WO2021238243A1 - 一种基于密集存储的货箱搬运方法 - Google Patents

一种基于密集存储的货箱搬运方法 Download PDF

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Publication number
WO2021238243A1
WO2021238243A1 PCT/CN2021/072898 CN2021072898W WO2021238243A1 WO 2021238243 A1 WO2021238243 A1 WO 2021238243A1 CN 2021072898 W CN2021072898 W CN 2021072898W WO 2021238243 A1 WO2021238243 A1 WO 2021238243A1
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Prior art keywords
inventory
container
goods
counted
autonomous mobile
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PCT/CN2021/072898
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English (en)
French (fr)
Inventor
刘凯
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北京极智嘉科技股份有限公司
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Priority to CN202190000359.2U priority Critical patent/CN219278476U/zh
Publication of WO2021238243A1 publication Critical patent/WO2021238243A1/zh

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    • 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
    • B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
    • 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
    • B65G2203/0216—Codes or marks on the article
    • 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
    • B65G2203/0233—Position of the article
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

Definitions

  • This application relates to the field of communication technology, in particular to a method and system for inventory counting.
  • robots are gradually being applied to the warehousing and logistics industry to replace manual work in the workplace.
  • robots can replace manual handling and picking of goods, and drive to the destination through a planned path to complete the corresponding Operation of the job.
  • robots and manual cooperation are still needed to realize the inventory of the goods. Not only does it require a lot of manpower and material resources, but the accuracy of the inventory is not high, so it is urgently needed. Effective solutions to solve the problem.
  • the embodiments of the present application provide a method for inventory counting to solve the technical defects in the prior art.
  • the embodiment of the application also provides a goods inventory system.
  • a method for inventorying goods is at least partially executed by an autonomous mobile robot, the autonomous mobile robot at least includes a pick-and-place container mechanism and a reading device, and the method includes:
  • the autonomous mobile robot receives an instruction issued by the server; the instruction carries the location information of the inventory container to be counted;
  • the autonomous mobile robot travels to the position of the inventory container to be counted according to the instruction, and uses the pick-and-place container mechanism to put the inventory container to be counted on the inventory support into the reading range of the reading device;
  • the autonomous mobile robot uses the reading device to read the identification code of the goods in the inventory container to be counted, and obtains the goods information for the goods in the inventory container to be counted; the goods information is used for the inventory.
  • the reading device is located on the pick-and-place container mechanism
  • the autonomous mobile robot using the pick-and-place container mechanism to place the inventory container to be counted on the inventory support into the reading range of the reading device includes: the autonomous mobile robot uses the pick-and-place container mechanism to place the The inventory container to be counted on the inventory holder is taken to the taking and placing container mechanism, or the taking and placing container mechanism is used to take out the inventory container to be taken on the inventory holder.
  • the autonomous mobile robot further includes a cache support, the cache support includes one or more cache locations for accommodating inventory containers, and the reading device is located in at least one of the one or more cache locations middle;
  • the autonomous mobile robot using the pick-and-place container mechanism to place the inventory container to be counted on the inventory support into the reading range of the reading device includes: the autonomous mobile robot uses the pick-and-place container mechanism to place the The inventory container to be counted on the inventory support is taken out and placed in the cache position of the cache support.
  • it also includes:
  • the autonomous mobile robot feeds back the read cargo information to the server;
  • the server counts the goods in the inventory container to be counted based on the inventory information and the goods information read by the autonomous mobile robot.
  • it also includes:
  • the autonomous mobile robot receives inventory information issued by the server;
  • the autonomous mobile robot counts the goods in the inventory container to be counted based on the inventory information and the read goods information.
  • the reading device uses incoming communication to read the identification code of the goods.
  • the reading device is an RFID reader
  • the identification code of the goods is an RFID tag
  • the server stores the correspondence between the inventory container and the location of the inventory container, and the inventory information of the inventory container;
  • the server When the server receives a request for the inventory container to be counted, it will generate an inventory task and a travel route according to the request; according to the inventory task, the travel route, and the inventory container to be counted The location information generates the instruction.
  • the location information includes the slot number of the inventory container to be counted
  • the autonomous mobile robot drives to the position of the inventory container to be counted according to instructions, including:
  • the autonomous mobile robot determines the position of the inventory container to be counted according to the corresponding relationship between the stored cargo slot number and the position of the inventory container, and drives to the position of the inventory container to be counted.
  • it also includes:
  • the autonomous mobile robot uses the pick-and-place container mechanism to return the inventory container to be inventory that has completed the inventory back to the inventory support.
  • a goods inventory system including:
  • a server and an autonomous mobile robot including at least a container pick-and-place mechanism and a reading device;
  • the server is configured to obtain a request submitted for inventory containers to be inventoried; generate instructions based on the request and location information of the inventory containers to be inventoried, and send them to the autonomous mobile robot;
  • the autonomous mobile robot is configured to receive instructions issued by the server; drive to the position of the inventory container to be counted according to the instruction, and use the pick-and-place container mechanism to put the inventory container to be counted on the inventory support Within the reading range of the reading device; using the reading device to read the identification code of the goods in the inventory container to be counted to obtain the goods information for the goods in the inventory container to be counted; the goods information is used In inventory.
  • the reading device is located on the pick-and-place container mechanism
  • the autonomous mobile robot is further configured to: use the pick-and-place container mechanism to take the inventory container to be counted on the inventory support into the pick-and-place container mechanism, or use the pick-and-place container mechanism to The inventory container to be counted on the inventory support is fetched.
  • the autonomous mobile robot further includes a cache support, the cache support includes one or more cache locations for accommodating inventory containers, and the reading device is located in at least one of the one or more cache locations middle;
  • the autonomous mobile robot is further configured to: use the pick-and-place container mechanism to take out the inventory container to be counted on the inventory holder and place it in a cache position of the cache holder.
  • the autonomous mobile robot is further configured to: feed back the read cargo information to the server;
  • the server is further configured to: count the goods in the inventory container to be counted based on the inventory information and the goods information read by the autonomous mobile robot.
  • the server is further configured to: deliver the inventory information of the inventory container to be counted to the autonomous mobile robot;
  • the autonomous mobile robot is further configured to: receive the inventory information issued by the server; based on the inventory information and the read cargo information, perform an inventory of the goods in the inventory container to be counted.
  • the reading device uses incoming communication to read the identification code of the goods.
  • the reading device is an RFID reader
  • the identification code of the goods is an RFID tag
  • the server is further configured to store the correspondence between the inventory container and the location of the inventory container, and the inventory information of the inventory container;
  • the server In the case of receiving a request for the inventory container to be counted, the server generates an inventory task and a travel route according to the request; according to the inventory task, the travel route, and the location of the inventory container to be counted The information generates the instructions.
  • the location information includes the inventory number of the inventory container to be counted
  • the autonomous mobile robot is further configured to determine the inventory to be inventoryed according to the corresponding relationship between the stored inventory number and the location of the inventory container. The location of the container and drive to the location of the inventory container to be counted.
  • the autonomous mobile robot is further configured to: use the pick-and-place container mechanism to return the inventory container to be inventory completed on the inventory support.
  • the goods inventory method provided by this application, by configuring a pick-and-place container mechanism and a reading device on an autonomous mobile robot, realizes that the autonomous mobile robot will drive to the inventory container to be inventoried after receiving an instruction from the server for the method for inventory containers to be inventoried. Position, use the pick-and-place container mechanism to put the inventory container to be counted on the inventory holder into the reading range of the reading device, and then the identification code of the goods in the inventory container to be counted can be read by the reading device to obtain the Inventory the goods information of the goods in the inventory container, realize that the inventory of the goods can be completed without manual participation, which not only saves manpower and material resources, but also effectively improves the efficiency of the inventory.
  • Fig. 1 is a flowchart of a method for inventory counting provided by an embodiment of the present application
  • FIG. 2 is a schematic diagram of the first cargo handling robot provided by an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a second type of cargo handling robot provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a cargo inventory system provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a goods inventory system applied to a goods inventory scenario in a bin according to an embodiment of the present application.
  • first, second, etc. may be used to describe various information in one or more embodiments of the present application, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • word "if” as used herein can be interpreted as "when” or “when” or “in response to a certainty”.
  • RFID Radio Frequency Identification, Radio Frequency Identification
  • RFID is a type of automatic identification technology that uses wireless radio frequency to carry out non-contact two-way data communication, and uses radio frequency to read and write recording media (electronic tags or radio frequency cards) to achieve Identify the target and the purpose of the data exchange.
  • RFID tag It is a non-contact automatic identification technology that uses radio frequency signals to identify the target object and obtain related data. The identification work does not require human intervention. As a wireless version of the barcode, it can identify a single very specific object or At the same time, multiple objects are read, and the amount of stored information is very large; using radio frequency, data can be read through external materials.
  • This application also relates to a system for inventorying goods, which will be described in detail in the following embodiments.
  • the following describes a cargo inventory method provided by this embodiment.
  • the cargo inventory is at least partially performed by an autonomous mobile robot, and the autonomous mobile robot includes at least a pick-and-place container mechanism and a reading device;
  • the flow chart of a method for inventory counting provided by an embodiment of the present application specifically includes the following steps:
  • step S102 the autonomous mobile robot receives an instruction issued by the server, and the instruction carries the location information of the inventory container to be counted.
  • the robot in order to facilitate the inventory operation of the inventory workers, the robot can carry the container to the operating station during the inventory counting process, and then the inventory worker at the operating station will check the number of goods and the type of goods in the container. The inventory is counted, and the inventory result is fed back to the server system through the terminal device configured by the inventory worker, and then the robot returns the container from the operating station to the shelf.
  • manual inventory of goods will have the problems of low inventory accuracy and low inventory efficiency, and the safety of the goods in the box cannot be guaranteed by transporting the container back and forth through the robot, and it may be damaged during the transportation process. , Not only is time-consuming and labor-intensive, but also occupies too many robot resources, which greatly affects the efficiency of cargo inventory.
  • the cargo inventory method provided by this application realizes that the autonomous mobile robot is equipped with a pick-and-place container mechanism and a reading device to realize that the autonomous mobile robot receives the server for waiting.
  • autonomous mobile robots specifically refer to mobile robots that can be used in warehousing and logistics scenarios, which can carry out cargo handling or cargo sorting
  • autonomous mobile robots can be built on-site by carrying advanced software Map or pre-load facility drawings for navigation.
  • Autonomous mobile robots can use data from cameras, built-in lidar and other sensors, laser scanners, and complex software to detect the surrounding environment and choose the most effective path to reach the target location. It can work completely autonomously, and if there are forklifts, pallets, people or other obstacles in the direction of travel, it can use the best alternative route to achieve a safe detour. As a result, it is possible to ensure that the frequency and speed of material transportation are maintained, thereby optimizing productivity.
  • the autonomous mobile robot involved in this embodiment is also equipped with a pick-and-place container mechanism and a reading device.
  • the pick-and-place container mechanism can perform the pick-and-place action of the inventory container and read the inventory container through the reading device.
  • the autonomous mobile robot may be a bin robot
  • the pick-and-place container mechanism may be a pick-and-place bin mechanism (fork) configured on the bin robot
  • the reading device may be RFID reader
  • the identification code of the goods can be an RFID tag; that is, the bin robot can pick and place the bin through the fork, and read the RFID tags of the goods in the bin through the RFID reader to achieve inventory operate.
  • the operation of inventorying the goods in the inventory container may be to use the reading device coordinated on the autonomous mobile robot to read the identification code of the goods in the inventory container to be inventoryed.
  • the goods information of the goods in the inventory container to be counted is obtained, and then the goods information is compared with the standard goods information corresponding to the inventory container to be counted, so as to complete the inventory of the goods in the inventory container to be counted.
  • the inventory container to be counted refers to the inventory container that needs to be counted
  • the cargo information can refer to the quantity information or type information of the goods in the inventory container to be counted, or it can be the category of the goods and the quantity of each category.
  • the standard goods information refers to the standard quantity information or standard type information of the goods in the inventory container to be counted.
  • the autonomous mobile robots will only perform the inventory operation after the server has issued instructions, and the server can control a large number of autonomous mobile robots.
  • the instructions issued by the server may be a cargo inventory instruction issued to the autonomous mobile robot, where the instruction carries the location information of the inventory container to be inventory, and the autonomous mobile robot The mobile robot can move to the position of the inventory container to be counted according to the location information, so as to perform subsequent inventory counts.
  • the autonomous mobile robot performs driving route planning.
  • the specific implementation is as follows:
  • the server Before issuing the instruction, the server stores the correspondence between the locations of the inventory container and the inventory container, as well as the inventory information of the inventory container; and the server receives a request for the inventory container to be counted, according to The request generates an inventory task and a travel path; the instruction is generated according to the inventory task, the travel path, and the location information of the inventory container to be inventory.
  • the corresponding relationship specifically refers to the unique identifier of the inventory container and the inventory container placed in the warehouse.
  • the inventory information specifically refers to the quantity and type of the items stored in the inventory container, and the quality of the inventory container.
  • the server receives a request for the inventory container to be counted, it indicates that the enterprise to which the warehouse belongs needs to take inventory of the goods in the inventory container to be counted, and then generates the inventory for the inventory to be counted according to the request.
  • the inventory task of the container, and the generation of the driving path of the autonomous mobile robot, and then the instruction is generated according to the inventory task, the driving path, and the location information of the inventory container to be inventory, and the instruction is issued to all
  • the autonomous mobile robot is used to drive the autonomous mobile robot to count the goods in the inventory container to be counted.
  • the request received by the server specifically refers to a cargo inventory request issued by a staff member for the inventory container to be inventoried, and the request carries the inventory event information for the inventory container to be inventoried, so
  • the server may generate the inventory task and the driving route according to the request, so as to implement the issuing of accurate inventory instructions to the autonomous mobile robot.
  • the server stores the location information of each bin and the inventory information of each bin ⁇ Commodity type, product quantity, product weight ⁇ ; when the warehouse supervisor submits a product inventory request for container 1 through the server, an inventory task for container 1 is generated according to the request, and the RFID reader is called
  • the container robot S of the picker performs the travel path of the product inventory, and then the server will generate the product inventory according to the inventory task for the container 1, the travel path of the container robot S, and the location information (x1, y1, z1) of the container 1
  • the instruction is issued to the material box robot S, so as to drive the material box robot S to take inventory of the goods in the material box 1.
  • inventory tasks and travel paths will be generated based on the request submitted for inventory containers to be inventoryed, and thus generated based on the travel paths, inventory tasks, and location information of inventory containers to be inventoryed.
  • the instructions can plan the driving path and inventory operation of the autonomous mobile robot, so as to further improve the cargo inventory efficiency of the autonomous mobile robot, and avoid the problem of random movement and collision of the autonomous mobile robot, and the server issues instructions, It is more convenient to command the autonomous mobile robot.
  • Step S104 the autonomous mobile robot travels to the position of the inventory container to be counted according to the instruction, and uses the pick-and-place container mechanism to put the inventory container to be counted on the inventory holder into the reading range of the reading device.
  • the pick-and-place container mechanism may be a mechanism set on the autonomous mobile robot that can pick-and-place inventory containers, and may be a pick-and-place bin mechanism or a bin picking fork; as shown in Figure 2(a)
  • the pick-and-place mechanism 202 on the container handling robot can be inserted from the bottom of the container to realize the pick-and-place action of the container; or the pick-and-place action on the container handling robot shown in Figure 3(a)
  • the unwinding box mechanism 302 can realize the picking and placing action of the feeding box through the unwinding box mechanism 302; correspondingly, the inventory support specifically refers to the shelf storing the inventory containers to be counted, and the reading range specifically refers to the The scanning range covered by the reading device; if there are goods carrying identification codes within this range, the reading device can perform a reading operation on the goods.
  • the autonomous mobile robot when it travels to the position of the inventory container to be counted according to the instruction, it may move according to the position of the inventory container to be counted contained in the position information, or in the position information Contains the inventory number of the inventory container to be counted, and determines the position of the inventory container to be inventoryed by converting the inventory container to be inventory container's inventory number, and then moves it.
  • drive to the inventory to be inventoryed The process of the location of the container is as follows:
  • the autonomous mobile robot determines the cargo location number of the inventory container to be counted according to the instruction carrying the location information
  • the autonomous mobile robot determines the position of the inventory container to be counted according to the corresponding relationship between the stored cargo slot number and the position of the inventory container, and drives to the position of the inventory container to be counted.
  • the autonomous mobile robot may determine the location number of the inventory container to be counted according to the instruction carrying the position information, so as to realize the The autonomous mobile robot can determine the position of the inventory container to be counted according to the cargo space number, so as to drive to the position of the inventory container to be counted to perform the inventory counting operation; wherein the autonomous mobile robot stores the cargo space number and the inventory container to be counted.
  • the corresponding relationship between the location of the inventory container when the autonomous mobile robot receives the instruction, it can determine the location of the inventory container to be counted corresponding to the storage location number according to the stored correspondence, and then drive to the location of the inventory container to be counted for the goods Inventory.
  • the corresponding relationship between the location of the inventory container to be counted and the inventory number stored by the autonomous mobile robot can exist in the form of a map, that is, the autonomous mobile robot can determine the location of the inventory container to be inventoryed on the map according to the inventory number. , And then convert the physical location of the inventory container to be counted based on the location determined on the map to achieve the inventory of the goods.
  • the material box robot S receives the product inventory instruction for material box 1, and the order number of the material box 1 is ID_1. At this time, the material box robot is based on the pre-stored position number and the position of the material box. Correspondence, determine the location ID_1 corresponding to the location of the container 1, and then determine the physical location of the container 1 through the warehouse map, and drive to the physical location of the container 1, so as to realize the inventory of the goods in the container 1.
  • the autonomous mobile robot can independently complete the positioning of the inventory container to be counted, which can further improve the efficiency of the inventory and reduce the number of servers.
  • the amount of computing resources can be realized that when the server issues instructions, the autonomous mobile robot can independently complete the positioning of the inventory container to be counted, which can further improve the efficiency of the inventory and reduce the number of servers. The amount of computing resources.
  • the autonomous mobile robot will drive to the position of the inventory container to be counted according to the instruction, and then install The pick-and-place container mechanism moves the inventory container to be counted on the inventory bracket to the reading range of the reading device, so as to realize that there is no need to move the inventory container to be counted to the operating station, and follow-up can be performed through the reading device It can effectively ensure the safety of the goods in the container.
  • the reading device can be arranged on the pick-and-place container mechanism, so that the autonomous mobile robot only needs to put the inventory container to be counted into the pick-and-place container mechanism.
  • Putting the container on the mechanism allows the inventory container to be counted to enter the reading range of the reading device, and then the subsequent cargo counting operation can be carried out.
  • the autonomous mobile robot uses the picking and placing container mechanism to Putting the inventory container to be counted on the inventory support into the reading range of the reading device includes:
  • the autonomous mobile robot uses the pick-and-place container mechanism to take the inventory container to be counted on the inventory support into the pick-and-place container mechanism, or uses the pick-and-place container mechanism to control the storage container on the inventory support.
  • the inventory container to be counted performs a fetching action.
  • an autonomous mobile robot uses the pick-and-place container mechanism to pick up the inventory container to be counted onto the pick-and-place container mechanism.
  • the container is taken out from the inventory support, so that the inventory container to be counted is parked on the pick-and-place container mechanism.
  • the inventory container to be counted enters the reading range of the reading device, and subsequent inventory operations can be performed .
  • the autonomous mobile robot only takes the inventory container to be counted on the inventory holder through the pick-and-place container mechanism, but does not move the inventory container to be counted, that is, adjusts the pick-and-place container mechanism to make the reading
  • the location of the device changes, so that the reading range of the reading device moves until the inventory container to be counted is included in the reading range for subsequent inventory operations.
  • the RFID reader 204 when the RFID reader 204 is deployed behind the pick-and-place mechanism 202 of the container handling robot, it is necessary to take the container to be counted from the inventory bracket to the pick-and-place On the bin mechanism 202, the bin to be counted enters the reading range of the RFID reader 204, so as to realize the inventory of the commodities in the bin.
  • the inventory efficiency can be effectively improved, and the safety of the goods in the inventory container to be counted can be ensured.
  • the autonomous mobile robot may also be equipped with a cache support, and the cache support includes one or more cache locations for accommodating inventory containers. Based on this, the reading device may be deployed on the one or more In at least one of the cache locations, the inventory container to be counted can be moved to the cache location to perform the inventory operation when the goods are counted.
  • the specific implementation is as follows:
  • the autonomous mobile robot uses the pick-and-place container mechanism to take out the inventory container to be counted on the inventory support, and place it in the cache location of the cache support.
  • the container handling robot is equipped with a container buffer rack 308.
  • the container buffer rack 308 is equipped with a buffer bit 3082, a buffer bit 3084 and a buffer bit 3086, and the RFID reader 3042 is located Cache position 3084, so as to realize that the material box to be counted is placed on any one of the three cache positions, and it can enter the reading range of the RFID reader 3042, thereby realizing the operation of inventorying the goods in the material box .
  • the autonomous mobile robot when moving the inventory container to be counted to the cache position of the cache rack, the autonomous mobile robot is required to use the pick-and-place container mechanism to take out the inventory container to be counted on the inventory rack. After that, the inventory container to be counted is moved to the cache position of the cache rack by the pick-and-place container mechanism, so that the inventory container to be counted enters the reading range of the reading device, and the goods in the inventory container to be counted are realized inventory.
  • the material box robot S when the material box robot S is the robot shown in Figure 3(b), the material box robot S moves to the position of the material box 1 (x1, y1, z1), and will pass as shown in Figure 3 (b)
  • the pick-and-place box mechanism 3022 of the robot shown moves the box 1 through the lifting rail 3062 to the buffer position 3082 in the box buffer rack 308, so that the box 1 enters the reading range of the RFID reader 3042 , You can perform subsequent inventory operations.
  • the preferred installation position of the reading device can be below the buffer board between the pick-and-place container structures, and/or above the buffer board between the pick-and-place container structures, see Figure 2 ( As shown in b), the RFID reader 2042 is installed below and/or above the buffer plate 206 between the pick-and-place box mechanism 2022, so that the RFID reader can be oriented downward or facing when performing radio frequency reading.
  • the buffer board 206 may be made of a non-metallic material, or a hollow structure in the middle, so as to further promote the probability of the RFID tag being read.
  • the reading device can also be installed in other positions of the autonomous mobile robot, such as the lifting mechanism of the autonomous mobile robot, or the chassis mechanism of the autonomous mobile robot, as long as it is ensured that the autonomous mobile robot can take inventory of inventory.
  • the container can be placed in the reading range of the reading device.
  • Step S106 The autonomous mobile robot uses the reading device to read the identification code of the goods in the inventory container to be counted, and obtains goods information for the goods in the inventory container to be counted; the goods information is used for inventory.
  • the identification code specifically means that the goods in the inventory container to be counted have a tag, and the tag may be an RFID tag, so that the reading device can use the incoming communication to read the identification code of the goods to realize the inventory operation of the goods. .
  • the autonomous mobile machine will use the The reading device reads the identification code of the goods in the inventory container to be counted, and obtains the goods information of the goods in the inventory container to be counted, thereby realizing the inventory of the goods in the inventory container to be counted through the goods information.
  • the inventory counting of the goods in the inventory container to be counted based on the goods information includes: comparing the read cargo information with the standard goods information corresponding to the inventory container to be counted, so that the determination can be made according to the comparison result The state of the goods in the inventory container to be counted, so as to realize that the goods can be supplemented or adjusted according to the result of the inventory later.
  • the server can perform the count operation.
  • the implementation of inventory operations through the server is as follows:
  • the autonomous mobile robot feeds back the read cargo information to the server;
  • the server counts the goods in the inventory container to be counted based on the inventory information and the goods information read by the autonomous mobile robot.
  • the cargo information may be fed back to the server, and the server may be based on the inventory information of the inventory container to be counted. And the goods information, complete the inventory of the goods in the inventory container to be counted.
  • the bin robot S when the bin robot S reads the RFID tag of bin 1 through the RFID reader 3042, it obtains the product information of bin 1 ⁇ number of products: 50, product type: computer, product weight: 100kg ⁇ , After that, the container robot S feeds back the product information of the container 1 to the server, and the server is based on the inventory information of the container 1 ⁇ commodity quantity: 100, product type: computer, product weight: 200kg ⁇ , and the product information uploaded by the container robot S ⁇ Commodity quantity: 50, product type: computer, product weight: 100kg ⁇ The inventory of the products in bin 1 is completed, and it is determined that bin 1 lacks 50 computers, so as to realize the subsequent supplement of the products in bin 1.
  • the goods information is fed back to the server for the goods inventory operation, which can effectively improve the accuracy of the goods inventory, and the autonomous mobile robot can run to the goods after feedback of the goods information Continuing the inventory at the next inventory container location can effectively improve inventory efficiency and make full use of robot resources.
  • the autonomous mobile robot can also complete the inventory operation alone.
  • the implementation of the inventory operation by the autonomous mobile robot is as follows:
  • the autonomous mobile robot receives inventory information issued by the server;
  • the autonomous mobile robot counts the goods in the inventory container to be counted based on the inventory information and the read goods information.
  • the server may actively issue the inventory information, or the autonomous mobile robot may make a request to the server, and the server issues the inventory information according to the request, and then the autonomous mobile Based on the inventory information and the goods information, the robot can complete the inventory of the goods in the inventory container to be counted.
  • the bin robot S when the bin robot S reads the RFID tag of bin 1 through the RFID reader 3042, it obtains the product information of bin 1 ⁇ number of products: 50, product type: computer, product weight: 100kg ⁇ , After that, the container robot S receives the inventory information of the container 1 issued by the server ⁇ number of goods: 100, product type: computer, product weight: 200kg ⁇ , at this time the container robot S can read the product information and server according to the read The issued inventory information completes the inventory of the goods in the material box 1, and it is determined that the material box 1 lacks 50 computers, so as to realize the subsequent supplement of the goods in the material box 1.
  • the inventory information issued by the server is received, so that the autonomous mobile robot can complete the inventory of the goods alone, which can effectively improve the inventory efficiency and realize the effect of automatic inventory of the autonomous mobile robot .
  • the specific implementation is as follows:
  • the autonomous mobile robot uses the pick-and-place container mechanism to return the inventory container to be inventory that has completed the inventory back to the inventory support.
  • the bin robot S after the bin robot S has completed the inventory of the goods in the bin 1, it will return the bin 1 to the position (x1, y1, z1) through the pick-and-place bin mechanism, so as not to affect other autonomous mobile robots
  • the sorting and cargo handling can make the robot that replenish the cargo later accurately find the material box 1, and realize the replenishment of the cargo.
  • the goods inventory method provided in this embodiment, by configuring a pick-and-place container mechanism and a reading device on the autonomous mobile robot, realizes that the autonomous mobile robot will drive to the inventory to be inventoried after receiving the instruction from the server for the inventory container to be inventoryed.
  • the position of the container is obtained by using the pick-and-place container mechanism to put the inventory container to be counted on the inventory holder into the reading range of the reading device, and then the identification code of the goods in the inventory container to be counted can be read by the reading device
  • the goods information of the goods in the inventory container is to be counted, so that the inventory of the goods can be completed without manual participation, which not only saves manpower and material resources, but also effectively improves the efficiency of the inventory.
  • FIG. 4 shows a schematic structural diagram of a goods inventory system provided by an embodiment of the present application.
  • the cargo inventory system 400 includes:
  • the server 402 is configured to obtain a request submitted for the inventory container to be counted; generate instructions according to the request and the location information of the inventory container to be counted, and send it to the autonomous mobile robot 404;
  • the autonomous mobile robot 404 is configured to receive instructions issued by the server 402; drive to the position of the inventory container to be counted according to the instruction, and use the pick-and-place container mechanism 4042 to transfer the inventory to be counted on the inventory holder
  • the container is placed within the reading range of the reading device 4044; the reading device 4044 is used to read the identification code of the goods in the inventory container to be counted to obtain the goods information for the goods in the inventory container to be counted;
  • the cargo information is used for inventory.
  • the reading device 4044 is located on the pick-and-place container mechanism 4042;
  • the autonomous mobile robot 404 is further configured to: use the pick-and-place container mechanism 4042 to retrieve the inventory container to be counted on the inventory support into the pick-and-place container mechanism 4042, or use the pick-and-place container
  • the mechanism 4042 fetches the inventory container to be counted on the inventory support.
  • the autonomous mobile robot 404 further includes a cache support 4046, the cache support 4046 includes one or more cache locations for accommodating inventory containers, and the reading device is located in the one or more caches. In at least one of the cache bits;
  • the autonomous mobile robot 404 is further configured to: use the pick-and-place container mechanism 4042 to take out the inventory container to be counted from the inventory holder and place it in the cache position of the cache holder 4046.
  • the autonomous mobile robot 404 is further configured to: feed back the read cargo information to the server 402;
  • the server 402 is further configured to: based on the inventory information and the goods information read by the autonomous mobile robot 404, inventory the goods in the inventory container to be inventoryed.
  • the server 402 is further configured to: deliver the inventory information of the inventory container to be counted to the autonomous mobile robot 404;
  • the autonomous mobile robot 404 is further configured to: receive the inventory information issued by the server 402; based on the inventory information and the read goods information, perform an inventory of the goods in the inventory container to be counted.
  • the reading device 4044 uses inbound communication to read the identification code of the goods.
  • the reading device 4044 is an RFID reader, and the identification code of the goods is an RFID tag.
  • the server 402 is further configured to store the correspondence between the inventory container and the location of the inventory container, and the inventory information of the inventory container;
  • the server 402 When the server 402 receives a request for the inventory container to be counted, it generates an inventory task and a travel route according to the request; according to the inventory task, the travel route, and the inventory container to be counted The location information generates the instruction.
  • the autonomous mobile robot 404 is further configured to: determine the position number of the inventory container to be counted according to the instruction carrying the position information; Correspondence, determine the position of the inventory container to be counted, and drive to the position of the inventory container to be counted.
  • the autonomous mobile robot 404 is further configured to: use the pick-and-place container mechanism 4042 to return the inventory container to be inventory that has completed the inventory back to the inventory support.
  • the goods inventory system provided in this embodiment, by configuring a pick-and-place container mechanism and a reading device on the autonomous mobile robot, realizes that the autonomous mobile robot will drive to the inventory to be inventory after receiving the instruction from the server for the method of loading the inventory container to be inventory.
  • the position of the container is obtained by using the pick-and-place container mechanism to put the inventory container to be counted on the inventory holder into the reading range of the reading device, and then the identification code of the goods in the inventory container to be counted can be read by the reading device
  • the goods information of the goods in the inventory container is to be counted, so that the inventory of the goods can be completed without manual participation, which not only saves manpower and material resources, but also effectively improves the efficiency of the inventory.
  • FIG. 5 shows a schematic diagram of a goods inventory system applied to a goods inventory scenario in a bin according to an embodiment of the present application, which specifically includes the following content:
  • step S502 the terminal device sends an inventory request for the to-be-invented bin to the server.
  • the inventory in order to improve the efficiency of inventorying the goods in the bins, by installing RFID readers for the bin robots and installing RFID tags on the products, the inventory can be completed without moving the bins to the operating station. operate.
  • the supervisor of the shelf needs to issue an inventory request to the server through the terminal device, and then the server will perform subsequent inventory control.
  • step S504 the server receives the inventory count request, and generates an inventory instruction according to the inventory request and the location information of the bin to be counted.
  • step S506 the server selects the bin robot installed with the RFID reader to issue an inventory instruction.
  • step S508 the bin robot receives the inventory instruction, and drives to the location of the inventory to be inventory according to the inventory instruction.
  • the bin robot when the bin robot receives the inventory instruction, it will analyze the inventory instruction to obtain the location information of the bin to be counted, and the inventory task of the bin to be counted, and then move according to the travel path carried in the inventory instruction Go to the location of the bin to be counted.
  • step S510 the bin robot uses the bin picking and unloading mechanism to put the bin to be counted on the shelf into the reading range of the RFID reader.
  • the bin robot will use the installed pick-and-place bin mechanism to take out the bins to be counted on the shelf, and use the pick-and-place bin mechanism to remove the bins to be counted.
  • the inventory bin is moved to the reading range of the RFID reader for subsequent inventory operations.
  • step S512 the bin robot uses the RFID reader to read the RFID tags of the commodities in the bins to be counted to obtain the commodity information of the commodities.
  • the RFID reader when it finds that there is an RFID tag in the reading range, it will read the RFID tag by means of inbound communication, so as to obtain the product information of the product in the bin to be counted.
  • step S514 the server sends the inventory information of the to-be-invented bin to the bin robot.
  • step S5166 the bin robot receives the inventory information, and performs an inventory of the products based on the inventory information and the product information.
  • the server actively issues the inventory information of the bin to be counted, so that the bin robot can complete the commodity count operation alone.
  • step S5128 the bin robot uses the bin picking and unloading mechanism to put the bin to be counted back on the shelf.
  • step S520 the bin robot returns the inventory result to the server.
  • step S522 the server receives the inventory result, and displays the inventory result to the terminal device.
  • the terminal device is used to inform the supervisors of the product details of the bins to be counted on the shelf, so as to facilitate the supervisors to supervise and process the goods.
  • the RFID reader on the bin robot it is possible to complete the inventory of the goods in the bin without moving the bin to the operating station, and to actively issue inventory information through the server.
  • the realization of the bin robot to complete the inventory of the goods alone can effectively improve the efficiency of the inventory of the goods, not only save manpower and material resources, but also effectively improve the accuracy of the inventory of the goods.

Abstract

本申请提供货物盘点方法及系统，其中所述货物盘点至少部分地由自主移动机器人执行，所述自主移动机器人至少包括取放容器机构和读取设备，所述方法包括：自主移动机器人接收服务器下发的指令；所述指令中携带有待盘点库存容器的位置信息；自主移动机器人根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内；自主移动机器人利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。实现不需要人工参与即可完成货物的盘点，不仅节省人力和物力，还可以有效的提高货物的盘点效率。

Description

一种基于密集存储的货箱搬运方法
本申请要求于2020年5月29日提交中国专利局、申请号为202010473499.3、发明名称为“货物盘点方法及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，特别涉及货物盘点方法及系统。
背景技术
随着机器人的不断发展，机器人被逐渐应用到仓储物流行业，以代替人工在工作场地进行作业，比如机器人可以代替人工完成货物的搬运和拣选，通过规划的路径行驶至目的地，从而实现完成相应的作业操作。然而，在仓储物流的货物盘点场景中，仍然需要机器人和人工配合的方式才能够实现货物的盘点，不仅需要耗费大量的人力和物力，对货物的盘点准确度也不高，故亟需一种有效的方案以解决该问题。
发明内容
有鉴于此，本申请实施例提供了一种货物盘点方法，以解决现有技术中存在的技术缺陷。本申请实施例同时提供了一种货物盘点系统。
根据本申请实施例的第一方面，提供了一种货物盘点方法，述方法至少部分地由自主移动机器人执行，所述自主移动机器人至少包括取放容器机构和读取设备，所述方法包括：
自主移动机器人接收服务器下发的指令；所述指令中携带有待盘点库存容 器的位置信息；
自主移动机器人根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内；
自主移动机器人利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
可选的，所述读取设备位于所述取放容器机构上；
所述自主移动机器人利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内包括：所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取到所述取放容器机构中，或者利用所述取放容器机构对所述库存支架上的所述待盘点库存容器进行取动作。
可选的，所述自主移动机器人还包括缓存支架，所述缓存支架包括一个或多个容纳库存容器的缓存位，所述读取设备位于所述一个或多个缓存位中的至少一个缓存位中；
所述自主移动机器人利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内包括：所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架的缓存位中。
可选的，还包括：
所述自主移动机器人将读取到的货物信息反馈给所述服务器；
所述服务器基于库存信息以及所述自主移动机器人读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
可选的，还包括：
所述自主移动机器人接收所述服务器下发的库存信息；
所述自主移动机器人基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
可选的，所述读取设备利用进场通信读取所述货物的标识码。
可选的，所述读取设备为RFID读取器，所述货物的标识码为RFID标签。
可选的，所述服务器在下发所述指令之前，将存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；
所述服务器在接收到针对所述待盘点库存容器的请求的情况下，将根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以及所述待盘点库存容器的位置信息生成所述指令。
可选的，所述位置信息包括所述待盘点库存容器的货位编号，所述自主移动机器人根据指令行驶至所述待盘点库存容器的位置，包括：
所述自主移动机器人根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
可选的，还包括：
所述自主移动机器人利用所述取放容器机构将完成盘点的待盘点库存容器放回所述库存支架上。
根据本申请实施例的第二方面，提供了一种货物盘点系统，包括：
服务器和自主移动机器人，所述自主移动机器人至少包括取放容器机构和读取设备；
所述服务器，被配置为获取针对待盘点库存容器提交的请求；根据所述请求和所述待盘点库存容器的位置信息生成指令，并发送至所述自主移动机器人；
所述自主移动机器人，被配置为接收所述服务器下发的指令；根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内；利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
可选的，所述读取设备位于所述取放容器机构上；
所述自主移动机器人进一步被配置为：利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取到所述取放容器机构中，或者利用所述取放容器机构对所述库存支架上的所述待盘点库存容器进行取动作。
可选的，所述自主移动机器人还包括缓存支架，所述缓存支架包括一个或多个容纳库存容器的缓存位，所述读取设备位于所述一个或多个缓存位中的至少一个缓存位中；
所述自主移动机器人进一步被配置为：利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架的缓存位中。
可选的，所述自主移动机器人进一步被配置为：将读取到的货物信息反馈给所述服务器；
所述服务器进一步被配置为：基于库存信息以及所述自主移动机器人读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
可选的，所述服务器进一步被配置为：向所述自主移动机器人下发所述待盘点库存容器的库存信息；
所述自主移动机器人进一步被配置为：接收所述服务器下发的库存信息；基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
可选的，所述读取设备利用进场通信读取所述货物的标识码。
可选的，所述读取设备为RFID读取器，所述货物的标识码为RFID标签。
可选的，所述服务器进一步被配置为，存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；
所述服务器在接收到针对所述待盘点库存容器的请求的情况下，根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以及所述待盘点库存容器的位置信息生成所述指令。
可选的，所述位置信息包括所述待盘点库存容器的货位编号，所述自主移动机器人进一步被配置为：根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
可选的，所述自主移动机器人进一步被配置为：利用所述取放容器机构将完成盘点的待盘点库存容器放回所述库存支架上。
本申请提供的货物盘点方法，通过在自主移动机器人上配置取放容器机构和读取设备，实现在自主移动机器人接收到服务器针对待盘点库存容器下方法 的指令后，将行驶到待盘点库存容器的位置，利用取放容器机构将库存支架上的待盘点库存容器放入读取设备的读取范围内，进而可以通过读取设备读取所述待盘点库存容器中货物的标识码，获得待盘点库存容器中货物的货物信息，实现不需要人工参与即可完成货物的盘点，不仅节省人力和物力，还可以有效的提高货物的盘点效率。
附图说明
图1是本申请一实施例提供的一种货物盘点方法的流程图；
图2是本申请一实施例提供的第一种货物搬运机器人的示意图；
图3是本申请一实施例提供的第二种货物搬运机器人的示意图；
图4是本申请一实施例提供的一种货物盘点系统的结构示意图；以及
图5是本申请一实施例提供的一种应用于料箱中商品盘点场景的货物盘点系统的示意图。
具体实施方式
在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施的限制。
在本申请一个或多个实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请一个或多个实施例。在本申请一个或多个实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本申请一个或多个实施例中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任 何或所有可能组合。
应当理解，尽管在本申请一个或多个实施例中可能采用术语第一、第二等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请一个或多个实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
首先，对本发明一个或多个实施例涉及的名词术语进行解释。
RFID：(Radio Frequency Identification，射频识别)，是自动识别技术的一种，通过无线射频方式进行非接触双向数据通信，利用无线射频方式对记录媒体(电子标签或射频卡)进行读写，从而达到识别目标和数据交换的目的。
RFID标签：是一种非接触式的自动识别技术，它通过射频信号来识别目标对象并获取相关数据，识别工作无需人工干预，作为条形码的无线版本，可以识别单个的非常具体的物体，也可以同时对多个物体进行识读，存储的信息量很大；采用无线电射频，可以透过外部材料读取数据。
在本申请中，提供了一种货物盘点方法，本申请同时涉及一种货物盘点系统，在下面的实施例中逐一进行详细说明。
下面对本实施例提供的一种货物盘点方法进行描述，所述货物盘点至少部分地由自主移动机器人执行，并且所述自主移动机器人至少包括取放容器机构和读取设备；图1示出了根据本申请一实施例提供的一种货物盘点方法的流程图，具体包括以下步骤：
步骤S102，自主移动机器人接收服务器下发的指令，所述指令中携带有待盘点库存容器的位置信息。
实际应用中，在对货物进行盘点的过程中，为了能够方便盘点工人盘点操作，可以通过机器人携带货箱到操作工位，之后由操作工位处的盘点工人对货箱进行商品数量和商品类型的清点，并通过盘点工人配置的终端设备向服务器系统反馈盘点结果，之后再由机器人将货箱从操作工位送回货架。然而，通过人工盘点货物将存在着盘点准确度低、盘点效率低的问题，并且通过机器人来回运送货箱，对货箱中的商品安全性也无法保障，可能发生在运送过程中破损的情况，不仅耗时、耗力，还占用过多的机器人资源，很大程度上影响货物的盘点效率。
本申请提供的货物盘点方法，为了能够提高货物盘点效率，以及节省更多的人力和物力，通过在自主移动机器人上配置取放容器机构和读取设备，实现在自主移动机器人接收到服务器针对待盘点库存容器下方法的指令后，将行驶到待盘点库存容器的位置，利用取放容器机构将库存支架上的待盘点库存容器放入读取设备的读取范围内，进而可以通过读取设备读取所述待盘点库存容器中货物的标识码，获得待盘点库存容器中货物的货物信息，实现不需要人工参与即可完成货物的盘点，不仅节省人力和物力，还可以有效的提高货物的盘点效率。
具体实施时，自主移动机器人(AMR)具体是指能够应用在仓储物流场景中的移动的机器人，可以进行货物搬运或者货物分拣，并且自主移动机器人(AMR)通过搭载先进软件，可在现场构建地图或预先加载设施图纸进行导航。自主移动机器人(AMR)可使用来自摄像头、内置的激光雷达等传感器、 激光扫描仪的数据以及复杂的软件，来探测周围环境，并选择最有效的路径到达目标位置。它能够实现完全自主工作，而且如果行进方向前有叉车、货板、人员或其他障碍物，它都能使用最佳替代路线实现安全绕行。由此一来，就可以确保物料运送频率和速度得以保持，从而优化生产力。
基于此，本实施例中涉及的所述自主移动机器人还配置有取放容器机构和读取设备，可以通过取放容器机构进行库存容器的取放动作，以及通过读取设备读取库存容器中的货物的标识码，例如，所述自主移动机器人可以是料箱机器人，所述取放容器机构可以是料箱机器人上配置的取放料箱机构(货叉)，所述读取设备可以是RFID读取器，所述货物的标识码可以是RFID标签；即料箱机器人可以通过货叉进行料箱的取放动作，以及通过RFID读取器读取料箱中商品的RFID标签，实现盘点操作。
进一步的，通过选择一台或者少量的几台自主移动机器人安装RFID读取器，实现无需将库存容器移动至操作工位，即可实现通过RFID读取器读取库存容器中货物的RFID标签，从而达到对库存容器中货物盘点的操作。
实际应用中，本实施例提供的货物盘点方法中，在对库存容器中货物进行盘点的操作可以是利用自主移动机器人上配合的读取设备读取所述待盘点库存容器中货物的标识码，从而获得所述待盘点库存容器中货物的货物信息，之后将货物信息与待盘点库存容器对应的标准货物信息进行比对，从而完成对所述待盘点库存容器中货物的盘点。
其中，所述待盘点库存容器是指需要进行货物盘点的库存容器，所述货物信息可以是指待盘点库存容器中货物的数量信息或类型信息，也可以是货物的 品类以及每个品类的数量，还可以是货物的唯一编码，均用于对所述待盘点库存容器中货物的盘点；所述标准货物信息是指待盘点库存容器中货物的标准数量信息或标准类型信息。比如，通过自主移动机器人配置的RFID读取器读取料箱中的商品具有的RFID标签，确定此时料箱中包含商品类型是手机，数量是50台，而料箱的标准货物信息的商品类型是手机，数量是100台，通过比对确定该料箱缺少50台手机，该过程即为对料箱的盘点操作。
并且，在对待盘点库存容器中货物进行盘点的过程中，由于是通过自主移动机器人完成，故需要通过服务器下发指令后，自主移动机器人才会执行盘点操作，所述服务器可以控制大量自主移动机器人进行货物搬运、分拣和盘点，所述服务器下发的指令可以是向所述自主移动机器人下发的货物盘点指令，其中，指令中携带有所述待盘点库存容器的位置信息，所述自主移动机器人可以根据所述位置信息移动至所述待盘点库存容器的位置，以进行后续的货物盘点。
进一步的，在所述服务器向所述自主移动机器人下发指令之前，为了能够避免自主移动机器人在进行货物盘点时与其他自主移动机器人(进行搬运或者分拣的机器人)出现路线冲突，需要对所述自主移动机器人进行行驶路线规划，本实施例中，具体实现方式如下所述：
所述服务器在下发所述指令之前，存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；并且所述服务器在接收到针对所述待盘点库存容器的请求的情况下，将根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以及所述待盘点库存容器的位置信息生成所述指令。
具体的，为了能够准确的对待盘点库存容器中货物进行盘点，需要在服务 器存储库存容器和库存容器位置的对应关系，该对应关系具体是指库存容器的唯一标识与库存容器在仓库中所摆放的位置的对应关系，同时还需要存储库存容器的库存信息，所述库存信息具体是指库存容器所存放的物品数量、类型以及库存容器质量等。
基于此，在所述服务器接收到针对所述待盘点库存容器的请求的情况下，表明仓库所属的企业需要对待盘点库存容器中的货物进行盘点，则根据所述请求生成针对所述待盘点库存容器的盘点任务，以及生成所述自主移动机器人的行驶路径，之后根据所述盘点任务、所述行驶路径以及所述待盘点库存容器的位置信息生成所述指令，并将该指令下发至所述自主移动机器人，以驱使所述自主移动机器人对所述待盘点库存容器中的货物进行盘点。
实际应用中，所述服务器接收到的所述请求具体是指工作人员对待盘点库存容器下发的货物盘点请求，并且该请求中携带有针对所述待盘点库存容器进行盘点的盘点事件信息，故所述服务器可以根据该请求生成所述盘点任务以及行驶路径，从而实现向所述自主移动机器人下发准确的盘点指令。
例如，在仓库中的货架上存放有n个料箱，分别为料箱1，料箱2，料箱3…料箱n，服务器存储有各个料箱的位置信息，以及各个料箱的库存信息{商品类型，商品数量，商品重量}；在仓库的监管人员通过服务器提交针对料箱1进行商品盘点请求的情况下，则根据该请求生成针对料箱1的盘点任务，以及调用携带有RFID读取器的料箱机器人S进行商品盘点的行驶路径，之后服务器将根据针对料箱1的盘点任务、料箱机器人S的行驶路径以及料箱1的位置信息(x1，y1，z1)生成商品盘点指令，下发至料箱机器人S，以实现驱使料箱机器人S对料箱1中的商品进行盘点。
综上所述，在通过所述自主移动机器人进行货物盘点之前，将基于针对待盘点库存容器提交的请求生成盘点任务和行驶路径，从而基于行驶路径、盘点任务和待盘点库存容器的位置信息生成所述指令，可以对自主移动机器人的行驶路径和盘点操作进行规划，从而更进一步的提高自主移动机器人的货物盘点效率，以及避免发生自主移动机器人随意移动碰撞的问题，并且由服务器下发指令，能够更加方便指挥所述自主移动机器人。
步骤S104，自主移动机器人根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内。
具体的，所述取放容器机构可以是所述自主移动机器人上设置的能够取放库存容器的机构，可以是取放料箱机构或者取箱货叉；如图2中(a)所示的货箱搬运机器人上的取放料箱机构202，可以通过从料箱底部插入的方式实现对料箱的取放动作；或者如图3中的(a)所示的货箱搬运机器人上的取放料箱机构302，可以通过取放料箱机构302实现对料箱的取放动作；相应的，所述库存支架具体是指存放待盘点库存容器的货架，所述读取范围具体是指所述读取设备能够覆盖的扫描范围；在该范围内若存在携带标识码的货物，读取设备即可对该货物进行读取操作。
实际应用中，当自主移动机器人根据所述指令行驶至所述待盘点库存容器的位置的过程中，可以是根据所述位置信息中包含的待盘点库存容器的位置进行移动，或者，位置信息中包含待盘点库存容器的货位编号，通过对待盘点库存容器的货位编号进行转换的方式，确定所述待盘点库存容器的位置，再进行移动，本实施例中，行驶至所述待盘点库存容器的位置的过程如下所述：
所述自主移动机器人根据携带所述位置信息的指令确定所述待盘点库存容器的货位编号；
所述自主移动机器人根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
具体的，在所述自主移动机器人移动至所述待盘点库存容器的位置的过程中，自主移动机器人可以根据携带有位置信息的指令确定所述待盘点库存容器的货位编号，从而实现所述自主移动机器人可以根据所述货位编号确定所述待盘点库存容器的位置，以行驶至所述待盘点库存容器的位置进行货物的盘点操作；其中，自主移动机器人存储有货位编号和待盘点库存容器的位置的对应关系，当自主移动机器人接收到指令的情况下，即可根据存储的对应关系确定货位编号对应的待盘点库存容器的位置，以行驶到待盘点库存容器的位置进行货物的盘点。
基于此，所述自主移动机器人存储的待盘点库存容器的位置和货位编号的对应关系可以是以地图的形式存在，即自主移动机器人可以根据货位编号在地图上确定待盘点库存容器的位置，之后基于在地图上确定的位置转换出待盘点库存容器的物理位置，以实现货物的盘点。
沿用上例，料箱机器人S接收到针对料箱1的商品盘点指令，该指令中携带料箱1的货位编号是ID_1，此时料箱机器人根据预先存储的货位编号和料箱位置的对应关系，确定货位编号ID_1对应料箱1的位置，之后通过仓库地图确定料箱1的物理位置，并行驶至料箱1的物理位置，以实现对料箱1中的商品进行盘点。
通过在自主移动机器人中预存货位编号和位置的对应关系，可以实现服务器在下发指令时，自主移动机器人可以独自完成对待盘点库存容器的定位，可以进一步提高对货物盘点的效率，并且可以减少服务器的计算资源量。
基于此，在上述接收到携带有所述待盘点库存容器位置编号的指令的基础上，进一步的，所述自主移动机器人将根据所述指令行驶至所述待盘点库存容器的位置，之后通过安装的取放容器机构将库存支架上的待盘点库存容器移动至所述读取设备的读取范围，从而实现在不需要将待盘点库存容器移动到操作工位，即可通过读取设备进行后续的货物盘点操作，并且也不需要过多的移动待盘点库存容器，可以有效的保证容器中货物的安全性。
进一步的，为了能够更加方便自主移动机器人对待盘点库存容器中的货物进行盘点，可以将所述读取设备设置于所述取放容器机构上，使得自主移动机器人只要将待盘点库存容器放到取放容器机构上，就可以使得待盘点库存容器进入所述读取设备的读取范围，即可进行后续的货物盘点操作，本实施例中，所述自主移动机器人利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内包括：
所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取到所述取放容器机构中，或者利用所述取放容器机构对所述库存支架上的所述待盘点库存容器进行取动作。
具体的，自主移动机器人利用所述取放容器机构将所述待盘点库存容器取到所述取放容器机构上，可以是所述自主移动机器人通过所述取放容器机构将所述待盘点库存容器从所述库存支架上取出，使得所述待盘点库存容器停放在 所述取放容器机构上，此时待盘点库存容器进入了所述读取设备的读取范围，可以进行后续的盘点操作。
或者自主移动机器人只是通过所述取放容器机构对所述库存支架上的待盘点库存容器做了取的动作，并未移动所述待盘点库存容器，即通过调整取放容器机构，使得读取设备的位置发生变化，从而使得读取设备的读取范围随着移动，直至将待盘点库存容器包含在读取范围内，以进行后续的盘点操作。
参见图2中(a)所示，当RFID读取器204部署在货箱搬运机器人的取放料箱机构202后方的情况下，就需要将待盘点的料箱从库存支架上取到取放料箱机构202上，使得待盘点的料箱进入RFID读取器204的读取范围，以实现对该料箱中的商品进行盘点。
参见图3中的(a)所示，当RFID读取器304部署在货箱搬运机器人的取放料箱机构302前端的情况下，就不需要将待盘点的料箱从库存支架上取出，直接通过提升轨道306移动取放料箱机构302，使得取放料箱机构302上的RFID读取器304也随着移动，直至移动到待盘点的料箱前方，并且待盘点的料箱进入RFID读取器304的读取范围，此时即可实现对该料箱中的商品进行盘点。
通过减少对所述待盘点库存容器的移动次数，完成盘点操作，可以有效的提高盘点效率，并且可以保证待盘点库存容器中货物的安全性。
更进一步的，所述自主移动机器人还可以配置有缓存支架，所述缓存支架上包括一个或多个容纳库存容器的缓存位，基于此，所述读取设备可以部署在所述一个或多个缓存位中的至少一个缓存位中；从而实现在进行货物盘点时， 可以将待盘点库存容器移动到缓存位上进行盘点操作，本实施例中，具体实现方式如下所述：
所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架的缓存位中。
参见图3中的(b)所示，货箱搬运机器人具备货箱缓存架308，在货箱缓存架308上部署有缓存位3082，缓存位3084和缓存位3086，并且RFID读取器3042位于缓存位3084上，从而实现将待盘点的料箱放置在三个缓存位中的任意一个上，都可以进入RFID读取器3042的读取范围，从而实现对料箱中的商品进行盘点的操作。
实际应用中，在将所述待盘点库存容器移动到缓存支架的缓存位中时，需要所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，之后通过取放容器机构将所述待盘点库存容器移动到所述缓存支架的缓存位，从而使得所述待盘点库存容器进入所述读取设备的读取范围，实现对待盘点库存容器中货物的盘点。
沿用上例，当料箱机器人S为图3中(b)所示的机器人的情况下，料箱机器人S移动到料箱1的位置(x1，y1，z1)后，将通过如图3中(b)所示的机器人的取放料箱机构3022将料箱1通过提升轨道3062移动至货箱缓存架308中的缓存位3082，从而使得料箱1进入RFID读取器3042的读取范围，可以进行后续的盘点操作。
综上，通过为所述自主移动机器人设置缓存支架以及缓存位，可以实现在对重量较大的待盘点库存容器进行盘点操作时，将待盘点库存容器通过取放容 器机构移动到缓存位进行盘点操作，避免长时间放置在取放容器机构上导致机构出现损伤。
本实施例中，优选的读取设备安装位置，可以在所述取放容器结构之间的缓存板下方，和/或所述取放容器结构之间的缓存板上方，即参见图2中(b)所示，将RFID读取器2042安装在取放料箱机构2022之间的缓存板206下方和/或上方，从而实现在RFID读取器在进行射频读取时可以方向朝下或朝上，更加方便进行RFID标签的读取，并且可以避免干扰，进一步提高盘点准确率。其中，缓存板206可以是非金属材质，或者中间镂空结构，从而可以进一步促进RFID标签被读取的概率。
此外，所述读取设备还可以安装在所述自主移动机器人的其他位置，例如安装在自主移动机器人的升降机构，或者安装在自主移动机器人的底盘机构，只要确保自主移动机器人可以将待盘点库存容器放入读取设备的读取范围即可。
步骤S106，自主移动机器人利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
具体的，所述标识码具体是指待盘点库存容器中货物具有为标签，该标签可以是RFID标签，从而使得读取设备可以利用进场通信读取货物的标识码，实现对货物的盘点操作。
基于此，在上述通过所述自主移动机器人的取放容器机构将所述待盘点库存容器移动至所述读取设备的读取范围的基础上，进一步的，所述自主移动机 器将利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得所述待盘点库存容器中货物的货物信息，从而实现通过所述货物信息对所述待盘点库存容器中货物的盘点。
实际应用中，基于所述货物信息对所述待盘点库存容器中货物的盘点包括：将读取到的货物信息与待盘点库存容器对应的标准货物信息进行比对，从而可以根据比对结果确定所述待盘点库存容器中货物状态，以实现后续可以根据盘点结果进行货物的补充或者调整。
进一步的，自主移动机器人在利用所述读取设备获得待盘点库存容器中货物的货物信息的基础上，一方面为了提高对货物的盘点准确度，可以由服务器进行盘点操作，本实施例中，通过服务器进行盘点操作的实现方式如下所述：
所述自主移动机器人将读取到的货物信息反馈给所述服务器；
所述服务器基于库存信息以及所述自主移动机器人读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
具体的，在所述自主移动机器人通过所述读取设备读取到货物的货物信息后，可以将所述货物信息反馈给所述服务器，所述服务器可以基于所述待盘点库存容器的库存信息以及所述货物信息，完成对所述待盘点库存容器中货物的盘点。
沿用上例，当料箱机器人S通过RFID读取器3042读取到料箱1的RFID标签后，获得料箱1的商品信息{商品数量：50，商品类型：电脑，商品重量：100kg}，之后料箱机器人S将料箱1的商品信息反馈给服务器，服务器基于料箱1的库存信息{商品数量：100，商品类型：电脑，商品重量：200kg}，以及 料箱机器人S上传的商品信息{商品数量：50，商品类型：电脑，商品重量：100kg}完成对料箱1中商品的盘点，确定料箱1缺少50台电脑，以实现后续对料箱1中商品的补充。
在获得待盘点库存容器中货物的货物信息后，将货物信息反馈给服务器进行货物的盘点操作，可以有效的提高对货物盘点的准确性，并且自主移动机器人在反馈货物信息后，即可运行到下一个库存容器位置继续进行盘点，可以有效的提高盘点效率，以及充分的利用机器人资源。
另一方面为了提高对货物的盘点效率，还可以由自主移动机器人独自完成货物的盘点操作，本实施例中，通过自主移动机器人进行盘点操作的实现方式如下所述：
所述自主移动机器人接收所述服务器下发的库存信息；
所述自主移动机器人基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
具体的，所述自主移动机器人在获得货物信息之后，服务器可以主动下发所述库存信息，或者可以由自主移动机器人向服务器进行请求，服务器根据请求下发所述库存信息，之后所述自主移动机器人基于所述库存信息和所述货物信息，即可完成对所述待盘点库存容器中货物的盘点。
沿用上例，当料箱机器人S通过RFID读取器3042读取到料箱1的RFID标签后，获得料箱1的商品信息{商品数量：50，商品类型：电脑，商品重量：100kg}，之后料箱机器人S接收服务器下发的料箱1的库存信息{商品数量：100，商品类型：电脑，商品重量：200kg}，此时料箱机器人S即可根据读取 到的商品信息和服务器下发的库存信息完成对料箱1中商品的盘点，确定料箱1缺少50台电脑，以实现后续对料箱1中商品的补充。
在获得待盘点库存容器中货物的货物信息后，接收服务器下发的所述库存信息，实现自主移动机器人可以单独完成货物的盘点，可以有效的提高盘点效率，实现自主移动机器人的自动化盘点的效果。
此外，在完成对所述待盘点库存容器中货物的盘点操作后，为了避免影响其他自主移动机器人的分拣或搬运货物，还需要将所述待盘点库存容器放回所述库存支架上，本实施例中，具体实现方式如下所述：
所述自主移动机器人利用所述取放容器机构将完成盘点的待盘点库存容器放回所述库存支架上。
沿用上例，当料箱机器人S完成对料箱1中商品的盘点之后，将通过取放料箱机构将料箱1放回位置(x1，y1，z1)，以实现不影响其他自主移动机器人的分拣和货物搬运，并且可以使得后续补充货物的机器人准确的找到料箱1，实现对货物的补充。
本实施例提供的货物盘点方法，通过在自主移动机器人上配置取放容器机构和读取设备，实现在自主移动机器人接收到服务器针对待盘点库存容器下方法的指令后，将行驶到待盘点库存容器的位置，利用取放容器机构将库存支架上的待盘点库存容器放入读取设备的读取范围内，进而可以通过读取设备读取所述待盘点库存容器中货物的标识码，获得待盘点库存容器中货物的货物信息，实现不需要人工参与即可完成货物的盘点，不仅节省人力和物力，还可以有效的提高货物的盘点效率。
与上述方法实施例相对应，本申请还提供了货物盘点系统实施例，图4示出了本申请一实施例提供的一种货物盘点系统的结构示意图。如图4所示，货物盘点系统400包括：
服务器402和自主移动机器人404，所述自主移动机器人404至少包括取放容器机构4042和读取设备4044；
所述服务器402，被配置为获取针对待盘点库存容器提交的请求；根据所述请求和所述待盘点库存容器的位置信息生成指令，并发送至所述自主移动机器人404；
所述自主移动机器人404，被配置为接收所述服务器402下发的指令；根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构4042将库存支架上的待盘点库存容器放入所述读取设备4044的读取范围内；利用所述读取设备4044读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
一个可选的实施例中，所述读取设备4044位于所述取放容器机构4042上；
所述自主移动机器人404进一步被配置为：利用所述取放容器机构4042将所述库存支架上的所述待盘点库存容器取到所述取放容器机构4042中，或者利用所述取放容器机构4042对所述库存支架上的所述待盘点库存容器进行取动作。
一个可选的实施例中，所述自主移动机器人404还包括缓存支架4046，所述缓存支架4046包括一个或多个容纳库存容器的缓存位，所述读取设备位 于所述一个或多个缓存位中的至少一个缓存位中；
所述自主移动机器人404进一步被配置为：利用所述取放容器机构4042将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架4046的缓存位中。
一个可选的实施例中，所述自主移动机器人404进一步被配置为：将读取到的货物信息反馈给所述服务器402；
所述服务器402进一步被配置为：基于库存信息以及所述自主移动机器人404读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
一个可选的实施例中，所述服务器402进一步被配置为：向所述自主移动机器人404下发所述待盘点库存容器的库存信息；
所述自主移动机器人404进一步被配置为：接收所述服务器402下发的库存信息；基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
一个可选的实施例中，所述读取设备4044利用进场通信读取所述货物的标识码。
一个可选的实施例中，所述读取设备4044为RFID读取器，所述货物的标识码为RFID标签。
一个可选的实施例中，所述服务器402进一步被配置为，存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；
所述服务器402在接收到针对所述待盘点库存容器的请求的情况下，根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以 及所述待盘点库存容器的位置信息生成所述指令。
一个可选的实施例中，所述自主移动机器人404进一步被配置为：根据携带所述位置信息的指令确定所述待盘点库存容器的货位编号；根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
一个可选的实施例中，所述自主移动机器人404进一步被配置为：利用所述取放容器机构4042将完成盘点的待盘点库存容器放回所述库存支架上。
本实施例提供的货物盘点系统，通过在自主移动机器人上配置取放容器机构和读取设备，实现在自主移动机器人接收到服务器针对待盘点库存容器下方法的指令后，将行驶到待盘点库存容器的位置，利用取放容器机构将库存支架上的待盘点库存容器放入读取设备的读取范围内，进而可以通过读取设备读取所述待盘点库存容器中货物的标识码，获得待盘点库存容器中货物的货物信息，实现不需要人工参与即可完成货物的盘点，不仅节省人力和物力，还可以有效的提高货物的盘点效率。
上述为本实施例的一种货物盘点系统的示意性方案。需要说明的是，该货物盘点系统的技术方案与上述的货物盘点方法的技术方案属于同一构思，货物盘点系统的技术方案未详细描述的细节内容，均可以参见上述货物盘点方法的技术方案的描述。
下述结合附图5，以本申请提供的货物盘点方法对料箱中商品的盘点应用为例，对所述货物盘点系统进行进一步说明。其中，图5示出了本申请一实施例提供的一种应用于料箱中商品盘点场景的货物盘点系统的示意图，具体包 括以下内容：
步骤S502，终端设备向服务器发送针对待盘点料箱的盘点请求。
在仓储物流场景中，为了提高对料箱中商品的盘点效率，通过为料箱机器人安装RFID读取器，以及对商品安装RFID标签，实现无需将料箱移动到操作工位，即可完成盘点操作。
基于此，在对商品盘点的过程中，需要由货架的监管人员通过终端设备向服务器下发盘点请求，之后由服务器进行后续的盘点操控。
步骤S504，服务器接收盘点请求，并根据盘点请求和待盘点料箱的位置信息生成盘点指令。
步骤S506，服务器选择安装有RFID读取器的料箱机器人下发盘点指令。
步骤S508，料箱机器人接收盘点指令，并根据盘点指令行驶至待盘点料箱的位置。
具体的，在料箱机器人接收到盘点指令的情况下，将对盘点指令进行解析，获得待盘点料箱的位置信息，以及对待盘点料箱的盘点任务，之后按照盘点指令中携带的行驶路径移动到待盘点料箱的位置。
步骤S510，料箱机器人利用取放料箱机构将货架上的待盘点料箱放入RFID读取器的读取范围。
具体的，在料箱机器人移动到待盘点料箱的位置后，此时料箱机器人将利用安装的取放料箱机构将货架上的待盘点料箱取出，并通过取放料箱机构将待盘点料箱移动到RFID读取器的读取范围，以进行后续的盘点操作。
步骤S512，料箱机器人利用RFID读取器读取待盘点料箱中商品的RFID 标签，获得商品的商品信息。
具体的，RFID读取器在读取到范围内存在RFID标签的情况下，将采用进场通信的方式读取RFID标签，从而获得待盘点料箱中商品的商品信息。
步骤S514，服务器向料箱机器人发送待盘点料箱的库存信息。
步骤S516，料箱机器人接收库存信息，并基于库存信息和商品信息进行商品的盘点。
具体的，当料箱机器人获得待盘点料箱中商品的商品信息后，服务器通过主动下发待盘点料箱的库存信息的方式，实现让料箱机器人单独完成商品的盘点操作。
步骤S518，料箱机器人利用取放料箱机构将待盘点料箱放回货架上。
步骤S520，料箱机器人向服务器返回盘点结果。
步骤S522，服务器接收盘点结果，并将盘点结果向终端设备进行展示。
具体的，在料箱机器人完成对待盘点料箱中商品的盘点操作之后，为了避免出现影响其他机器人的分拣和搬运，会将待盘点料箱放回货架上，并且向服务器返回盘点结果，从而实现通过终端设备告知监管人员该货架上待盘点料箱的商品详情，方便监管人员进行商品的监管处理。
综上所述，通过在料箱机器人上配置RFID读取器，实现无需将料箱移动到操作工位，即可完成对料箱中商品的盘点，并且通过服务器主动下发库存信息的方式，实现料箱机器人单独完成商品的盘点，可以有效的提高商品的盘点效率，不仅节省人力和物力，还可以有效的提高商品的盘点准确率。
需要说明的是，对于前述的各方法实施例，为了简便描述，故将其都表述 为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其它顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定都是本申请所必须的。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。
以上公开的本申请优选实施例只是用于帮助阐述本申请。可选实施例并没有详尽叙述所有的细节，也不限制该发明仅为所述的具体实施方式。显然，根据本申请的内容，可作很多的修改和变化。本申请选取并具体描述这些实施例，是为了更好地解释本申请的原理和实际应用，从而使所属技术领域技术人员能很好地理解和利用本申请。本申请仅受权利要求书及其全部范围和等效物的限制。

Claims (20)

  1. 一种货物盘点方法，所述方法至少部分地由自主移动机器人执行，所述自主移动机器人至少包括取放容器机构和读取设备，所述方法包括：
    自主移动机器人接收服务器下发的指令；所述指令中携带有待盘点库存容器的位置信息；
    自主移动机器人根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内；
    自主移动机器人利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
  2. 根据权利要求1所述的货物盘点方法，所述读取设备位于所述取放容器机构上；
    所述自主移动机器人利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内包括：所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取到所述取放容器机构中，或者利用所述取放容器机构对所述库存支架上的所述待盘点库存容器进行取动作。
  3. 根据权利要求1所述的货物盘点方法，所述自主移动机器人还包括缓存支架，所述缓存支架包括一个或多个容纳库存容器的缓存位，所述读取设备 位于所述一个或多个缓存位中的至少一个缓存位中；
    所述自主移动机器人利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内包括：所述自主移动机器人利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架的缓存位中。
  4. 根据权利要求1所述的货物盘点方法，还包括：
    所述自主移动机器人将读取到的货物信息反馈给所述服务器；
    所述服务器基于库存信息以及所述自主移动机器人读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
  5. 根据权利要求1所述的货物盘点方法，还包括：
    所述自主移动机器人接收所述服务器下发的库存信息；
    所述自主移动机器人基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
  6. 根据权利要求1所述的货物盘点方法，所述读取设备利用进场通信读取所述货物的标识码。
  7. 根据权利要求1所述的货物盘点方法，所述读取设备为RFID读取器，所述货物的标识码为RFID标签。
  8. 根据权利要求1所述的货物盘点方法，所述服务器在下发所述指令之前，将存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；
    所述服务器在接收到针对所述待盘点库存容器的请求的情况下，将根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以及 所述待盘点库存容器的位置信息生成所述指令。
  9. 根据权利要求1所述的货物盘点方法，所述位置信息包括待盘点库存容器的货位编号；所述自主移动机器人根据指令行驶至所述待盘点库存容器的位置，包括：
    所述自主移动机器人根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
  10. 根据权利要求1-3中任意一项所述的货物盘点方法，还包括：
    所述自主移动机器人利用所述取放容器机构将完成盘点的待盘点库存容器放回所述库存支架上。
  11. 一种货物盘点系统，包括：
    服务器和自主移动机器人，所述自主移动机器人至少包括取放容器机构和读取设备；
    所述服务器，被配置为获取针对待盘点库存容器提交的请求；根据所述请求和所述待盘点库存容器的位置信息生成指令，并发送至所述自主移动机器人；
    所述自主移动机器人，被配置为接收所述服务器下发的指令；根据指令行驶至所述待盘点库存容器的位置，并利用所述取放容器机构将库存支架上的待盘点库存容器放入所述读取设备的读取范围内；利用所述读取设备读取所述待盘点库存容器中货物的标识码，获得针对所述待盘点库存容器中货物的货物信息；所述货物信息用于盘点。
  12. 根据权利要求11所述的货物盘点系统，所述读取设备位于所述取放容器机构上；
    所述自主移动机器人进一步被配置为：利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取到所述取放容器机构中，或者利用所述取放容器机构对所述库存支架上的所述待盘点库存容器进行取动作。
  13. 根据权利要求11所述的货物盘点系统，所述自主移动机器人还包括缓存支架，所述缓存支架包括一个或多个容纳库存容器的缓存位，所述读取设备位于所述一个或多个缓存位中的至少一个缓存位中；
    所述自主移动机器人进一步被配置为：利用所述取放容器机构将所述库存支架上的所述待盘点库存容器取出，并放在所述缓存支架的缓存位中。
  14. 根据权利要求11所述的货物盘点系统，所述自主移动机器人进一步被配置为：将读取到的货物信息反馈给所述服务器；
    所述服务器进一步被配置为：基于库存信息以及所述自主移动机器人读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
  15. 根据权利要求11所述的货物盘点系统，所述服务器进一步被配置为：向所述自主移动机器人下发所述待盘点库存容器的库存信息；
    所述自主移动机器人进一步被配置为：接收所述服务器下发的库存信息；基于所述库存信息以及读取到的所述货物信息，对所述待盘点库存容器中的货物进行盘点。
  16. 根据权利要求11所述的货物盘点系统，所述读取设备利用进场通信读取所述货物的标识码。
  17. 根据权利要求11所述的货物盘点系统，所述读取设备为RFID读取 器，所述货物的标识码为RFID标签。
  18. 根据权利要求11所述的货物盘点系统，所述服务器进一步被配置为，存储库存容器和库存容器位置的对应关系，以及库存容器的库存信息；
    所述服务器在接收到针对所述待盘点库存容器的请求的情况下，根据所述请求生成盘点任务，以及行驶路径；根据所述盘点任务、所述行驶路径以及所述待盘点库存容器的位置信息生成所述指令。
  19. 根据权利要求11所述的货物盘点方法，所述位置信息包括所述待盘点库存容器的货位编号；所述自主移动机器人进一步被配置为：根据存储的货位编号和库存容器位置的对应关系，确定所述待盘点库存容器的位置，并行驶至所述待盘点库存容器的位置。
  20. 根据权利要求11-13中任意一项所述的货物盘点系统，所述自主移动机器人进一步被配置为：利用所述取放容器机构将完成盘点的待盘点库存容器放回所述库存支架上。
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