent, and the first cargo information of t1 is prompted, or the first cargo information of t1 is sent to the processing terminal, and the processing terminal It is forwarded to the sorting platform, and the sorting platform then displays that the container A1 needs to pick up one piece, or generates inspection information, and displays the inspection information through the sorting platform.
  • the operator sees the inspection information and manually inspects the SKU in the container A1 Whether the serial number and/or the quantity of goods are correct, if so, enter the step of determining whether all the bins have been taken/filled out of the specified quantity of goods, if not, the operator corrects the goods in the bin on the spot or moves the bin to the specified location.
  • the operator operates the sorting platform to send a trigger instruction to the processing terminal, so that the processing terminal sends a control instruction to the robot according to the trigger instruction, and the robot according to the control instruction , Confirm that the sorting of all bins has been completed. Or the processing terminal and the picking platform check to confirm that the pickup/release quantity of all bins has been completed, and send the pickup completion message to the robot.
  • the operator uses the sorting platform to trigger the processing terminal to send a leave instruction to the robot; or the sorting platform issues a leave instruction to the robot.
  • the robot leaves the console according to the leave instruction, and returns all the bins to the original position or other designated positions.
  • the robot when picking and placing goods, can also check the first cargo information of all the goods in the whole container. .
  • the robot detects the first cargo information of the goods in all the bins handled by the robot according to the verification instruction, where any one of the all bins is the bin after the specified quantity of goods has been taken/placed.
  • the robot carries five bins from A1 to A5, and the five bins are placed in the five storage units from B1 to B5.
  • the relative heights of the five storage units from B1 to B5 are sequentially increase.
  • the picking platform prompts the operator to complete the following picking operations:
  • the material box A1 placed in the storage unit B1 is picked up, and the picked-up quantity is 3 pieces, of which 10 pieces of goods are placed in the material box A1.
  • the material box A2 placed in the storage unit B2 is picked up, and the picked-up quantity is 6 pieces, of which a total of 10 pieces of goods are placed in the material box A2.
  • the material box A3 placed in the storage unit B3 is picked up, and the picked-up quantity is 4 pieces, of which a total of 10 pieces of goods are placed in the material box A3.
  • the material box A4 placed in the storage unit B4 is picked up, and the picked-up quantity is 2 pieces, of which 10 pieces of goods are placed in the material box A3.
  • the material box A5 placed in the storage unit B5 is picked up, and the picked quantity is 7 pieces, of which 10 pieces of goods are placed in the material box A3.
  • the operator takes out the specified quantity of goods from bins A1 to A5 in turn.
  • the sorting platform shows that all bins of the robot have been taken out of the specified quantity.
  • the operator operates the sorting platform to issue trigger instructions to the processing terminal, and the processing terminal according to Trigger the instruction to send a verification instruction to the robot to detect the first cargo information of each cargo in the bins A1, A2, A3, A4 and A5.
  • the robot activates the RFID readers set in the storage units B1, B2, B3, B4, and B5 to detect the first cargo information of the respective cargo in the bins A1 to A5,
  • the robot obtains the first comparison result between the first cargo information and the second cargo information of the container A1, the first comparison result between the first cargo information and the second cargo information of the container A2, and the first comparison result of the container A3.
  • the first comparison result is the result that the first cargo information and the second cargo information of all bins are consistent
  • the first cargo information of all bins is sent to the processing terminal, and the processing terminal is forwarded to the sorting platform.
  • the picking platform then shows that the robot still needs to pick 0 pieces.
  • the operator operates the sorting platform to trigger the processing terminal to send a verification instruction to the robot.
  • the first comparison result is the result of the inconsistency between the first cargo information and the second cargo information.
  • the first cargo information of the bin A1 is sent to the processing terminal, and the processing terminal is forwarded to the sorting platform, so the sorting platform Display that the container A1 also needs to pick up one piece, or generate inspection information, and display the inspection information through the sorting platform.
  • the operator sees the inspection information, and manually checks whether the SKU number and/or the quantity of goods in the container A1 are correct, if so , Then enter the step of determining whether all the bins have been taken/released for the specified quantity of goods. If not, the operator corrects the goods in the bin on the spot or moves the bin to the specified location.
  • the operator uses the sorting platform to trigger the processing terminal to send a leave instruction to the robot.
  • the robot will leave the operation table according to the leave instruction and return all the bins to the original position Or other designated locations.
  • this method can automatically verify the pick-up/delivery operations and avoid errors.
  • the embodiments of the present application also provide a method for detecting cargo information, which is applied to a processing terminal.
  • the inspection method S500 of cargo information includes:
  • S51 Send a first pick-up/placement instruction to the robot, so that the robot acquires at least one bin according to the first pick-and-place instruction, and transports the bin to the first target position, and at the first target location or obtains the material. Detect the first cargo information of the cargo in at least one bin when checking;
  • step S52 the robot sends the first cargo information to the processing terminal.
  • the method of obtaining the second cargo information may be to obtain the second cargo information from pre-stored data or to generate the second cargo information in real time according to the obtained first cargo information.
  • Verifying the first cargo information in at least one container can be to obtain the third comparison result between the first cargo information and the second cargo information, where the third comparison result can be obtained by the processing terminal or by The robot draws.
  • the fourth operation is performed.
  • the processing terminal may generate a prompt message to remind the operator that there is still How many pieces of goods have not been taken out or put out, the way of prompting can be voice prompt or screen prompt, etc.
  • the processing terminal When the processing terminal generates prompt information, it can also generate error information or not generate error information, so as to alert the operator.
  • the processing terminal when the fourth operation is performed, the processing terminal generates inspection information, and the operator reviews the goods in the bin according to the inspection information, and waits for the operator to check whether the quantity of goods in the corresponding bin is correct. If yes, proceed to the next step. , The operator corrects the cargo in the bin on the spot or moves the bin to the designated location.
  • the fifth operation is performed, for example, when the fifth operation is performed, the processing terminal automatically determines whether all the bins have been taken/ After placing the specified quantity of goods, if not, a prompt message will be generated to prompt the pick-up/release of the goods.
  • the way to determine whether all the bins have been picked/placed for the specified quantity of goods can be: the operator automatically operates the sorting platform, and sends a trigger command to the processing terminal through the sorting platform.
  • the processing terminal can determine all the bins according to the trigger command.
  • the specified quantity of goods has been picked/released.
  • the processing terminal prompts pick-and-release information, where the pick-and-release information includes the pick/release location, and the pick/release quantity.
  • the SKU number for example, the robot carries five bins A1 to A5, and the five bins are placed in the five storage units B1 to B5.
  • the processing terminal prompts the bins through the sorting platform
  • the pickup information of A1 where the pickup information includes that the material box A1 is in the storage unit B1, the pickup quantity is 3 pieces, and the SKU number A1.
  • the processing terminal After picking up the goods in bin A1, the processing terminal will continue to prompt the pick-up information of bin A2 through the sorting platform.
  • the pick-up information includes bin A2 in storage unit B2, the pick-up quantity is 6 pieces and SKU number A2 .
  • the operator completes the pickup operation of all bins of the vehicle according to the prompt information.
  • the processing terminal receives the first cargo information sent by the robot according to the preset frequency, and according to the first cargo information, prompts at least one container to be picked up at each time point /The quantity of goods released, for example, for the container A1, at time t1, it is prompted that there are 2 pieces of goods left in the container A1 to be picked up. At time t2, it is reminded that there is 1 piece left in the container A1 to be picked up. At time t3, it is reminded that there are 0 pieces of goods left in the container A1 to be picked up.
  • the processing terminal detects that the current bin has been taken/placed for the specified amount of goods, and sends a verification instruction to the robot so that the robot can check according to Instruction to obtain the first cargo information of the goods in the current bin, where the current bin is the bin after the specified quantity of goods has been picked/placed. Then, the processing terminal receives the first cargo information sent by the robot.
  • the processing terminal detects that all bins handled by the robot have been taken/released for the specified amount of goods, and send a verification instruction to the robot to make the robot According to the verification instruction, the first cargo information of the cargo in all the bins is obtained. Then, the processing terminal receives the first cargo information sent by the robot.
  • this method can automatically verify the pick-up/delivery operations and avoid errors.
  • FIG. 6 is a block diagram of a circuit principle of an electronic device provided by an embodiment of the present application, where the electronic device may be a robot or a processing terminal.
  • the electronic device 600 includes one or more processors 61 and a memory 62. Among them, one processor 61 is taken as an example in FIG. 6.
  • the processor 61 and the memory 62 may be connected by a bus or in other ways.
  • the connection by a bus is taken as an example.
  • the memory 62 as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as those corresponding to the cargo information detection method in the embodiments of the present application.
  • the processor 61 executes the functions of the navigation method in the foregoing method embodiment by running the non-volatile software programs, instructions, and modules stored in the memory 62.
  • the memory 62 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory 62 may optionally include memories remotely provided with respect to the processor 61, and these remote memories may be connected to the processor 61 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program instructions/modules are stored in the memory 62, and when executed by the one or more processors 61, the method for detecting cargo information in any of the foregoing method embodiments is executed.
  • the electronic device 600 of the embodiment of the present application exists in various forms, and performs the various steps described above.
  • An embodiment of the present application also provides a non-volatile computer storage medium that stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as the one shown in FIG. 6
  • the device 61 may enable the foregoing one or more processors to execute the method for detecting cargo information in any of the foregoing method embodiments.
  • the embodiments of the present application also provide a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions. When the device is executed, the electronic device is caused to execute any one of the methods for detecting cargo information.
  • the above-described device or device embodiments are only illustrative.
  • the unit modules described as separate components may or may not be physically separated, and the components displayed as modular units may or may not be physical units. , Which can be located in one place, or can be distributed to multiple network module units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • the above technical solution essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk , CD-ROM, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in each embodiment or some parts of the embodiment.

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Abstract

La présente invention concerne un procédé de vérification d'informations de marchandises et un système associé, un robot (100), ainsi qu'un terminal de traitement (202), aptes à vérifier automatiquement des informations de marchandises, permettant ainsi de faciliter la vérification d'une opération de récupération/placement de marchandises, d'éviter une erreur, et d'améliorer également l'efficacité de la vérification. Un procédé de vérification d'informations de récupération/placement de marchandises (S400) consiste à : recevoir une première instruction de récupération/placement de marchandises, obtenir au moins une boîte de matériau (21) selon la première instruction de récupération/placement de marchandises, et transporter l'au moins une boîte de matériau (21) vers une première position cible (S41); et lorsqu'elle est située au niveau de la première position cible ou lors de l'obtention de l'au moins une boîte de matériau (21), vérifier les premières informations de marchandises dans l'au moins une boîte de matériau (21) (S42).
PCT/CN2020/130162 2019-11-19 2020-11-19 Procédé de vérification d'informations de marchandises et système associé, robot et terminal de traitement WO2021098789A1 (fr)

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CN201911136954.4A CN112824990B (zh) 2019-11-19 2019-11-19 一种货物信息的检测方法及其系统、机器人及处理终端

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