WO2022001610A1 - 物料盘点方法、装置、仓储机器人和仓储系统 - Google Patents

物料盘点方法、装置、仓储机器人和仓储系统 Download PDF

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Publication number
WO2022001610A1
WO2022001610A1 PCT/CN2021/099233 CN2021099233W WO2022001610A1 WO 2022001610 A1 WO2022001610 A1 WO 2022001610A1 CN 2021099233 W CN2021099233 W CN 2021099233W WO 2022001610 A1 WO2022001610 A1 WO 2022001610A1
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WIPO (PCT)
Prior art keywords
inventory
target container
storage
robot
target
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PCT/CN2021/099233
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English (en)
French (fr)
Inventor
林翰
周浪
Original Assignee
深圳市海柔创新科技有限公司
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Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to KR1020237000765A priority Critical patent/KR20230021130A/ko
Priority to JP2022580875A priority patent/JP2023531540A/ja
Priority to EP21833070.2A priority patent/EP4156023A4/en
Publication of WO2022001610A1 publication Critical patent/WO2022001610A1/zh
Priority to US18/145,239 priority patent/US20230131267A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06018—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding
    • G06K19/06028—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding using bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06037—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking multi-dimensional coding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G06Q10/0875—Itemisation or classification of parts, supplies or services, e.g. bill of materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/10—Office automation; Time management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/19—Image acquisition by sensing codes defining pattern positions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30242—Counting objects in image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Definitions

  • the present disclosure relates to the technical field of intelligent warehousing, and in particular, to a material inventory method, a device, a warehousing robot and a warehousing system.
  • the warehousing system based on warehousing robots adopts an intelligent operating system, which realizes the automatic extraction and storage of goods through system instructions, and can run 24 hours a day without interruption, replacing manual management and operation, improving the efficiency of warehousing, and being widely used and favored .
  • the embodiments of the present disclosure provide a material inventorying method, device, storage robot and storage system, which realizes the automatic inventorying of materials by the storage robot in the shelf area, improves the efficiency of inventorying, and reduces the inventorying cost.
  • an embodiment of the present disclosure provides a material inventory method, the material inventory method is applied to a storage robot, and the method includes: collecting an inventory image of a target container via the storage robot; determining according to the inventory image The counted quantity of the material in the target container.
  • the target container includes a set number of storage compartments
  • the determining, according to the inventory image, the inventory quantity of the materials in the target container includes: identifying each of the items according to the inventory image.
  • the storage situation of the storage compartment; the inventory quantity of the materials in the target cargo box is determined according to the storage situation of each of the storage compartments.
  • the identifying the storage situation of each of the storage compartments according to the inventory image includes: identifying, according to the inventory image, whether the material is stored in each of the storage compartments; correspondingly, The determining the inventory quantity of the materials in the target cargo box according to the storage situation of each of the storage compartments includes: determining the number of storage compartments in the target cargo box according to the number of the storage compartments in which the materials are stored. The counted quantity of the item.
  • the determining the counted quantity of the material in the target cargo box according to the number of the storage compartments in which the material is stored includes: acquiring the compartmentalized storage of the material in each of the storage compartments. Quantity; according to the storage quantity corresponding to each of the storage compartments in which the material is stored, determine the counted quantity of the material in the target container.
  • the warehousing robot includes a vision sensor
  • the collecting the inventory image of the target container via the warehousing robot includes: collecting the inventory image of the target container through the visual sensor of the warehousing robot.
  • the visual sensor is disposed at the top of the storage robot, and the collection of the inventory image of the target container via the vision sensor of the storage robot includes: when the storage robot moves to the target container.
  • the pick-up device of the storage robot moves to the set height, the target box is picked up by the pick-up device of the storage robot; the collected data is collected by the visual sensor. Inventory image of the target container.
  • the method before collecting the extracted inventory image of the target container via the vision sensor, the method further includes: determining the inventory light source of the visual sensor according to the height of the target container; Inventory light sources described above.
  • the visual sensor is provided on the pickup device of the storage robot, and the collection of the inventory image of the target container via the vision sensor of the storage robot includes: when the storage robot moves to the The target position corresponding to the target container is collected, and when the pickup device of the warehouse robot moves to the set position of the target container, an inventory image of the target container is collected via the visual sensor.
  • the method further includes: determining the target container and the target position of the target container according to the inventory task information; determining The storage robot that performs the inventory of the target container; according to the storage robot, the target container and its corresponding target position, the inventory command of the storage robot is generated, so as to control the storage robot to move to the desired location according to the inventory command. Describe the target position corresponding to the target container.
  • the material in the target container is provided with a material identification code, and the identification pattern of the material identification code is generated according to the type and quantity of the material in the target container.
  • Collecting the inventory image of the target container by the robot includes: collecting, via the warehousing robot, the inventory image of the material identification code on the material in the target container; correspondingly, determining the target container according to the inventory image
  • the counted quantity of the material in the container includes: identifying the counted image of the material identification code; and determining the counted type and counted quantity of the material in the target container according to the identification result.
  • the material identification code includes at least one of a two-dimensional code, a barcode or an electronic label.
  • the material inventorying method further includes: determining the inventorying type of the material according to the inventorying image.
  • the material inventory method further includes: acquiring preset storage information of the target container, wherein the preset storage information includes preset types and/or preset types of materials stored in the target container. Set the quantity; according to the first matching result of the preset type of the material of the target container and the inventory type, and/or, according to the second matching result of the preset quantity of the material of the target container and the inventory quantity, carry out The storage of the target container is verified, and a verification report is generated.
  • the material inventorying method further includes: when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image, generating an identification failure prompt message.
  • an embodiment of the present disclosure further provides a material inventory method, the method is applied to a warehouse management device, and the method includes: acquiring an inventory image of a target container collected by a warehouse robot; determining the target according to the inventory image The counted quantity of the item in the box.
  • the target container includes a set number of storage compartments
  • the determining, according to the inventory image, the inventory quantity of the materials in the target container includes: identifying each of the items according to the inventory image.
  • the storage situation of the storage compartment; the inventory quantity of the materials in the target cargo box is determined according to the storage situation of each of the storage compartments.
  • the identifying the storage situation of each of the storage compartments according to the inventory image includes: identifying, according to the inventory image, whether the material is stored in each of the storage compartments; correspondingly, The determining the inventory quantity of the materials in the target cargo box according to the storage situation of each of the storage compartments includes: determining the number of storage compartments in the target cargo box according to the number of the storage compartments in which the materials are stored. The counted quantity of the item.
  • the determining the counted quantity of the material in the target cargo box according to the number of the storage compartments in which the material is stored includes: acquiring the compartmentalized storage of the material in each of the storage compartments. Quantity; according to the storage quantity corresponding to each of the storage compartments in which the material is stored, determine the counted quantity of the material in the target container.
  • the method before acquiring the inventory image of the target container collected by the warehousing robot, the method further includes: determining the target container and the target position of the target container according to the inventory task information; determining to carry out the target A storage robot for container inventory; according to the storage robot, the target container and its corresponding target position, an inventory instruction of the storage robot is generated, so as to control the storage robot to move to the target container according to the inventory instruction The corresponding target position; when it is determined that the storage robot moves to the target position, an inventory image acquisition instruction is generated to control the inventory image of the target container collected by the warehouse robot according to the inventory image acquisition instruction.
  • the acquiring the inventory image of the target container collected by the storage robot includes: acquiring the inventory image of the target container collected by the vision sensor of the storage robot.
  • the acquiring the inventory image of the target container collected by the warehousing robot includes: acquiring the inventory image of the material identification code on the material in the target container collected by the warehousing robot, wherein the material identification code is The identification pattern is generated according to the type and quantity of the material in the target container; correspondingly, determining the inventory quantity of the material in the target container according to the inventory image includes: identifying the material identification The inventory image of the code; determine the inventory type and inventory quantity of the material in the target container according to the recognition result.
  • the material inventorying method further includes: determining the inventorying type of the material according to the inventorying image.
  • the material inventory method further includes: acquiring preset storage information of the target container, wherein the preset storage information includes preset types and/or preset types of materials stored in the target container. Set the quantity; according to the first matching result of the preset type of the material of the target container and the inventory type, and/or, according to the second matching result of the preset quantity of the material of the target container and the inventory quantity, carry out The storage of the target container is verified, and a verification report is generated.
  • the material inventorying method further includes: when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image, generating an identification failure prompt message.
  • an embodiment of the present disclosure further provides a material inventory device, the device includes: a first inventory image acquisition module, configured to acquire an inventory image of a target container via the storage robot; a first inventory quantity determination module, for determining the counted quantity of the material in the target container according to the counted image.
  • the target cargo box includes a set number of storage compartments
  • the first inventory quantity determination module includes:
  • a storage situation identification unit used for identifying the storage situation of each of the storage compartments according to the inventory image; a count quantity determination unit, used for determining the target goods according to the storage situation of each of the storage compartments The counted quantity of the item in the box.
  • the storage situation identification unit is specifically used for:
  • the unit for determining the inventory count is specifically used for:
  • the counted quantity of the material in the target container is determined according to the quantity of the storage compartment in which the material is stored.
  • the unit for determining the inventory count is specifically used for:
  • the storage robot includes a vision sensor, and the first inventory image acquisition module is specifically used for:
  • the inventory image of the target container is collected via the vision sensor of the warehouse robot.
  • the visual sensor is arranged on the top of the storage robot, and the first inventory image acquisition module includes:
  • the target container picking unit is used for, when the storage robot moves to the target position corresponding to the target container, and the picking device of the storage robot moves to a set height, the storage robot will pick up the goods through the storage robot.
  • the cargo device extracts the target cargo box; the first inventory image acquisition unit is configured to acquire the extracted inventory image of the target cargo box via the vision sensor.
  • the material inventory device further includes:
  • a light source opening module configured to determine the inventory light source of the visual sensor according to the height of the target container before collecting the extracted inventory image of the target container via the vision sensor; and turn on the inventory light source.
  • the visual sensor is arranged on the pickup device of the warehouse robot, and the first inventory image acquisition module is specifically used for:
  • the target is collected via the vision sensor Inventory image of a cargo box.
  • the material inventory device further includes:
  • a target position determination module configured to determine the target container and the target position of the target container according to the inventory task information before the storage robot moves to the target position corresponding to the target container; the robot determination module, A storage robot for determining the inventory of the target container; an inventory instruction generation module is used to generate an inventory instruction of the storage robot according to the storage robot, the target container and its corresponding target position, so as to The inventory instruction controls the storage robot to move to a target position corresponding to the target container.
  • the material in the target container is provided with a material identification code, and the identification pattern of the material identification code is generated according to the type and quantity of the material in the target container, and the first inventory image
  • the acquisition module is specifically used for: collecting the inventory image of the material identification code on the material in the target container via the storage robot; correspondingly, the first inventory quantity determination module is specifically used for: identifying the material The inventory image of the identification code; the inventory type and inventory quantity of the materials in the target container are determined according to the identification result.
  • the material inventory device further includes:
  • the inventory type determination module is configured to determine the inventory type of the material according to the inventory image.
  • the material inventory device further includes:
  • a preset storage information acquisition module configured to acquire preset storage information of the target container, wherein the preset storage information includes the preset type and/or preset quantity of materials stored in the target container;
  • the information matching module is used for the first matching result according to the preset type of the material in the target container and the inventory type, and/or, according to the second matching between the preset quantity of the material in the target container and the inventory quantity As a result, a storage verification of the target container is performed, and a verification report is generated.
  • the material inventory device further includes:
  • a recognition failure prompting module configured to generate recognition failure prompting information when the inventory quantity of the material in the target container cannot be determined according to the inventory image.
  • an embodiment of the present disclosure further provides a material inventory device, the device includes: a second inventory image acquisition module for acquiring an inventory image of a target container collected by a storage robot; a second inventory quantity determination module, based on The counted image determines the counted quantity of material within the target container.
  • the target cargo box includes a set number of storage compartments
  • the second inventory quantity determination module includes:
  • the storage compartment identification unit is used to identify the storage situation of each of the storage compartments according to the inventory image; the second inventory quantity determination unit is used to determine the storage situation of each of the storage compartments. Describes the counted quantity of the material in the target container.
  • the storage compartment identification unit is specifically used for:
  • the second counting quantity determining unit is specifically configured to: determine the counting quantity of the material in the target container according to the quantity of the storage compartment in which the material is stored.
  • the second inventory quantity determination unit is specifically used for:
  • the material inventory device further includes:
  • an inventory instruction determination module configured to determine the target cargo box and the target position of the target cargo box according to the inventory task information before acquiring the inventory image of the target cargo box collected by the warehouse robot; determine to perform the inventory of the target cargo box warehousing robot; according to the warehousing robot, the target container and its corresponding target position, generate the inventory command of the warehousing robot, so as to control the warehousing robot to move to the target corresponding to the target container according to the inventory command position; a collection instruction generation module, configured to generate an inventory image collection instruction when it is determined that the storage robot moves to the target position, so as to control the inventory image of the target container collected by the storage robot according to the inventory image collection instruction .
  • the second inventory image acquisition module is specifically used for:
  • the inventory image of the target container collected by the vision sensor of the warehouse robot is acquired.
  • the second inventory image acquisition module is specifically used for:
  • the determining the inventory quantity of the material in the target container according to the inventory image includes: recognizing the inventory image of the material identification code; determining the inventory type of the material in the target container according to the identification result and counts.
  • the material inventory device further includes:
  • the second inventory type determination module is configured to determine the inventory type of the material according to the inventory image.
  • the material inventory device further includes:
  • a verification report generation module configured to obtain preset storage information of the target container, wherein the preset storage information includes the preset type and/or preset quantity of materials stored in the target container; The first matching result of the preset type of the material of the target container and the inventory type, and/or, according to the second matching result of the preset quantity of the material of the target container and the inventory quantity, carry out the target container. storage verification and generate verification report.
  • the material inventory device further includes:
  • the second recognition failure prompt module is configured to generate recognition failure prompt information when the inventory quantity of the material in the target container cannot be determined according to the inventory image.
  • an embodiment of the present disclosure further provides a warehouse robot, including a memory, a processor, and a computer program; wherein, the computer program is stored in the memory and configured to be executed by the processor to achieve The material inventory method provided by any embodiment corresponding to the first aspect of the present disclosure.
  • embodiments of the present disclosure further provide a warehouse management device, including a memory, a processor, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to The material inventory method provided by any embodiment corresponding to the second aspect of the disclosure is realized.
  • an embodiment of the present disclosure further provides a storage system, including: a storage robot, a shelf, and a warehouse management device provided by an embodiment corresponding to the fifth aspect of the present disclosure, wherein the storage robot and the warehouse management device The connection is used for moving to the target position where the target container is located according to the instruction of the warehouse management device and performing inventory of the materials in the target container, wherein the target container is placed on the shelf.
  • an embodiment of the present disclosure further provides a storage system, including: a storage robot, a shelf, and the warehouse management device provided by the embodiment corresponding to the sixth aspect of the present disclosure, wherein the storage robot and the warehouse management device connection, for moving to the target position where the target container is located according to the instructions of the warehouse management device, and collecting the inventory image of the target container, wherein the target container is placed on the shelf; the warehouse management device It is used for receiving the inventory image, and performing inventory of the materials in the target container according to the inventory image.
  • the present disclosure also provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, are used to implement the first aspect of the present disclosure
  • the material inventory method provided by any corresponding embodiment, or provided by any corresponding embodiment of the second aspect.
  • the inventory robot collects the inventory image of the target container, and automatically determines the quantity of the material in the target container according to the inventory image, so as to realize the inventory control of the material. Automatic inventory, and no need to move the container across regions, greatly improves the efficiency of inventory, and reduces the cost of inventory.
  • FIG. 1 is an application scenario diagram of the material inventory method provided by an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a material inventory method provided by another embodiment of the present disclosure.
  • FIG. 4 is a flowchart of step S302 in the embodiment shown in FIG. 3 of the present disclosure.
  • FIG. 5 is a flowchart of step S302 in the embodiment shown in FIG. 3 of the present disclosure.
  • FIG. 6 is a flowchart of a material inventory method provided by yet another embodiment of the present disclosure.
  • FIG. 7 is a flowchart of a material inventory method provided by yet another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a material inventory device provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a material inventory device provided by another embodiment of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a storage robot according to an embodiment of the present disclosure
  • FIG. 11 is a schematic structural diagram of a storage robot provided by another embodiment of the present disclosure.
  • FIG. 12 is a schematic structural diagram of a warehouse management device according to an embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.
  • FIG. 14 is a schematic structural diagram of a storage system according to another embodiment of the present disclosure.
  • FIG. 1 is an application scenario diagram of the material inventory method provided by the embodiment of the present disclosure.
  • the intelligent storage system 100 controls the storage robot 110 to check the waiting on the shelf 120 in the shelf area.
  • the inventory container 121 is extracted and moved to the human-computer interaction workstation (also referred to as a manual work area) 130 , and the operator of the human-computer interaction workstation 130 takes inventory of the materials in the to-be-counted container 121 . Due to the limited number of warehousing robots and the cumbersome steps required for the turnover and handling of the containers, the inventory takes a long time and the inventory efficiency is low.
  • the material inventory method collects the image of the container based on the storage robot, and automatically determines the quantity of the material in the container by recognizing the image, so as to realize the in-situ, Automatic inventory, improving inventory efficiency.
  • FIG. 2 is a flowchart of a material inventory method provided by an embodiment of the present disclosure.
  • the material inventory method is applied to a storage robot.
  • the material inventory method provided by this embodiment includes the following steps:
  • step S201 the inventory image of the target container is collected via the storage robot.
  • the number of target cargo boxes may be one or more, such as 2, 3, 10 or other numbers, and the target cargo box may be a frame-type cargo box, that is, a rectangular cargo box that does not include the upper surface .
  • the inventory image refers to the image collected by the warehousing robot for inventorying the materials in the target container, which can be color images, black and white images, point cloud data, etc., or videos.
  • the inventory image corresponding to each target cargo box is collected through the storage robot.
  • the target container may be any one or more containers placed on the shelf.
  • the inventory image of the target container can be collected via the warehouse robot according to the inventory instruction, wherein the inventory instruction can include information such as location information and identification information of the target container, and the location information can be the number of the location where the target container is located. , serial number or coordinates, etc.
  • the identification information is the ID information of the target container, which can be the container serial number.
  • the inventory instruction can be entered manually or issued by the processor of the warehouse system.
  • the warehousing robot can also be moved to the target position where the target container is located according to the relevant control instructions, so as to collect the inventory image corresponding to the target container.
  • Step S202 determining the counted quantity of the material in the target container according to the counted image.
  • the counted quantity refers to the total quantity of materials in the target container.
  • Materials can be any kind of goods, such as clothing, building materials, accessories, paper products, or other items.
  • the material can be placed in the target container in a set way, such as in bales or bales.
  • the inventory quantity of the material in the target container can be obtained by identifying the identification code.
  • the identification code can be set on the target container, such as the set surface of the target container, usually the side facing the storage robot, and it can also be the bottom surface or the side surface.
  • the counting image corresponding to the target container can be obtained by extracting and moving the target container, so as to determine the counting quantity of the materials in the target container according to the counting image.
  • the counted quantity of the materials in the target container may be determined according to the counted image based on an image recognition algorithm.
  • an image recognition algorithm For example, it can be an image matching algorithm. By performing feature engineering on the material, the corresponding material characteristics are determined, and then the quantity of the material in the image is identified according to the feature matching algorithm.
  • It can also be a neural network algorithm, for example, a material recognition neural network can be pre-trained, and then the inventory quantity of the material can be determined according to the network.
  • a material recognition neural network can be pre-trained to identify and count the number of materials of this type to improve the accuracy of the inventory.
  • the materials are placed in bundles, and each bundle includes a fixed number of materials. Then, by identifying the number of bundles included in the inventory image, and then multiplying the number of bundles by the number of materials included in each bundle, the number of materials in each bundle can be obtained. Count the quantity.
  • the above method is also applicable.
  • the inventory robot collects the inventory image of the target container, and automatically determines the quantity of the material in the target container according to the inventory image, so as to realize the inventory control of the material. Automatic inventory, and no need to move the container across regions, greatly improves the efficiency of inventory, and reduces the cost of inventory.
  • FIG. 3 is a flowchart of a material inventory method provided by another embodiment of the present disclosure.
  • the improved material inventory method in this embodiment is a further refinement of steps S201 and S202 on the basis of the embodiment shown in FIG. 2 , and a step of acquiring preset storage information is added before step S201 , and an inventory is added after step S202
  • the step of determining the type and the step of matching the inventory results, as shown in Figure 3, the material inventory method provided by this embodiment includes the following steps:
  • Step S301 Acquire preset storage information of the target container.
  • the preset storage information includes a preset type and/or a preset quantity of materials stored in the target container, and the target container includes a set number of storage compartments.
  • the preset number may be 2, 4, 8, 9 or other values, and the size of each storage compartment may be the same or different.
  • the preset type refers to the preset type of the material placed in the target container
  • the preset quantity refers to the preset quantity of the placed material in the target container.
  • the preset storage information can be stored in any memory in the storage system, and the corresponding preset storage information can be obtained through the identification information of the target container, such as ID information.
  • preset type and preset quantity may be input into the relevant memory of the storage system when the target container is put into storage.
  • Step S302 collecting the inventory image of the target container via the vision sensor of the storage robot.
  • the vision sensor of the storage robot can be arranged on the pickup device of the storage robot, and can also be arranged at the top of the storage robot, or above any storage pallet of the storage robot.
  • Vision sensors can be 2D cameras, depth cameras, lidars, etc.
  • FIG. 4 is a flowchart of step S302 in the embodiment shown in FIG. 3 of the present disclosure, and FIG. 4 is directed to the situation where a visual sensor is arranged at the top of the warehouse robot.
  • step S302 specifically includes The following steps:
  • Step S3021 when the storage robot moves to the target position corresponding to the target container, and the pickup device of the storage robot moves to a set height, pick up the storage robot through the pickup device of the storage robot.
  • Target cargo box when the storage robot moves to the target position corresponding to the target container, and the pickup device of the storage robot moves to a set height, pick up the storage robot through the pickup device of the storage robot.
  • the target position may be a position corresponding to the target container, such as a position with a set distance in front of the target container, front left or front right.
  • the storage robot can be moved to the target position corresponding to the target container, and the pickup device of the storage robot can be moved to a set height. It is also possible to move the storage robot to a target position corresponding to the target container, and move the pickup device of the storage robot to a set height according to an instruction input by an operator.
  • the vision sensor is set at the top of the warehouse robot and is set towards the pickup device, in order to better capture the image of the target container, it is necessary to extract the target container from its corresponding storage location.
  • the target container may be moved out of its corresponding storage location via the pickup device of the storage robot, and then, the vision sensor disposed at the top of the storage robot may capture a complete inventory image of the target container.
  • the method before collecting the extracted inventory image of the target container via the vision sensor, the method further includes:
  • the inventory light source of the vision sensor is determined; and the inventory light source is turned on.
  • the number of inventory light sources can be one or more, when the number of inventory light sources is one, it can be set at the top of the storage robot; when the number of inventory light sources is multiple, it can be set at the top of the storage robot, each The upper end of the back basket of the storage robot.
  • Step S3022 collecting the extracted inventory image of the target container via the visual sensor.
  • the visual sensor is provided on the pickup device of the storage robot, and the collection of the inventory image of the target container via the vision sensor of the storage robot includes: when the storage robot moves to the The target position corresponding to the target container is collected, and when the pickup device of the warehouse robot moves to the set position of the target container, an inventory image of the target container is collected via the visual sensor.
  • FIG. 5 is a flowchart of step S302 in the embodiment shown in FIG. 3 of the present disclosure.
  • FIG. 5 is directed to the situation in which the visual sensor is arranged on the picking device of the warehouse robot.
  • the step S302 specifically includes the following steps:
  • Step S3024 move the storage robot to a target position corresponding to the target container, and move the pickup device of the storage robot to a set position of the target container.
  • the set position may be above the target container, such as directly above, upper right corner, and the like.
  • the movement of the pickup device may include rotation and translation according to its form.
  • a visual sensor can be set on one of the arms, such as the left arm or the right arm, and then the fork provided with the visual sensor can be moved. to the top of the center of the target container, so that subsequent image acquisition can be performed.
  • the sensor is arranged on the pickup device, so that the same inventory image can be collected without taking the target box from the storage location, which further improves the efficiency of the inventory.
  • Step S3025 collecting the inventory image of the target container via the visual sensor.
  • the method further includes:
  • the inventory task information determine the target container and the target position of the target container; determine the storage robot that performs the inventory of the target container; according to the storage robot, the target container and its corresponding target position, generate The inventorying instruction of the storage robot, so as to control the storage robot to move to a target position corresponding to the target container according to the inventorying instruction.
  • Step S303 determining the inventory type of the material according to the inventory image.
  • the inventory type refers to the type of material determined by the warehouse robot according to the inventory image.
  • the inventory type of the material placed in the target container can be determined by extracting features from the inventory image. It is also possible to determine the inventory type of the material placed in the target container based on a preset material identification algorithm.
  • Step S304 identifying the storage situation of each of the storage compartments according to the inventory image.
  • the storage situation refers to whether the storage compartment stores materials, and may also refer to the quantity of materials stored in each storage compartment.
  • image segmentation may be performed on the inventory image to be divided into inventory sub-images corresponding to each storage compartment, so as to determine whether the storage compartment stores materials according to the average value of gray values of each inventory sub-image.
  • the outline feature of the material placed in the storage compartment the outline feature of the inventory image can be identified, and the storage condition of each storage compartment can be determined.
  • Step S305 Determine the counted quantity of materials in the target container according to the storage conditions of each of the storage compartments.
  • the counted quantity of the materials in the target container can be determined.
  • the identifying the storage situation of each of the storage compartments according to the inventory image includes: identifying, according to the inventory image, whether the material is stored in each of the storage compartments; correspondingly, The determining the inventory quantity of the materials in the target cargo box according to the storage situation of each of the storage compartments includes: determining the number of storage compartments in the target cargo box according to the number of the storage compartments in which the materials are stored. The counted quantity of the item.
  • the same quantity of materials may be stored in each storage compartment of the target container, and further, the counted quantity of materials in the target container may be determined according to the number of storage compartments in which the material is stored.
  • the determining the counted quantity of the material in the target cargo box according to the number of the storage compartments in which the material is stored includes: acquiring the compartmentalized storage of the material in each of the storage compartments. Quantity; according to the storage quantity corresponding to each of the storage compartments in which the material is stored, determine the counted quantity of the material in the target container.
  • the corresponding relationship between each storage compartment and the corresponding storage quantity of the material may be established in advance, so that according to The corresponding relationship obtains the storage quantity of the material in each of the storage compartments. Furthermore, the counted quantity of the material in the target container may be determined according to the sum of the storage quantities of the storage compartments corresponding to each storage compartment in which the material is stored.
  • Step S306 according to the first matching result of the preset type of the material of the target container and the inventory type, and/or, according to the second matching result of the preset quantity of the material of the target container and the inventory quantity, carry out the process.
  • the storage of the target container is verified, and a verification report is generated.
  • the preset type of the material of the target container matches the inventory type, and the preset quantity matches the inventory quantity, that is, when both the first matching result and the second matching result match, it indicates that the storage of the target container is If the verification is qualified, a verification report will be generated.
  • the first matching result and the second matching result is unqualified, it means that the storage verification of the target container is unqualified, and unqualified information is output, such as material type mismatch, quantity mismatch, etc.
  • the preset type and the preset quantity can be updated according to the inventory type and inventory quantity.
  • the method further includes: when the counted quantity of the material in the target container cannot be determined according to the counted image, generating an identification failure prompt message.
  • the inventory type of the material and the storage situation in each storage compartment are identified according to the inventory image, and then the inventory quantity of the material is determined according to the storage situation.
  • FIG. 6 is a flowchart of a material inventory method provided by another embodiment of the present disclosure.
  • the material in the target container targeted by this embodiment is provided with a material identification code, and on the basis of the embodiment shown in FIG. 2 , in Steps related to the mobile storage robot are added before step S201.
  • the material inventory method includes:
  • Step S601 Determine the target container and the target position of the target container according to the inventory task information.
  • the inventory task information may include the identification information of all the containers that need to be inventoryed or the location information corresponding to the storage location.
  • the target container is the container that needs to be counted, and the location of the target container may be the location of the storage location of the target container, or may be the identification information of the target container.
  • the material in the target container is provided with a material identification code.
  • the material identification code can be a two-dimensional code, barcode, electronic label, etc.
  • the material identification code can be set on any material in the target container, such as any position on the upper surface. , the material identification code can be generated according to the type and quantity of the material in the target container.
  • Step S602 determining a warehouse robot that performs the inventory of the target container.
  • an intelligent warehousing system or a warehousing system includes multiple warehousing robots, from which an appropriate warehousing robot can be selected as a robot for a subsequent task. For example, it can be determined according to the working state of the warehousing robot, such as selecting a warehousing robot in an idle state or a standby state.
  • the location of the warehouse robot can also be considered, and the warehouse robot with a closer distance can be selected to carry out the inventory of the target container.
  • an inventory robot specially used for inventory can also be set, and a robot in an idle state can be selected from the inventory robots.
  • the warehousing robot corresponding to each target container that needs to be counted can also be determined. That is, according to the target cargo boxes to be counted, the target cargo boxes corresponding to each warehouse robot to be counted are determined.
  • Step S603 according to the warehousing robot, the target container and the corresponding target position, generate an inventory instruction of the warehousing robot.
  • the counting instruction may include the target position of each target container, the storage robot corresponding to each target container, and may also include the counting sequence of each target container.
  • Step S604 move the storage robot to a target position corresponding to the target container according to the inventory instruction.
  • Step S605 collecting the inventory image of the material identification code on the material in the target container via the storage robot.
  • the identification pattern of the material identification code is generated according to the material type and material quantity of the target container.
  • the specific process of collecting the inventory image is similar to the process of the above-mentioned embodiment, and the corresponding inventory image collection method can be performed according to the position where the material identification code is placed and the position where the visual sensor is set.
  • the vision sensor can be installed on the fuselage of the storage robot, the collection of the inventory image is performed by extracting the target container into the back basket of the storage robot or extracting the target container outside the shelf.
  • the target container may not be extracted, but the inventory image can be collected at the original location.
  • Step S606 identifying the inventory image of the material identification code.
  • the identification algorithm of the material identification code of the inventory image can be a barcode identification algorithm (when the material identification code is a barcode), such as the zbar algorithm, or a two-dimensional code identification algorithm (when the material identification code is a two-dimensional code), Such as the Reed Solomon (RS) algorithm, or it can also be an algorithm based on radio frequency identification (when the material identification code is an electronic label).
  • a barcode identification algorithm when the material identification code is a barcode
  • a two-dimensional code identification algorithm when the material identification code is a two-dimensional code
  • RS Reed Solomon
  • Step S607 Determine the inventory type and inventory quantity of the material in the target container according to the identification result.
  • the inventory type and inventory data of the materials placed in the target container can be identified, and then the inventory type and inventory quantity corresponding to each target container can be summarized or counted. The entire inventory task.
  • the storage robot when the storage robot cannot recognize the inventory image, such as the storage compartment in the inventory image is blocked, or there are stains on the material identification code, etc., it can also generate a recognition failure prompt message to remind relevant personnel that the target container is abnormal. .
  • the inventory robot is determined through the inventory task, and the position of the target container corresponding to the material that needs to be inventory is determined, so as to generate an inventory instruction, control the warehouse robot to move to the position corresponding to the target container, and Collect the inventory image of the material identification code of the target container, and then identify the material identification code and determine the inventory type and inventory quantity of the material, which improves the automation of the entire process of material inventory, improves inventory efficiency, and reduces inventory. cost; at the same time, the operation content of the storage robot is expanded, and the intelligence of the storage robot is improved.
  • FIG. 7 is a flowchart of a material inventory method provided by another embodiment of the present disclosure.
  • the material inventory method provided by this embodiment is applied to warehouse management equipment. As shown in FIG. 7 , the method includes the following steps:
  • Step S701 acquiring the inventory image of the target container collected by the warehouse robot.
  • Step S702 Determine the counted quantity of the material in the target container according to the counted image.
  • the target cargo box includes a set number of storage compartments
  • the determining the counted quantity of materials in the target cargo box according to the inventory image includes:
  • the storage situation of each of the storage compartments is identified according to the inventory image; the inventory quantity of the materials in the target container is determined according to the storage situation of each of the storage compartments.
  • the identifying the storage situation of each of the storage compartments according to the inventory image includes: identifying, according to the inventory image, whether the material is stored in each of the storage compartments; correspondingly, The determining the inventory quantity of the materials in the target cargo box according to the storage situation of each of the storage compartments includes: determining the number of storage compartments in the target cargo box according to the number of the storage compartments in which the materials are stored. The counted quantity of the item.
  • the determining the counted quantity of the material in the target cargo box according to the number of the storage compartments in which the material is stored includes: acquiring the compartmentalized storage of the material in each of the storage compartments. Quantity; according to the storage quantity corresponding to each of the storage compartments in which the material is stored, determine the counted quantity of the material in the target container.
  • the method before acquiring the inventory image of the target container collected by the warehousing robot, the method further includes: determining the target container and the target position of the target container according to the inventory task information; determining to carry out the target A storage robot for container inventory; according to the storage robot, the target container and its corresponding target position, an inventory instruction of the storage robot is generated, so as to control the storage robot to move to the target container according to the inventory instruction The corresponding target position; when it is determined that the storage robot moves to the target position, an inventory image acquisition instruction is generated to control the inventory image of the target container collected by the warehouse robot according to the inventory image acquisition instruction.
  • the acquiring the inventory image of the target container collected by the storage robot includes: acquiring the inventory image of the target container collected by the vision sensor of the storage robot.
  • the acquiring the inventory image of the target container collected by the warehousing robot includes: acquiring the inventory image of the material identification code on the material in the target container collected by the warehousing robot, wherein the material identification code is The identification pattern is generated according to the type and quantity of the material in the target container; correspondingly, determining the inventory quantity of the material in the target container according to the inventory image includes: identifying the material identification The inventory image of the code; determine the inventory type and inventory quantity of the material in the target container according to the recognition result.
  • the material inventorying method further includes: determining the inventorying type of the material according to the inventorying image.
  • the material inventory method further includes: acquiring preset storage information of the target container, wherein the preset storage information includes preset types and/or preset types of materials stored in the target container. Set the quantity; according to the first matching result of the preset type of the material of the target container and the inventory type, and/or, according to the second matching result of the preset quantity of the material of the target container and the inventory quantity, carry out The storage of the target container is verified, and a verification report is generated.
  • the material inventory method further includes: when the inventory quantity of the material in the target container cannot be determined according to the inventory image, generating an identification failure prompt message.
  • FIG. 8 is a schematic structural diagram of a material inventory device provided by an embodiment of the present disclosure. As shown in FIG. 8 , the material inventory device includes: a first inventory image acquisition module 810 and a first inventory quantity determination module 820 .
  • the first inventory image acquisition module 810 is used to collect the inventory image of the target container via the storage robot; the first inventory quantity determination module 820 is used to determine the material in the target container according to the inventory image. Count the quantity.
  • the target container includes a set number of storage compartments
  • the inventory quantity determination module 820 includes:
  • a storage situation identification unit used for identifying the storage situation of each of the storage compartments according to the inventory image; a count quantity determination unit, used for determining the target goods according to the storage situation of each of the storage compartments The counted quantity of the item in the box.
  • the storage situation identification unit is specifically configured to: identify whether the material is stored in each of the storage compartments according to the inventory image.
  • the counting quantity determining unit is specifically configured to: determine the counting quantity of the material in the target container according to the quantity of the storage compartments in which the material is stored.
  • the unit for determining the inventory quantity is specifically configured to: obtain the storage quantity of the material in each of the storage compartments;
  • the counted quantity of the material in the target container is determined according to the storage quantity of each of the storage compartments corresponding to the storage compartment.
  • the storage robot includes a vision sensor
  • the first inventory image acquisition module 810 is specifically configured to: collect the inventory image of the target container via the vision sensor of the storage robot.
  • the visual sensor is arranged on the top of the storage robot
  • the first inventory image acquisition module 810 includes: a target container extraction unit, used for when the storage robot moves to the target corresponding to the target container position, and when the pickup device of the warehouse robot moves to a set height, the target container is picked up via the pickup device of the warehouse robot; the first inventory image acquisition unit is used to pass the visual sensor An extracted inventory image of the target container is acquired.
  • the material inventory device further includes: a light source turning-on module, configured to determine the target container according to the height of the target container before collecting the extracted inventory image of the target container via the visual sensor.
  • the packaging light source of the vision sensor turning on the packaging light source.
  • the visual sensor is arranged on the pickup device of the storage robot, and the first inventory image acquisition module 810 is specifically used for: when the storage robot moves to the target position corresponding to the target container, and When the pick-up device of the warehouse robot moves to the set position of the target container, it collects the extracted inventory image of the target container via the vision sensor.
  • the material inventory device further includes: a target position determination module, configured to determine the target container according to the inventory task information before the storage robot moves to the target position corresponding to the target container The target position of the target cargo box; the robot determination module is used to determine the storage robot that performs the inventory of the target cargo box; the inventory instruction generation module is used to determine the storage robot, the target cargo box and its corresponding target position, An inventorying instruction of the storage robot is generated, so as to control the storage robot to move to a target position corresponding to the target container according to the inventorying instruction.
  • a target position determination module configured to determine the target container according to the inventory task information before the storage robot moves to the target position corresponding to the target container The target position of the target cargo box
  • the robot determination module is used to determine the storage robot that performs the inventory of the target cargo box
  • the inventory instruction generation module is used to determine the storage robot, the target cargo box and its corresponding target position, An inventorying instruction of the storage robot is generated, so as to control the storage robot to move to a target position corresponding to
  • the material in the target container is provided with a material identification code, and the identification pattern of the material identification code is generated according to the type and quantity of the material in the target container, and the first inventory image acquisition module 810, which is specifically used for: collecting the inventory image of the material identification code on the material in the target container via the storage robot; correspondingly, the first inventory quantity determination module 820 is specifically used for: identifying the material identification code Inventory image of the inventory; determine the inventory type and inventory quantity of the material in the target container according to the recognition result.
  • the material inventorying device further includes: an inventorying type determining module, configured to determine the inventorying type of the material according to the inventorying image.
  • the material inventorying device further includes: a preset storage information acquisition module, configured to acquire preset storage information of the target container, wherein the preset storage information includes the stored information of the target container.
  • the preset type and/or the preset quantity of the material is used to match the preset type of the material of the target container and the first matching result of the inventory type, and/or, according to the target container According to the second matching result of the preset quantity of the material and the counted quantity, the storage verification of the target container is performed, and a verification report is generated.
  • the material inventorying device further includes: a recognition failure prompting module, configured to generate recognition failure prompting information when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image.
  • a recognition failure prompting module configured to generate recognition failure prompting information when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image.
  • FIG. 9 is a schematic structural diagram of a material inventory device provided by another embodiment of the present disclosure. As shown in FIG. 9 , the material inventory device includes: a second inventory image acquisition module 910 and a second inventory quantity determination module 920 .
  • the second inventory image acquisition module 910 is used to acquire the inventory image of the target container collected by the warehouse robot; the second inventory quantity determination module 920 is used to determine the inventory quantity of the material in the target container according to the inventory image.
  • the target cargo box includes a set number of storage compartments
  • the second inventory quantity determination module 920 includes:
  • the storage compartment identification unit is used to identify the storage situation of each of the storage compartments according to the inventory image; the second inventory quantity determination unit is used to determine the storage situation of each of the storage compartments. Describes the counted quantity of the material in the target container.
  • the storage compartment identification unit is specifically configured to: identify whether the material is stored in each of the storage compartments according to the inventory image.
  • the second counting quantity determining unit is specifically configured to: determine the counting quantity of the material in the target container according to the quantity of the storage compartment in which the material is stored.
  • the second inventory quantity determination unit is specifically configured to: obtain the storage quantity of the material in each of the storage compartments; The storage quantity of the compartment is determined, and the counted quantity of the material in the target container is determined.
  • the material inventory device further includes: an inventory instruction determination module, configured to determine the target container and the target container according to the inventory task information before acquiring the inventory image of the target container collected by the warehousing robot.
  • the target position of the warehouse robot determine the storage robot that performs the inventory of the target container; according to the storage robot, the target container and its corresponding target position, generate the inventory robot's inventory instruction, so as to control the storage robot according to the inventory instruction
  • the warehousing robot moves to the target position corresponding to the target container
  • the collection instruction generation module is used to generate an inventory image collection instruction when it is determined that the warehousing robot moves to the target position, so as to control according to the inventory image collection instruction
  • the second inventory image acquisition module 910 is specifically configured to: acquire the inventory image of the target container collected by the vision sensor of the warehouse robot.
  • the second inventory image acquisition module 910 is specifically configured to: acquire the inventory image of the material identification code on the material in the target container collected by the warehouse robot, wherein the identification of the material identification code is The pattern is generated according to the type and quantity of the material in the target container; correspondingly, determining the counted quantity of the material in the target container according to the inventory image includes: identifying the material identification code. Inventory image; determine the inventory type and inventory quantity of the material in the target container according to the recognition result.
  • the material inventorying device further includes: a second inventorying type determining module, configured to determine the inventorying type of the material according to the inventorying image.
  • the material inventory device further includes: a verification report generation module, configured to acquire preset storage information of the target container, wherein the preset storage information includes materials stored in the target container The preset type and/or the preset quantity; according to the first matching result of the preset type of the material in the target container and the inventory type, and/or, according to the preset quantity and inventory of the material in the target container According to the second matching result of the quantity, the storage verification of the target container is performed, and a verification report is generated.
  • a verification report generation module configured to acquire preset storage information of the target container, wherein the preset storage information includes materials stored in the target container The preset type and/or the preset quantity; according to the first matching result of the preset type of the material in the target container and the inventory type, and/or, according to the preset quantity and inventory of the material in the target container According to the second matching result of the quantity, the storage verification of the target container is performed, and a verification report is generated.
  • the material inventorying device further includes: a second recognition failure prompting module, configured to generate recognition failure prompting information when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image.
  • a second recognition failure prompting module configured to generate recognition failure prompting information when the inventorying quantity of the material in the target container cannot be determined according to the inventorying image.
  • FIG. 10 is a schematic structural diagram of a storage robot according to an embodiment of the disclosure. As shown in FIG. 10 , the storage robot includes: a memory 1010 , a processor 1020 and a computer program.
  • the computer program is stored in the memory 1010 and configured to be executed by the processor 1020 to implement the material inventory method provided by any of the embodiments corresponding to FIGS. 2 to 6 of the present disclosure.
  • the memory 1010 and the processor 1020 are connected through a bus 1030 .
  • FIG. 11 is a schematic structural diagram of a storage robot according to another embodiment of the present disclosure. As shown in FIG. 11 , the storage robot includes: a mobile chassis 1110 , a pickup device 1120 , a cache mechanism 1130 and a controller 1140 .
  • the cache mechanism 1130 is arranged on the mobile chassis 1110, the pickup device 1120 is mechanically connected to the storage rack, and the controller 1140 is connected to the mobile chassis 1110 and the pickup device 1120 respectively, and is used to control the mobile chassis 1110 and the pickup device 1120 to
  • the material inventory method provided by any of the embodiments corresponding to FIGS. 2 to 6 of the present disclosure is implemented.
  • the warehouse robot further includes a vision sensor, which can be a 2D camera, a depth camera, a lidar, etc., which can be arranged at the end of the pickup device 1120 or at the top of the cache mechanism 1130 to collect the inventory images in the above-mentioned embodiments. .
  • a vision sensor which can be a 2D camera, a depth camera, a lidar, etc., which can be arranged at the end of the pickup device 1120 or at the top of the cache mechanism 1130 to collect the inventory images in the above-mentioned embodiments. .
  • the storage robot also includes an inventory light source, and the number of the inventory light source can be one or more, and when it is one, it can be arranged at the top of the storage robot; when there are multiple, it can be arranged at the top and the upper end of the storage robot, respectively.
  • the warehousing robot can also be used to extract and store the target container.
  • FIG. 12 is a schematic structural diagram of a warehouse management device provided by an embodiment of the present disclosure. As shown in FIG. 12 , the warehouse management device includes: a memory 1210 , a processor 1220 and a computer program.
  • the computer program is stored in the memory 1210 and configured to be executed by the processor 1220 to implement the material inventory method provided by the embodiment corresponding to FIG. 7 of the present disclosure.
  • the memory 1210 and the processor 1220 are connected through a bus 1230 .
  • FIG. 13 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure. As shown in FIG. 13 , the storage system includes: a storage robot 1310 , a shelf 1320 , and a warehouse management device 1330 .
  • the target container 1321 is placed on the shelf 1320, the storage robot 1310 is a storage robot provided by any of the embodiments corresponding to the embodiments shown in FIG. 10 and FIG. 11 of the present disclosure, and the storage robot 1310 is connected with the warehouse management device 1330, and is used for the storage robot according to the warehouse management device.
  • the instruction of 1330 moves to the target position where the target container 1321 is located and performs an inventory of the materials in the target container 1321 .
  • FIG. 14 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure. As shown in FIG. 14 , the storage system includes: a storage robot 1410 , a shelf 1420 , and a warehouse management device 1430 .
  • the target container 1421 is placed on the shelf 1420, the storage robot 1410 is a storage robot provided by any of the embodiments corresponding to the embodiments shown in FIGS. 10 and 11 of the present disclosure, and the storage robot 1410 is connected with the warehouse management equipment 1430 for storing according to the warehouse management equipment. 1430 moves to the target position where the target container 1421 is located, and collects the inventory image of the target container 1421; the warehouse management device 1430 is the warehouse management device in the embodiment shown in FIG. 12 of the present disclosure, and is used to receive the inventory image , and perform the inventory of the materials in the target container 1421 according to the inventory image.
  • An embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the material inventory method provided by any one of the embodiments corresponding to FIG. 2 to FIG. 7 of the present disclosure .
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of modules is only a logical function division.
  • there may be other division methods for example, multiple modules or components may be combined or integrated. to another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

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Abstract

一种物料盘点方法、装置、仓储机器人和仓储系统，该物料盘点方法应用于仓储机器人，该方法包括：经由所述仓储机器人采集目标货箱的盘点图像(S201)；根据所述盘点图像确定所述目标货箱内的物料的盘点数量(S202)。该通过仓储机器人进行目标货箱的盘点图像的采集，并通过对该盘点图像的图像识别确定目标货箱的物料的数量，实现了物料的原地、自动盘点，无需进行货箱的跨区域移动，大大提高了物料盘点的效率，降低了盘点的成本。

Description

物料盘点方法、装置、仓储机器人和仓储系统
本公开要求于2020年07月02日提交中国专利局、申请号为202010625414.9、申请名称为“物料盘点方法、装置、仓储机器人和仓储系统”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种物料盘点方法、装置、仓储机器人和仓储系统。
背景技术
基于仓储机器人的仓储系统采用智能操作系统，通过系统指令实现货物的自动提取和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
在仓储系统的日常运营中，需要对仓库中的物料进行周期性的盘点。现有的盘点方式，需要将货架区的货物，由人工或仓储机器人调度运输至人机交互工作站中，以由相关操作人员对货箱内的物料进行盘点，盘点用时较长、效率较低。
发明内容
本公开实施例提供了一种物料盘点方法、装置、仓储机器人和仓储系统，实现了在货架区由仓储机器人自动进行物料盘点，提高了盘点的效率，降低了盘点成本。
第一方面，本公开实施例提供了一种物料盘点方法，所述物料盘点方法应用于仓储机器人，所述方法包括：经由所述仓储机器人采集目标货箱的盘点图像；根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：根据所述盘点图像识别各个所述储物分格的储物情况；根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，所述根据所述盘点图像识别各个所述储物分格的储物情况，包括：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料；相应的，所述根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量，包括：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量，包括：获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，所述仓储机器人包括视觉传感器，所述经由所述仓储机器人采集目标货箱的盘点图像，包括：经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像。
可选地，所述视觉传感器设置于所述仓储机器人的顶端，所述经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像，包括：当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至设定高度时，经由所述仓储机 器人的取货装置提取所述目标货箱；经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
可选地，在经由所述视觉传感器采集所提取的所述目标货箱的盘点图像之前，所述方法还包括：根据所述目标货箱的高度，确定所述视觉传感器的盘点光源；开启所述盘点光源。
可选地，所述视觉传感器设置于所述仓储机器人的取货装置上，所述经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像，包括：当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置时，经由所述视觉传感器采集所述目标货箱的盘点图像。
可选地，在所述仓储机器人移动至所述目标货箱对应的目标位置之前，所述方法还包括：根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置。
可选地，所述目标货箱内的物料上设置有物料标识码，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的，所述经由所述仓储机器人采集目标货箱的盘点图像，包括：经由所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像；相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，所述物料标识码包括二维码、条形码或电子标签中的至少一项。
可选地，所述物料盘点方法还包括：根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点方法，还包括：获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点方法，还包括：当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
第二方面，本公开实施例还提供了一种物料盘点方法，该方法应用于仓库管理设备，该方法包括：获取仓储机器人采集的目标货箱的盘点图像；根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：根据所述盘点图像识别各个所述储物分格的储物情况；根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，所述根据所述盘点图像识别各个所述储物分格的储物情况，包括：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料；相应的，所述根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量，包括：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量，包括：获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，在获取仓储机器人采集的目标货箱的盘点图像之前，所述方法还包括：根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的 目标位置；当确定所述仓储机器人移动至所述目标位置时，生成盘点图像采集指令，以根据所述盘点图像采集指令控制所述仓储机器人采集的目标货箱的盘点图像。
可选地，所述获取仓储机器人采集的目标货箱的盘点图像，包括：获取所述仓储机器人的视觉传感器采集的所述目标货箱的盘点图像。
可选地，所述获取仓储机器人采集的目标货箱的盘点图像，包括：获取所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像，其中，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的；相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，所述物料盘点方法还包括：根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点方法，还包括：获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点方法，还包括：当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
第三方面，本公开实施例还提供了一种物料盘点装置，该装置包括：第一盘点图像获取模块，用于经由所述仓储机器人采集目标货箱的盘点图像；第一盘点数量确定模块，用于根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述第一盘点数量确定模块，包括：
储物情况识别单元，用于根据所述盘点图像识别各个所述储物分格的储物情况；盘点数量确定单元，用于根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，储物情况识别单元，具体用于：
根据所述盘点图像识别各个所述储物分格内是否存储有所述物料。
相应的，所述盘点数量确定单元，具体用于：
根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述盘点数量确定单元，具体用于：
获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，所述仓储机器人包括视觉传感器，所述第一盘点图像获取模块，具体用于：
经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像。
可选地，所述视觉传感器设置于所述仓储机器人的顶端，所述第一盘点图像获取模块，包括：
目标货箱提取单元，用于当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至设定高度时，经由所述仓储机器人的取货装置提取所述目标货箱；第一盘点图像采集单元，用于经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
可选地，该物料盘点装置，还包括：
光源开启模块，用于在经由所述视觉传感器采集所提取的所述目标货箱的盘点图像之前，根据所述目标货箱的高度，确定所述视觉传感器的盘点光源；开启所述盘点光源。
可选地，所述视觉传感器设置于所述仓储机器人的取货装置上，所述第一盘点图像获取模块，具体用于：
当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置时，经由所述视觉传感器采集所述目标货箱的盘点 图像。
可选地，所述物料盘点装置，还包括：
目标位置确定模块，用于在所述仓储机器人移动至所述目标货箱对应的目标位置之前，根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；机器人确定模块，用于确定进行所述目标货箱盘点的仓储机器人；盘点指令生成模块，用于根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置。
可选地，所述目标货箱内的物料上设置有物料标识码，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的，所述第一盘点图像获取模块，具体用于：经由所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像；相应的，所述第一盘点数量确定模块，具体用于：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，所述物料盘点装置，还包括：
盘点类型确定模块，用于根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点装置，还包括：
预设存储信息获取模块，用于获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；盘点信息匹配模块，用于根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点装置，还包括：
识别失败提示模块，用于当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
第四方面，本公开实施例还提供了一种物料盘点装置，该装置包括：第二盘点图像获取模块，用于获取仓储机器人采集的目标货箱的盘点图像；第二盘点数量确定模块，根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述第二盘点数量确定模块，包括：
储物分格识别单元，用于根据所述盘点图像识别各个所述储物分格的储物情况；第二盘点数量确定单元，用于根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，所述储物分格识别单元，具体用于：
根据所述盘点图像识别各个所述储物分格内是否存储有所述物料。
相应的，所述第二盘点数量确定单元，具体用于：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述第二盘点数量确定单元，具体用于：
获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，该物料盘点装置，还包括：
盘点指令确定模块，用于在获取仓储机器人采集的目标货箱的盘点图像之前，根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置；采集指令生成模块，用于当确定所述仓储机器人移动至所述目标位置时，生成盘点图像采集指令，以根据所述盘点图像采集指令控制所述仓储机器人采集的目标货箱的盘点图像。
可选地，所述第二盘点图像获取模块，具体用于：
获取所述仓储机器人的视觉传感器采集的所述目标货箱的盘点图像。
可选地，所述第二盘点图像获取模块，具体用于：
获取所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像，其中，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的；相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，该物料盘点装置，还包括：：
第二盘点类型确定模块，用于根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点装置，还包括：
校验报告生成模块，用于获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点装置，还包括：
第二识别失败提示模块，用于当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
第五方面，本公开实施例还提供了一种仓储机器人，包括存储器，处理器以及计算机程序；其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现本公开第一方面对应的任意实施例提供的物料盘点方法。
第六方面，本公开实施例还提供了一种仓库管理设备，包括存储器，处理器以及计算机程序；其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现公开第二方面对应的任意实施例提供的物料盘点方法。
第七方面，本公开实施例还提供了一种仓储系统，包括：本公开第五方面对应的实施例提供的仓储机器人、货架和仓库管理设备，其中，所述仓储机器人与所述仓库管理设备连接，用于根据所述仓库管理设备的指令移动至目标货箱所在的目标位置并进行目标货箱内物料的盘点，其中，所述目标货箱放置于所述货架上。
第八方面，本公开实施例还提供了一种仓储系统，包括：仓储机器人、货架和本公开第六方面对应的实施例提供的仓库管理设备，其中，所述仓储机器人与所述仓库管理设备连接，用于根据所述仓库管理设备的指令移动至目标货箱所在的目标位置，并采集目标货箱的盘点图像，其中，所述目标货箱放置于所述货架上；所述仓库管理设备用于接收所述盘点图像，并根据所述盘点图像进行目标货箱内物料的盘点。
第九方面，本公开还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如本公开第一方面对应的任意实施例提供的，或者第二方面对应的任意实施例提供的物料盘点方法。
本公开实施例提供的物料盘点方法、装置、仓储机器人和仓储系统，通过仓储机器人采集目标货箱的盘点图像，并根据该盘点图像自动确定目标货箱内的物料的数量，实现了对物料的自动盘点，且无需对货箱进行跨区域移动，大大提高了盘点的效率，降低了盘点的成本。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本公开实施例提供的物料盘点方法的一种应用场景图；
图2为本公开一个实施例提供的物料盘点方法的流程图；
图3为本公开另一个实施例提供的物料盘点方法的流程图；
图4为本公开图3所示实施例中步骤S302的流程图；
图5为本公开图3所示实施例中步骤S302的流程图；
图6为本公开又一个实施例提供的物料盘点方法的流程图；
图7为本公开又一个实施例提供的物料盘点方法的流程图；
图8为本公开一个实施例提供的物料盘点装置的结构示意图；
图9为本公开另一个实施例提供的物料盘点装置的结构示意图；
图10为本公开一个实施例提供的仓储机器人的结构示意图
图11为本公开另一个实施例提供的仓储机器人的结构示意图；
图12为本公开一个实施例提供的仓库管理设备的结构示意图；
图13为本公开一个实施例提供的仓储系统的结构示意图；
图14为本公开另一个实施例提供的仓储系统的结构示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。
下面对本公开实施例的应用场景进行解释：
图1为本公开实施例提供的物料盘点方法的一种应用场景图，如图1所示，在进行物料盘点时，智能仓储系统100通过控制仓储机器人110对位于货架区的货架120上的待盘点货箱121进行提取，并将其移动至人机交互工作站(也可称为人工作业区)130中，由人机交互工作站130的操作人员对待盘点货箱121中的物料进行盘点。由于仓储机器人数量有限，且货箱周转搬运所需步骤繁琐，导致盘点耗时较长，盘点效率低下。
为了解决这一问题，本公开实施例提供的物料盘点方法，基于仓储机器人进行货箱图像的采集，并通过对该图像进行识别以自动确定货箱内物料的数量，实现了物料的原地、自动盘点，提高了盘点效率。
图2为本公开一个实施例提供的物料盘点方法的流程图。该物料盘点方法应用于仓储机器人，如图2所示，本实施例提供的物料盘点方法包括以下步骤：
步骤S201，经由所述仓储机器人采集目标货箱的盘点图像。
其中，目标货箱的数量可以是一个或者多个，如可以是2个、3个、10个或者其他个数，目标货箱可以是框式货箱，即为不包括上表面的矩形货箱。盘点图像指的是仓储机器人采集的用于进行目标货箱内的物料盘点的图像，可以是彩色图像、黑白图像、点云数据等，还可以是视频。
具体的，当目标货箱的个数为多个，即至少两个时，经由仓储机器人采集各个目标货箱对应的盘点图像。
具体的，目标货箱可以是放置在货架上的任意一个或多个货箱。
进一步地，可以根据盘点指令，经由仓储机器人采集目标货箱的盘点图像，其中，盘点指令中可以包括目标货箱的位置信息、标识信息等信息，位置信息可以是目标货箱所在库位的编号、序号或者坐标等，标识信息即该目标货箱的ID信息，可以是货箱序号。该盘点指令可以由人工输入，也可以由仓储系统的处理器发出。
当然，在采集盘点图像之前，还可以根据相关控制指令，将所述仓储机器人移动至目标货箱所在的目标位置，以便于对应目标货箱进行盘点图像采集。
步骤S202，根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
其中，盘点数量指的是目标货箱内物料的总数量。物料可以是任意一种货物，如衣服、建材、饰品、纸制品或者其他物品。该物料可以是按照设定方式放置于目标货箱内，如按捆或沓放置。
具体的，当该盘点图像包括目标货箱的标识码时，可以通过识别该标识码进而得到目标货箱内的物料的盘点数量。该标识码可以设置于目标货箱上，如目标货箱的设定表面，通常时面向仓储机器人的一面，还可以是底面或侧面。当为底面时，可以通过提取和移动目标货箱的方式，来获取目标货箱对应的盘点图像，从而根据该盘点图像确定目标货箱内的物料的盘点数量。
具体的，可以基于图像识别算法，根据盘点图像确定目标货箱内的物料的盘点数量。如可以是图像匹配算法，通过对该物料进行特征工程，确定其对应的物料特征，进而根据特征匹配算法识别图像中物料的数量。还可以是神经网络算法，如可以预先训练物料识别神经网络，进而根据该网络确定物料的盘点数量。还可以针对具有不同物料特征的物料，如具有不同轮廓特征的物料，即针对不同类型的物料，预先训练不同的神经网络来进行该类型的物料的识别和数量的盘点，以提高盘点的准确度。
示例性的，物料为成捆放置，每捆包括固定数量的物料，那么，可以通过识别盘点图像中所包括的捆数，进而将捆数与每捆包括的物料数量相乘便可以得到物料的盘点数量。当然，对于成沓放置的物料，上述方法同样适用。
本公开实施例提供的物料盘点方法、装置、仓储机器人和仓储系统，通过仓储机器人采集目标货箱的盘点图像，并根据该盘点图像自动确定目标货箱内的物料的数量，实现了对物料的自动盘点，且无需对货箱进行跨区域移动，大大提高了盘点的效率，降低了盘点的成本。
图3为本公开另一个实施例提供的物料盘点方法的流程图。本实施例提高的物料盘点方法是在图2所示实施例的基础上对步骤S201和步骤S202的进一步细化，以及在步骤S201之前增加预设存信息获取的步骤，并步骤S202之后增加盘点类型确定的步骤以及盘点结果匹配的步骤，如图3所示，本实施例提供的物料盘点方法包括以下步骤：
步骤S301，获取所述目标货箱的预设存储信息。
其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量，所述目标货箱包括设定数量的储物分格。
具体的，预设数量可以是2个、4个、8个、9个或者其他数值，各个储物分格的大小可以相同，也可以不同。预设类型指的是目标货箱内预设的放置的物料的类型，预设数量指的是目标货箱内预设的放置的物料的数量。预设存储信息可以存储在仓储系统中任意存储器中，通过目标货箱的标识信息，如ID信息，获取其对应的预设存储信息。
进一步地，预设类型和预设数量可以是在目标货箱入库时，输入仓储系统的相关存储器中。
步骤S302，经由所述仓储机器人的视觉传感器采集目标货箱的盘点图像。
其中，所述仓储机器人的视觉传感器可以设置于仓储机器人的取货装置上，还可以设置于仓储机器人的顶端，或者仓储机器人的任意一个存储货板的上方。视觉传感器可以是2D相机、深度相机、激光雷达等。
可选地，图4为本公开图3所示实施例中步骤S302的流程图，图4针对的是视觉传感器设置于所述仓储机器人的顶端的情况，如图4所示，步骤S302具体包括以下步骤：
步骤S3021，当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至设定高度时，经由所述仓储机器人的取货装置提取所述目标货箱。
其中，目标位置可以是与目标货箱对应的位置，如目标货箱的正前方、左前方或右前方设定距离的位置。
具体的，可以根据仓储系统的仓库管理设备或处理器发出的指令，移动仓储机器人至目标货箱对应的目标位置，以及将仓储机器人的所述取货装置移动至设定高度。也可以根据操作人员输入的指令，移动所述仓储机器人至所述目标货箱对应的目标位置，以及将仓储机器人的所述取货装置移动至设定高度。
由于视觉传感器设置于仓储机器人的顶端，并朝向取货装置设置，为了可以更好地拍摄目标货箱的图像，需要将目标货箱从其对应的库位上提取出来。
具体的，可以是经由仓储机器人的取货装置将目标货箱从其对应的库位中移出，进而，设置在仓储机器人顶端的视觉传感器可以拍摄目标货箱的完整的盘点图像。
可选地，在经由所述视觉传感器采集所提取的所述目标货箱的盘点图像之前，所述方法还包括：
根据所述目标货箱的高度，确定所述视觉传感器的盘点光源；开启所述盘点光源。
其中，盘点光源的数量可以是一个或多个，当盘点光源的数量为一个时，可以设置在仓储机器人的顶端；当盘点光源的数量为多个时，可以分别设置在仓储机器人的顶端、各个仓储机器人的背篓的上端。在采集盘点图像之前，可以通过开启全部盘点光源进行补光，也可以仅开启目标货箱对应的背篓上端的盘点光源，或者根据目标货箱放置的背篓确定一个或多个盘点光源进行补光，以节约能耗，提高采集的盘点图像的清晰度。
步骤S3022，经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
容易想到，当视觉传感器设置于仓储机器人的任意一个存储货板、背篓或者缓存机构的横梁时，与图4所示步骤类似，仅需将目标货箱从货架上提取出来，直至目标货箱位于视觉传感器的视野范围内即可。
可选地，所述视觉传感器设置于所述仓储机器人的取货装置上，所述经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像，包括：当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置时，经由所述视觉传感器采集所述目标货箱的盘点图像。
可选地，图5为本公开图3所示实施例中步骤S302的流程图，图5针对的是视觉传感器设置于所述仓储机器人的取货装置上的情况，如图5所示，步骤S302具体包括以下步骤：
步骤S3024，移动所述仓储机器人至所述目标货箱对应的目标位置，并将所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置。
其中，设定位置可以是目标货箱的上方，如正上方、右上角等。
具体的，对于取货装置的移动，可以根据其形态可以包括旋转和平移。
示例性的，以取货装置为包括左臂和右臂的货叉为例，可以将视觉传感器设置于其中一个臂上，如左臂或右臂，进而可以将设置有视觉传感器的货叉移动至目标货箱中心的上方，从而可以进行后续图像的采集。
将传感器设置在取货装置上，从而无需将目标货箱从库位上提取下来，便可以采集相同的盘点图像，进一步提高了盘点的效率。
步骤S3025，经由所述视觉传感器采集所述目标货箱的盘点图像。
可选地，在所述仓储机器人移动至所述目标货箱对应的目标位置之前，还包括：
根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置。
步骤S303，根据所述盘点图像确定所述物料的盘点类型。
其中，盘点类型指的是仓储机器人根据盘点图像确定的物料的类型。
具体的，可以通过对盘点图像进行特征提取，从而确定目标货箱中放置的物料的盘点类型。也可以基于预设物料识别算法，确定目标货箱中放置的物料的盘点类型。
步骤S304，根据所述盘点图像识别各个所述储物分格的储物情况。
具体的，储物情况指的是该储物分格是否存储有物料，还可以是每个存储分格中存储的物料的数量。
具体的，可以对所述盘点图像进行图像分割，以划分为各个存储分格对应的盘点子图像，从而根据各个盘点子图像的灰度值的平均值确定该存储分格是否存储物料。
进一步地，还可以根据物料在储物分格中放置的轮廓特征，对盘点图像进行该轮廓特征的识别，进而确定各个储物分格的储物情况。
步骤S305，根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
具体的，将各个储物分格存储的物料的数量进行叠加，便可以确定目标货箱内的物料的盘点数量。
可选地，所述根据所述盘点图像识别各个所述储物分格的储物情况，包括：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料；相应的，所述根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量，包括：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
具体的，目标货箱的各个储物分格中可以存储有相同数量的物料，进而，可以根据存储有物料的储物分格的数量确定目标货箱内的物料的盘点数量。
可选地，所述根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量，包括：获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
具体的，当储物分格中存储不同数量的物料时，即上述分格存储数量不完全相同时，可以预先建立各个存储分格与其对应的该物料的分格存储数量的对应关系，从而根据该对应关系，获取各个所述储物分格的所述物料的分格存储数量。进而，可以根据存储有物料的各个储物分格对应的分格存储数量的和，确定目标货箱内的物料的盘点数量。
示例性的，假设目标货箱存在四个储物分格a、b、c和d，对于物料A的分格存储数量分别为Na、Nb、Nc和Nd，其中，储物分格a、b和c中存储有物料A，则目标货箱内物料A的盘点数量N的表达式为：N＝Na+Nb+Nc。
步骤S306，根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
具体的，当目标货箱的物料的预设类型和盘点类型匹配，且预设数量和盘点数量匹配时，即第一匹配结果和第二匹配结果均为匹配时，则说明目标货箱的存储校验合格，生成校验合格报告。而当第一匹配结果和第二匹配结果中至少一项不合格时，则说明目标货箱的存储校验不合格，输出不合格的信息，如物料的类型不匹配、数量不匹配等。
进一步地，可以在存储校验不匹配时，根据盘点类型和盘点数量更新预设类型和预设数量。
可选地，还包括：当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时， 生成识别失败提示信息。
在本实施例中，通过仓储机器人采集的盘点图像，根据该盘点图像识别物料的盘点类型和各个储物分格中的存储情况，进而根据存储情况确定物料的盘点数量，实现了物料的自动、原地盘点，盘点效率高、速度快；并根据识别的盘点类型和盘点数量与预设的类型和数量的匹配结果，进行存储校验，提高了物料仓储管理的科学性。
图6为本公开又一个实施例提供的物料盘点方法的流程图，本实施例所针对的目标货箱内的物料上设置有物料标识码，并在图2所示实施例的基础上，在步骤S201之前增加移动仓储机器人相关的步骤，如图6所示，该物料盘点方法，包括：
步骤S601，根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置。
其中，盘点任务信息可以包括全部需要进行盘点的货箱的标识信息或者库位对应的位置信息。目标货箱即需要进行盘点的货箱，目标货箱的位置可以是目标货箱的库位的位置，也可以是目标货箱的标识信息。目标货箱内的物料上设置有物料标识码，物料标识码可以是二维码、条形码、电子标签等，物料标识码可以设置于目标货箱内的任意一个物料上，如上表面的任意位置处，物料标识码可以是根据目标货箱的物料的类型和数量生成的。
步骤S602，确定进行所述目标货箱盘点的仓储机器人。
通常，智能仓储系统或仓储系统中，包括多个仓储机器人，可以从中选择合适的仓储机器人作为后续任务的机器人，如可以根据仓储机器人的工作状态确定，如选取空闲状态或者待机状态的仓储机器人。还可以考虑仓储机器人的位置，选择距离较近的仓储机器人进行目标货箱的盘点。
具体的，还可以设置专门用于盘点的盘点机器人，从盘点机器人中选择处于空闲状态的机器人。
进一步地，还可以确定需要盘点的各个目标货箱对应的仓储机器人。即根据需要进行盘点的目标货箱，确定进行盘点的各个仓储机器人对应的目标货箱。
步骤S603，根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令。
其中，盘点指令可以包括各个目标货箱的目标位置，各个目标货箱对应的仓储机器人，还可以包括各个目标货箱的盘点顺序。
步骤S604，根据所述盘点指令移动所述仓储机器人至所述目标货箱对应的目标位置。
步骤S605，经由所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像。
其中，所述物料标识码的标识图案是根据所述目标货箱的物料类型和物料数量生成的。
具体采集盘点图像的过程与上述实施例的过程类似，可以针对物料标识码放置的位置以及视觉传感器设置的位置，进行相应的盘点图像的采集方式。当视觉传感器可以设置于仓储机器人的机身上时，以将目标货箱提取至仓储机器人的背篓中或者将目标货箱提取至货架外的方式，进行盘点图像的采集。而针对视觉传感器设置于取货装置末端的情况，也可以不对目标货箱进行提取，而保持其在原有库位上进行盘点图像的采集。
步骤S606，识别所述物料标识码的盘点图像。
具体的，盘点图像的物料标识码的识别算法，可以是条形码识别算法(物料标识码为条形码时)，如zbar算法，还可以是二维码识别算法(物料标识码为二维码时)，如Reed Solomon(RS)算法，或者还可以是基于射频识别的算法(物料标识码为电子标签时)。
步骤S607，根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
通过对目标货箱的物料标识码进行识别，可以识别出目标货箱内放置的物料的盘点类型和盘点数据，进而可以将各个目标货箱对应的盘点类型和盘点数量进行汇总或统计，从而完成整个盘点任务。
进一步地，还可以将各个目标货箱对应的盘点类型和盘点数量分别与系统存储的目标 货箱内放置的物料的预设类型和预设数量进行比对，若结果不一致，则根据比对结果生成异常信息，以便于提醒相关操作人员进行该目标货箱的盘点数据和盘点类型的校验和纠正。
进一步地，当仓储机器人无法识别盘点图像时，如盘点图像中的储物分格被遮挡，物料标识码上存在污渍等，还可以生成识别失败提示信息，以提醒相关人员该目标货箱存在异常。
在本实施例中，通过盘点任务确定进行盘点的仓储机器人，以及确定需要进行盘点的物料对应的目标货箱的位置，从而生成盘点指令，控制仓储机器人移动至该目标货箱对应的位置，并进行目标货箱的物料标识码的盘点图像的采集，进而识别该物料标识码和确定物料的盘点类型和盘点数量，提高了物料盘点整个过程的自动化程度，提高了盘点的效率，降低了盘点的成本；同时，扩展了仓储机器人的作业内容，提高了仓储机器人的智能化程度。
图7为本公开又一个实施例提供的物料盘点方法的流程图，本实施例提供的物料盘点方法应用于仓库管理设备，如图7所示，该方法包括以下步骤：
步骤S701，获取仓储机器人采集的目标货箱的盘点图像。
步骤S702，根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：
根据所述盘点图像识别各个所述储物分格的储物情况；根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，所述根据所述盘点图像识别各个所述储物分格的储物情况，包括：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料；相应的，所述根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量，包括：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量，包括：获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，在获取仓储机器人采集的目标货箱的盘点图像之前，所述方法还包括：根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置；当确定所述仓储机器人移动至所述目标位置时，生成盘点图像采集指令，以根据所述盘点图像采集指令控制所述仓储机器人采集的目标货箱的盘点图像。
可选地，所述获取仓储机器人采集的目标货箱的盘点图像，包括：获取所述仓储机器人的视觉传感器采集的所述目标货箱的盘点图像。
可选地，所述获取仓储机器人采集的目标货箱的盘点图像，包括：获取所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像，其中，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的；相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，所述物料盘点方法还包括：根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点方法，还包括：获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点方法，还包括：当根据所述盘点图像无法确定所述目标货箱内 的物料的盘点数量时，生成识别失败提示信息。
图8为本公开一个实施例提供的物料盘点装置的结构示意图，如图8所示，该物料盘点装置包括：第一盘点图像获取模块810和第一盘点数量确定模块820。
其中，第一盘点图像获取模块810，用于经由所述仓储机器人采集目标货箱的盘点图像；第一盘点数量确定模块820，用于根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，盘点数量确定模块820，包括：
储物情况识别单元，用于根据所述盘点图像识别各个所述储物分格的储物情况；盘点数量确定单元，用于根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，储物情况识别单元，具体用于：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料。
相应的，盘点数量确定单元，具体用于：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述盘点数量确定单元，具体用于：获取各个所述储物分格的所述物料的分格存储数量；
根据存储所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，所述仓储机器人包括视觉传感器，第一盘点图像获取模块810，具体用于：经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像。
可选地，所述视觉传感器设置于所述仓储机器人的顶端，第一盘点图像获取模块810，包括：目标货箱提取单元，用于当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至设定高度时，经由所述仓储机器人的取货装置提取所述目标货箱；第一盘点图像采集单元，用于经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
可选地，该物料盘点装置，还包括：光源开启模块，用于在经由所述视觉传感器采集所提取的所述目标货箱的盘点图像之前，根据所述目标货箱的高度，确定所述视觉传感器的盘点光源；开启所述盘点光源。
可选地，所述视觉传感器设置于所述仓储机器人的取货装置上，第一盘点图像获取模块810，具体用于：当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置时，经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
可选地，所述物料盘点装置，还包括：目标位置确定模块，用于在所述仓储机器人移动至所述目标货箱对应的目标位置之前，根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；机器人确定模块，用于确定进行所述目标货箱盘点的仓储机器人；盘点指令生成模块，用于根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置。
可选地，所述目标货箱内的物料上设置有物料标识码，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的，第一盘点图像获取模块810，具体用于：经由所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像；相应的，第一盘点数量确定模块820，具体用于：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，所述物料盘点装置，还包括：盘点类型确定模块，用于根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点装置，还包括：预设存储信息获取模块，用于获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；盘点信息匹配模块，用于根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点装置，还包括：识别失败提示模块，用于当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
图9为本公开另一个实施例提供的物料盘点装置的结构示意图，如图9所示，该物料盘点装置包括：第二盘点图像获取模块910和第二盘点数量确定模块920。
其中，第二盘点图像获取模块910，用于获取仓储机器人采集的目标货箱的盘点图像；第二盘点数量确定模块920，根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
可选地，所述目标货箱包括设定数量的储物分格，所述第二盘点数量确定模块920，包括：
储物分格识别单元，用于根据所述盘点图像识别各个所述储物分格的储物情况；第二盘点数量确定单元，用于根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
可选地，所述储物分格识别单元，具体用于：根据所述盘点图像识别各个所述储物分格内是否存储有所述物料。
相应的，所述第二盘点数量确定单元，具体用于：根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
可选地，所述第二盘点数量确定单元，具体用于：获取各个所述储物分格的所述物料的分格存储数量；根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
可选地，该物料盘点装置，还包括：盘点指令确定模块，用于在获取仓储机器人采集的目标货箱的盘点图像之前，根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；确定进行所述目标货箱盘点的仓储机器人；根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置；采集指令生成模块，用于当确定所述仓储机器人移动至所述目标位置时，生成盘点图像采集指令，以根据所述盘点图像采集指令控制所述仓储机器人采集的目标货箱的盘点图像。
可选地，所述第二盘点图像获取模块910，具体用于：获取所述仓储机器人的视觉传感器采集的所述目标货箱的盘点图像。
可选地，所述第二盘点图像获取模块910，具体用于：获取所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像，其中，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的；相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：识别所述物料标识码的盘点图像；根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
可选地，该物料盘点装置，还包括：第二盘点类型确定模块，用于根据所述盘点图像确定所述物料的盘点类型。
可选地，所述物料盘点装置，还包括：校验报告生成模块，用于获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
可选地，所述物料盘点装置，还包括：第二识别失败提示模块，用于当根据所述盘点 图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
图10为本公开一个实施例提供的仓储机器人的结构示意图，如图10所示，该仓储机器人包括：存储器1010，处理器1020以及计算机程序。
其中，计算机程序存储在存储器1010中，并被配置为由处理器1020执行以实现本公开图2至图6所对应的实施例中任一实施例提供的物料盘点方法。
其中，存储器1010和处理器1020通过总线1030连接。
相关说明可以对应参见图2至图6的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
图11为本公开另一个实施例提供的仓储机器人的结构示意图，如图11所示，该仓储机器人包括：移动底盘1110、取货装置1120、缓存机构1130和控制器1140。
其中，缓存机构1130设置于移动底盘1110之上，取货装置1120与存储货架机械连接，控制器1140分别与移动底盘1110和取货装置1120连接，用于控制移动底盘1110和取货装置1120以实现本公开图2至图6所对应的任意实施例提供的物料盘点方法。
可选地，仓储机器人还包括视觉传感器，可以是2D相机、深度相机、激光雷达等，可以设置于取货装置1120的末端，或者缓存机构1130的顶端，用于采集上述实施例中的盘点图像。
可选地，仓储机器人还包括盘点光源，盘点光源的数量可以是一个或者多个，当为一个时，可以设置于仓储机器人的顶端；当为多个时，可以分别设置于仓储机器人的顶端和各个仓储机器人的背篓的上端。
进一步地，该仓储机器人还可以用于进行目标货箱的提取和存放。
图12为本公开一个实施例提供的仓库管理设备的结构示意图，如图12所示，该仓库管理设备包括：存储器1210，处理器1220以及计算机程序。
其中，计算机程序存储在存储器1210中，并被配置为由处理器1220执行以实现本公开图7所对应的实施例提供的物料盘点方法。
其中，存储器1210和处理器1220通过总线1230连接。
相关说明可以对应参见图7的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
图13为本公开一个实施例提供的仓储系统的结构示意图，如图13所示，该仓储系统包括：仓储机器人1310、货架1320和仓库管理设备1330。
其中，目标货箱1321放置于货架1320上，仓储机器人1310为本公开图10和图11对应实施例任意实施例提供的仓储机器人，仓储机器人1310与仓库管理设备1330连接，用于根据仓库管理设备1330的指令移动至目标货箱1321所在的目标位置并进行目标货箱1321内物料的盘点。
图14为本公开一个实施例提供的仓储系统的结构示意图，如图14所示，该仓储系统包括：仓储机器人1410、货架1420和仓库管理设备1430。
其中，目标货箱1421放置于货架1420上，仓储机器人1410为本公开图10和图11对应实施例任意实施例提供的仓储机器人，仓储机器人1410与仓库管理设备1430连接，用于根据仓库管理设备1430的指令移动至目标货箱1421所在的目标位置，并采集目标货箱1421的盘点图像；仓库管理设备1430为本公开图12所示实施例中的仓库管理设备，用于接收所述盘点图像，并根据所述盘点图像进行目标货箱1421内物料的盘点。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图2至图7对应的实施例中任一实施例提供的物料盘点方法。
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
在本公开所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它 的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (24)

  1. 一种物料盘点方法，其特征在于，所述方法应用于仓储机器人，所述方法包括：
    经由所述仓储机器人采集目标货箱的盘点图像；
    根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
  2. 根据权利要求1所述的方法，其特征在于，所述目标货箱包括设定数量的储物分格，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：
    根据所述盘点图像识别各个所述储物分格的储物情况；
    根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述盘点图像识别各个所述储物分格的储物情况，包括：
    根据所述盘点图像识别各个所述储物分格内是否存储有所述物料；
    相应的，所述根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量，包括：
    根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量。
  4. 根据权利要求3所述的方法，其特征在于，所述根据存储有所述物料的储物分格的数量确定所述目标货箱内的物料的盘点数量，包括：
    获取各个所述储物分格的所述物料的分格存储数量；
    根据存储有所述物料的各个所述储物分格对应的分格存储数量，确定所述目标货箱内的物料的盘点数量。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述仓储机器人包括视觉传感器，所述经由所述仓储机器人采集目标货箱的盘点图像，包括：
    经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像。
  6. 根据权利要求5所述的方法，其特征在于，所述视觉传感器设置于所述仓储机器人的顶端，所述经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像，包括：
    当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的取货装置移动至设定高度时，经由所述仓储机器人的取货装置提取所述目标货箱；
    经由所述视觉传感器采集所提取的所述目标货箱的盘点图像。
  7. 根据权利要求6所述的方法，其特征在于，在经由所述视觉传感器采集所提取的所述目标货箱的盘点图像之前，所述方法还包括：
    根据所述目标货箱的高度，确定所述视觉传感器的盘点光源；
    开启所述盘点光源。
  8. 根据权利要求5所述的方法，其特征在于，所述视觉传感器设置于所述仓储机器人的取货装置上，所述经由所述仓储机器人的视觉传感器采集所述目标货箱的盘点图像，包括：
    当所述仓储机器人移动至所述目标货箱对应的目标位置，且所述仓储机器人的所述取货装置移动至所述目标货箱的设定位置时，经由所述视觉传感器采集所述目标货箱的盘点图像。
  9. 根据权利要求6-8任一项所述的方法，其特征在于，在所述仓储机器人移动至所述目标货箱对应的目标位置之前，所述方法还包括：
    根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；
    确定进行所述目标货箱盘点的仓储机器人；
    根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置。
  10. 根据权利要求1所述的方法，其特征在于，所述目标货箱内的物料上设置有物料 标识码，所述物料标识码的标识图案是根据所述目标货箱内的物料的类型和数量生成的，所述经由所述仓储机器人采集目标货箱的盘点图像，包括：
    经由所述仓储机器人采集所述目标货箱内的物料上的物料标识码的盘点图像；
    相应的，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：
    识别所述物料标识码的盘点图像；
    根据识别结果确定所述目标货箱内的物料的盘点类型和盘点数量。
  11. 根据权利要求10所述的方法，其特征在于，所述物料标识码包括二维码、条形码或电子标签中的至少一项。
  12. 根据权利要求1-10任一项所述的方法，其特征在于，还包括：
    根据所述盘点图像确定所述物料的盘点类型。
  13. 根据权利要求12所述的方法，其特征在于，还包括：
    获取所述目标货箱的预设存储信息，其中，所述预设存储信息包括所述目标货箱存储的物料的预设类型和/或预设数量；
    根据所述目标货箱的物料的预设类型和盘点类型的第一匹配结果，和/或，根据所述目标货箱的物料的预设数量和盘点数量的第二匹配结果，进行所述目标货箱的存储校验，并生成校验报告。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，还包括：
    当根据所述盘点图像无法确定所述目标货箱内的物料的盘点数量时，生成识别失败提示信息。
  15. 一种物料盘点方法，其特征在于，所述方法应用于仓库管理设备，所述方法包括：
    获取仓储机器人采集的目标货箱的盘点图像；
    根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
  16. 根据权利要求15所述的方法，其特征在于，所述目标货箱包括设定数量的储物分格，所述根据所述盘点图像确定所述目标货箱内的物料的盘点数量，包括：
    根据所述盘点图像识别各个所述储物分格的储物情况；
    根据各个所述储物分格的储物情况确定所述目标货箱内的物料的盘点数量。
  17. 根据权利要求15所述的方法，其特征在于，在获取仓储机器人采集的目标货箱的盘点图像之前，所述方法还包括：
    根据盘点任务信息，确定所述目标货箱以及所述目标货箱的目标位置；
    确定进行所述目标货箱盘点的仓储机器人；
    根据所述仓储机器人、目标货箱及其对应的目标位置，生成所述仓储机器人的盘点指令，以根据所述盘点指令控制所述仓储机器人移动至所述目标货箱对应的目标位置；
    当确定所述仓储机器人移动至所述目标位置时，生成盘点图像采集指令，以根据所述盘点图像采集指令控制所述仓储机器人采集的目标货箱的盘点图像。
  18. 一种物料盘点装置，其特征在于，所述装置包括：
    第一盘点图像获取模块，用于经由仓储机器人采集目标货箱的盘点图像；
    第一盘点数量确定模块，用于根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
  19. 一种物料盘点装置，其特征在于，所述装置包括：
    第二盘点图像获取模块，用于获取仓储机器人采集的目标货箱的盘点图像；
    第二盘点数量确定模块，用于根据所述盘点图像确定所述目标货箱内的物料的盘点数量。
  20. 一种仓储机器人，其特征在于，包括存储器，处理器以及计算机程序；
    其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现如权利要求1-14任一项所述的物料盘点方法。
  21. 一种仓库管理设备，其特征在于，包括存储器，处理器以及计算机程序；
    其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现如权利要求15-17任一项所述的物料盘点方法。
  22. 一种仓储系统，其特征在于，包括：权利要求20所述的仓储机器人、货架和仓库管理设备；
    其中，所述仓储机器人与所述仓库管理设备连接，用于根据所述仓库管理设备的指令移动至目标货箱所在的目标位置并进行目标货箱内物料的盘点，其中，所述目标货箱放置于所述货架上。
  23. 一种仓储系统，其特征在于，包括：仓储机器人、货架和权利要求21所述的仓库管理设备；
    其中，所述仓储机器人与所述仓库管理设备连接，用于根据所述仓库管理设备的指令移动至目标货箱所在的目标位置，并采集目标货箱的盘点图像，其中，所述目标货箱放置于所述货架上；
    所述仓库管理设备用于接收所述盘点图像，并根据所述盘点图像进行目标货箱内物料的盘点。
  24. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1-17任一项所述的物料盘点方法。
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