WO2022183782A1 - 物品盘点方法和系统、机器人控制装置和机器人 - Google Patents

物品盘点方法和系统、机器人控制装置和机器人 Download PDF

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Publication number
WO2022183782A1
WO2022183782A1 PCT/CN2021/132338 CN2021132338W WO2022183782A1 WO 2022183782 A1 WO2022183782 A1 WO 2022183782A1 CN 2021132338 W CN2021132338 W CN 2021132338W WO 2022183782 A1 WO2022183782 A1 WO 2022183782A1
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WIPO (PCT)
Prior art keywords
signal
robot
information
frequency
sent
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PCT/CN2021/132338
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English (en)
French (fr)
Inventor
王宏伟
者文明
陈亚迷
Original Assignee
北京京东乾石科技有限公司
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Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to EP21928854.5A priority Critical patent/EP4246400A1/en
Priority to US18/257,055 priority patent/US20240046202A1/en
Publication of WO2022183782A1 publication Critical patent/WO2022183782A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • G06K17/0022—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 arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/046—RFID
    • 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
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10316—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves using at least one antenna particularly designed for interrogating the wireless record carriers
    • G06K7/10356—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves using at least one antenna particularly designed for interrogating the wireless record carriers using a plurality of antennas, e.g. configurations including means to resolve interference between the plurality of antennas

Definitions

  • the present disclosure relates to the field of information processing, and in particular, to an item inventorying method and system, a robot control device and a robot.
  • the inventory is mainly carried out manually when inventory is counted.
  • the staff uses PDA (Personal Digital Assistant, personal digital assistant) to read the RFID (Radio Frequency Identification, radio frequency identification) electronic tag set on the item, and compare the read tag data with the electronic tag information of the inventory item to achieve Item inventory.
  • PDA Personal Digital Assistant, personal digital assistant
  • a method for inventorying items which is executed by a robot control device, including: during the process of driving the robot to move along a preset path, if a receiving antenna is used to receive an item with the first information sent by the main control machine. A first signal with a frequency, then a second signal with the first frequency is sent through the first transmitting antenna, so that a plurality of electronic tags of the warehouse location that have received the second signal respectively send the first signal with the first frequency.
  • the third signal with the largest signal strength among the multiple third signals is used as the target signal; the storage location corresponding to the storage location electronic tag sending the target signal is used as the target library location, and extract the electronic label information of the item associated with the target location from the information database; in the case of receiving a plurality of label information sent by the electronic label receiver, according to the plurality of label information and the The electronic label information of the article obtains the inventory result of the target location, wherein the electronic label receiver obtains the corresponding label information from the received fifth signal; and sends the inventory result of the target location to the master controller machine.
  • the first positioning information of the robot is obtained according to the plurality of third signals; the first positioning information of the robot is obtained from the positioning device. two positioning information; use the first positioning information and the second positioning information to determine the current position information of the robot; send the current position information to the main control machine, so that the main control machine can detect the Whether the robot is on a preset path.
  • receiving position estimation information of the robot provided by an image processing apparatus wherein the image processing apparatus collects images of the robot at a preset cycle, and obtains the position estimation information by analyzing the images;
  • the determining the current position information of the robot by using the first positioning information and the second positioning information includes: determining the robot by using the first positioning information, the second positioning information and the position estimation information current location information.
  • the motion state of the robot is adjusted according to the adjustment instruction, so that the robot is located on a preset path.
  • the robot After sending the inventory results of the target location to the main control computer, it is detected whether the inventory results of all the locations have been acquired; if the inventory results of all the locations have not been acquired, continue to drive all the inventory locations The robot moves along the preset path; if the inventory results of all the storage locations have been obtained, the robot is driven to return to the designated location.
  • a robot control device comprising: a first processing module configured to, during the process of driving the robot to move along a preset path, if a receiving antenna receives a data sent by a host computer The first signal with the first frequency, then the second signal with the first frequency is sent through the first transmitting antenna, so that the plurality of electronic tags of the warehouse location receiving the second signal respectively send the first frequency with the first signal.
  • the second processing module is configured to, when a plurality of third signals are received through the receiving antenna, use the third signal having the largest signal strength among the plurality of third signals as a target signal, and associate with a library that transmits the target signal
  • the storage location corresponding to the electronic label is used as the target storage location, and the electronic label information of the item associated with the target storage location is extracted from the information database, and the third processing module is configured to receive the electronic label receiver.
  • the inventory result of the target location is obtained according to the multiple tag information and the electronic tag information of the item, wherein the electronic tag receiver acquires the corresponding information from the received fifth signal.
  • Label information a fourth processing module, configured to send the inventory result of the target location to the main control computer.
  • a robot control device comprising: a memory configured to store instructions; a processor coupled to the memory, the processor configured to execute any of the above-mentioned instructions based on the instructions stored in the memory methods described in the examples.
  • a robot comprising: the robot control device according to any one of the above embodiments; a receiving antenna configured to receive a first signal with a first frequency sent by a main control machine , and is also configured to receive the third signal with the first frequency sent by the electronic tag of the storage location; the first sending antenna is configured to send the second signal with the first frequency; the second sending antenna is configured for transmitting a fourth signal having the second frequency.
  • an item inventory system including: the robot according to any one of the above embodiments; a main control machine, configured to continuously send a first signal with a first frequency, and is configured to receive the inventory result sent by the robot; the location electronic tag is configured to send a third signal with the first frequency in the case of receiving the second signal with the first frequency; the item electronic tag is configured to be is configured to transmit a fifth signal having the second frequency in the case of receiving the fourth signal having the second frequency; the electronic tag receiver is configured to receive the fifth signal having the second frequency, from the receiving The corresponding label information is obtained from the received fifth signal, and the label information is sent to the robot.
  • the item inventory system further includes an image processing device configured to collect images of the robot at a preset cycle, obtain position estimation information of the robot by analyzing the images, and analyze the position estimation information. information is sent to the robot.
  • the host computer is further configured to detect whether the robot is on a preset path according to the position information sent by the robot, and send an adjustment instruction to the robot if the robot is not on the preset path .
  • a computer-readable storage medium stores computer instructions, and when the instructions are executed by a processor, implement the method according to any of the foregoing embodiments.
  • FIG. 1 is a schematic flowchart of an item inventory method according to an embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a robot control device according to an embodiment of the disclosure
  • FIG. 3 is a schematic structural diagram of a robot control device according to another embodiment of the disclosure.
  • FIG. 4 is a schematic structural diagram of a robot control device according to another embodiment of the disclosure.
  • FIG. 5 is a schematic structural diagram of a robot according to an embodiment of the disclosure.
  • FIG. 6 is a schematic structural diagram of an item inventory system according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of an item inventory system according to another embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of an item inventory system according to still another embodiment of the present disclosure.
  • the inventors have noticed that data errors are prone to occur when the inventory is performed manually, and at the same time, the workload of the manual inventory is low and the work efficiency is low.
  • the present disclosure provides an item inventory solution, which can effectively reduce costs and improve inventory efficiency.
  • FIG. 1 is a schematic flowchart of an item inventory method according to an embodiment of the present disclosure.
  • the following item inventory method steps are performed by a robotic control device of a robot.
  • step 101 in the process of driving the robot to move along the preset path, if the first signal with the first frequency sent by the main control machine is received through the receiving antenna, the second signal with the first frequency is sent through the first sending antenna signal, so that the plurality of storage location electronic tags that receive the second signal respectively transmit the third signal with the first frequency.
  • the host computer continuously transmits the first signal having the first frequency.
  • the first frequency is 433MHz.
  • Each storage location is provided with a storage location electronic label, and the working frequency of the storage location electronic label is the first frequency.
  • the unique identification of the corresponding storage location can be obtained through the third signal sent by the storage location electronic tag.
  • step 102 a fourth signal having the second frequency is transmitted through the second transmitting antenna, so that the plurality of electronic tags of articles that have received the fourth signal respectively transmit the fifth signal having the second frequency.
  • the second frequency is 902-928 MHz.
  • An electronic label is arranged at a fixed position of the outer package of each item.
  • the working frequency of the electronic tag of the article is the second frequency.
  • the fifth signal sent by the electronic tag of the item can obtain the unique identification of the corresponding item.
  • step 103 in the case of receiving a plurality of third signals through the receiving antenna, the third signal with the largest signal strength among the plurality of third signals is used as the target signal.
  • step 104 the storage location corresponding to the storage location electronic label sending the target signal is taken as the target storage location, and the item electronic label information associated with the target storage location is extracted from the information database.
  • an information base is pre-configured in the robot control device, and the information base includes a storage location and item electronic label information of items placed in the storage location.
  • step 105 in the case of receiving a plurality of label information sent by the electronic label receiver, obtain the inventory result of the target location according to the plurality of label information and the electronic label information of the item, wherein the electronic label receiver obtains the inventory result from the received fifth
  • the corresponding label information is obtained from the signal.
  • the electronic tag receiver obtains corresponding tag information from the received fifth signals in the case of receiving the fifth signals with the second frequency respectively sent by the electronic tags of a plurality of items, and converts the tags to the corresponding tag information. Information is sent to the robot.
  • step 106 the inventory result of the target location is sent to the master computer.
  • the robot after sending the counting results of the target storage location to the main control computer, it is further detected whether the counting results of all the storage locations have been obtained. If the inventory results of all the warehouse locations are not obtained, the robot will continue to be driven to move along the preset path, so as to perform the inventory of other warehouse locations. If the inventory results of all locations have been obtained, drive the robot back to the designated location.
  • the robot control device uses different transmitting antennas to transmit radio frequency signals with different frequencies to the storage location electronic tag and the item electronic tag respectively, so as to reduce mutual interference.
  • the robot control device can effectively reduce costs and improve the efficiency of inventory by using the signals sent by the electronic tag of the warehouse and the electronic tag of the item to perform inventory processing.
  • the first positioning information of the robot is obtained according to the plurality of third signals.
  • the current position information of the robot is determined by using the first positioning information and the second positioning information. And send the current position information to the main control machine, so that the main control machine can detect whether the robot is on the preset path.
  • a positioning algorithm such as A-GPS (Assisted Global Positioning System) can be used to calculate the first position of the robot. a location information.
  • A-GPS Assisted Global Positioning System
  • the positioning device of the robot may include at least one of an electromagnetic navigation and positioning device, an inertial navigation and positioning device, an ultrasonic navigation and positioning device, a laser navigation and positioning device, a visual navigation and positioning device, and a UWB (Ultra Wideband, ultra-wideband) positioning device A sort of.
  • the positioning device of the robot includes an inertial navigation positioning device and an ultrasonic navigation positioning device.
  • the robot control device can also use ultrasonic waves to avoid obstacles.
  • the electromagnetic navigation and positioning device needs to bury guiding cables underground and paste auxiliary positioning facilities such as magnetic strips on the ground, which requires a large amount of engineering and cannot achieve obstacle avoidance.
  • the inertial navigation and positioning device has the accumulation of errors in the positioning process, which leads to the decline of the positioning accuracy.
  • the performance of the ultrasonic navigation and positioning device is greatly affected by the surface shape of the object, and the ultrasonic method is not easy to accurately locate in the warehouse environment.
  • the cost of the laser navigation and positioning device is relatively high, and the requirements for the working environment (outside light, ground requirements, visibility requirements, etc.) are relatively high.
  • the visual navigation and positioning device has a large amount of calculation, and the positioning accuracy is low when the distance is long.
  • UWB positioning device has high cost, small positioning coverage, and is greatly affected by multipath and co-channel interference.
  • the first positioning information of the robot obtained by using the signal sent by the electronic tag of the warehouse location and the second positioning information of the robot obtained from the positioning device are fused to obtain The current more accurate position information of the robot.
  • the image processing device collects images of the robot at a preset cycle, obtains position estimation information by analyzing the images, and sends the position estimation information to the robot control device.
  • the image processing device is a computer with image acquisition and image processing functions.
  • the image processing device captures images of robots in warehouse lanes. Through image analysis, the position of the robot in the roadway is determined, and then the corresponding position estimation information is obtained.
  • the robot control device acquires the current more accurate position information of the robot by using the first positioning information, the second positioning information and the position estimation information.
  • the host computer detects whether the robot is on the preset path according to the position information sent by the robot, and sends an adjustment instruction to the robot if the robot is not on the preset path. After receiving the adjustment instruction sent by the main control machine, the robot control device adjusts the motion state of the robot according to the adjustment instruction, so that the robot is located on the preset path.
  • FIG. 2 is a schematic structural diagram of a robot control device according to an embodiment of the disclosure. As shown in FIG. 2 , the robot control device includes a first processing module 21 , a second processing module 22 , a third processing module 23 and a fourth processing module 24 .
  • the first processing module 21 is configured to, during the process of driving the robot to move along the preset path, if the first signal with the first frequency sent by the main control machine is received through the receiving antenna, the first signal with the first frequency sent by the first sending antenna is sent through the first sending antenna.
  • the second signal of the frequency so that the plurality of storage location electronic tags that receive the second signal respectively send the third signal with the first frequency, and send the fourth signal with the second frequency through the second transmitting antenna, so as to receive the fourth signal
  • the plurality of item electronic tags of the signal respectively transmit a fifth signal having the second frequency.
  • the host computer continuously transmits the first signal having the first frequency.
  • the first frequency is 433MHz.
  • Each storage location is provided with a storage location electronic label, and the working frequency of the storage location electronic label is the first frequency.
  • the unique identification of the corresponding storage location can be obtained through the third signal sent by the storage location electronic tag.
  • the second frequency is 902-928 MHz.
  • An electronic label is arranged at a fixed position of the outer package of each item.
  • the working frequency of the electronic tag of the article is the second frequency.
  • the fifth signal sent by the electronic tag of the item can obtain the unique identification of the corresponding item.
  • the second processing module 22 is configured to, in the case of receiving multiple third signals through the receiving antenna, use the third signal with the largest signal strength among the multiple third signals as the target signal, and use the third signal with the largest signal strength as the target signal, and compare the The storage location corresponding to the electronic label is used as the target storage location, and the item electronic label information associated with the target storage location is extracted from the information database.
  • an information base is pre-configured in the robot control device, and the information base includes a storage location and item electronic label information of items placed in the storage location.
  • the third processing module 23 is configured to obtain the inventory result of the target location according to the plurality of label information and the electronic label information of the item in the case of receiving the plurality of label information sent by the electronic label receiver, wherein the electronic label receiver receives the The corresponding label information is obtained from the received fifth signal.
  • the electronic tag receiver obtains corresponding tag information from the received fifth signals in the case of receiving the fifth signals with the second frequency respectively sent by the electronic tags of a plurality of items, and converts the tags to the corresponding tag information. Information is sent to the robot.
  • the fourth processing module 24 is configured to send the inventory result of the target storage location to the host computer.
  • the fourth processing module 24 further detects whether the inventory counting results of all the storage locations have been obtained after sending the inventory counting results of the target storage locations to the main control computer. If the inventory results of all the warehouse locations are not obtained, the robot will continue to be driven to move along the preset path, so as to perform the inventory of other warehouse locations. If the inventory results of all locations have been obtained, the robot will be driven back to the designated location.
  • FIG. 3 is a schematic structural diagram of a robot control device according to another embodiment of the disclosure. The difference between FIG. 3 and FIG. 2 is that, in the embodiment shown in FIG. 3 , the robot control device further includes a fifth processing module 25 .
  • the fifth processing module 25 obtains the first positioning information of the robot according to the plurality of third signals when the plurality of third signals are received through the receiving antenna. Acquire second positioning information of the robot from the positioning device. The current position information of the robot is determined by using the first positioning information and the second positioning information. And send the current position information to the main control machine, so that the main control machine can detect whether the robot is on the preset path.
  • the fifth processing module 25 receives the position estimation information of the robot provided by the image processing apparatus, and uses the first positioning information, the second positioning information and the position estimation information to determine the current position information of the robot.
  • the host computer detects whether the robot is on the preset path according to the position information sent by the robot, and sends an adjustment instruction to the robot if the robot is not on the preset path. After receiving the adjustment instruction sent by the host computer, the fifth processing module 25 adjusts the motion state of the robot according to the adjustment instruction, so that the robot is located on the preset path.
  • FIG. 4 is a schematic structural diagram of a robot control device according to still another embodiment of the disclosure. As shown in FIG. 4 , the robot control device includes a memory 41 and a processor 42 .
  • a memory 41 is used to store instructions, and a processor 42 is coupled to the memory 41, and the processor 42 is configured to implement a method as referred to in any of the embodiments of FIG. 1 based on the execution of the instructions stored in the memory.
  • the resource providing apparatus further includes a communication interface 43 for exchanging information with other devices.
  • the resource providing apparatus further includes a bus 44 , and the processor 42 , the communication interface 43 , and the memory 41 communicate with each other through the bus 44 .
  • the memory 41 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
  • the memory 41 may also be a memory array.
  • the storage 41 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.
  • processor 42 may be a central processing unit (CPU), or may be an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • the present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor to implement the method involved in any of the embodiments in FIG. 1 .
  • FIG. 5 is a schematic structural diagram of a robot according to an embodiment of the disclosure.
  • the robot 50 includes a robot control device 51 , a receiving antenna 52 , a first transmitting antenna 53 and a second transmitting antenna 54 .
  • the robot control device 51 is the robot control device involved in any of the embodiments in FIG. 2 to FIG. 4 .
  • the receiving antenna 52 is configured to receive the first signal with the first frequency sent by the master computer, and is also configured to receive the third signal with the first frequency sent by the storage location electronic tag.
  • the first transmit antenna 53 is configured to transmit the second signal having the first frequency.
  • the second transmit antenna 54 is configured to transmit the fourth signal having the second frequency.
  • the first frequency is 433MHz.
  • the second frequency is 902-928MHz.
  • FIG. 6 is a schematic structural diagram of an item inventory system according to an embodiment of the present disclosure.
  • the article inventory system includes a robot 61 , a master computer 62 , a storage location electronic label 63 , an article electronic label 64 and an electronic label receiver 65 .
  • the robot 61 is the robot involved in any of the embodiments in FIG. 5 .
  • the item inventory system includes a plurality of storage location electronic tags 63 and a plurality of item electronic tags 64 .
  • the main control machine 62 is configured to continuously send the first signal having the first frequency, and is also configured to receive the inventory result sent by the robot 61 .
  • the first frequency is 433MHz.
  • the storage location electronic tag 63 is configured to transmit a third signal with the first frequency when receiving the second signal with the first frequency sent by the robot 61 .
  • the item electronic tag 64 is configured to transmit a fifth signal having the second frequency upon receiving the fourth signal having the second frequency transmitted by the robot 61 .
  • the electronic tag receiver 65 is configured to receive a fifth signal with the second frequency sent by the item electronic tag 64 , obtain corresponding tag information from the received fifth signal, and send the tag information to the robot 61 .
  • FIG. 7 is a schematic structural diagram of an item inventory system according to another embodiment of the present disclosure. The difference between FIG. 7 and FIG. 6 is that, in the embodiment shown in FIG. 7 , the article inventory system further includes an image processing device 66 .
  • the image processing device 66 is configured to collect images of the robot at a preset cycle, obtain position estimation information of the robot by analyzing the images, and send the position estimation information to the robot 61 .
  • the host computer 62 is further configured to detect whether the robot 61 is on the preset path according to the position information sent by the robot, and send an adjustment instruction to the robot 61 if the robot 61 is not on the preset path. So that the robot 61 adjusts the motion state according to the adjustment instruction, so that the robot 61 is located on the preset path.
  • FIG. 8 is a schematic structural diagram of an item inventory system according to still another embodiment of the present disclosure. It should be noted here that, for the sake of simplicity, only one storage location electronic label 83 and one item electronic label 84 are shown in FIG. 8 . Actually, the item inventory system includes a plurality of storage location electronic tags 63 and a plurality of item electronic tags 84 .
  • the main controller 82 continuously transmits the first signal with the first frequency of 433 MHz.
  • the second signal with the first frequency is sent through the first sending antenna, and the second signal with the first frequency is sent through the first sending antenna.
  • the second transmit antenna transmits a fourth signal having a second frequency of 902-928 MHz.
  • the plurality of storage location electronic tags 83 that have received the second signal respectively transmit the third signal with the first frequency.
  • the plurality of article electronic tags 84 that have received the fourth signal transmit the fifth signal having the second frequency, respectively.
  • the robot 81 receives multiple third signals sent by the multiple storage location electronic tags 83 through the receiving antenna, the third signal with the largest signal strength among the multiple third signals is used as the target signal, and will be sent with the target signal.
  • the storage location corresponding to the storage location electronic label 83 is taken as the target storage location, and the item electronic label information associated with the target storage location is extracted from the information database.
  • the electronic tag receiver 85 After receiving the fifth signal sent by the electronic tag 84 of the article, the electronic tag receiver 85 acquires corresponding tag information from the received fifth signal, and sends the acquired tag information to the robot 81 .
  • the robot 81 When the robot 81 receives the multiple tag information sent by the electronic tag receiver 85, it obtains the inventory result of the target location according to the multiple tag information and the item electronic tag information, and passes the inventory result of the target location through the cloud server 87. Sent to the host computer 82 .
  • the robot 81 After the robot 81 sends the inventory result of the target location to the main control computer 82, it further detects whether the inventory result of all the warehouse locations has been obtained. If the counting results of all the locations are not obtained, continue to move along the preset path to count other locations. If the counting results of all the locations have been obtained, return to the specified location.
  • the image processing device 86 collects images of the robot at a preset period, obtains position estimation information by analyzing the images, and sends the position estimation information to the robot 81 through the cloud server 87 .
  • the robot 81 obtains the first positioning information of the robot 81 according to the plurality of third signals under the condition that the plurality of third signals sent by the plurality of storage location electronic tags 83 are received through the receiving antenna. In addition, the robot 81 also acquires the second positioning information of the robot from the positioning device. Thus, the robot obtains the current position information of the robot 81 by using the first positioning information, the second positioning information and the position estimation information. The robot 81 sends the current position information to the host computer 82 through the cloud server 87 .
  • the host computer 82 detects whether the robot 81 is on the preset path according to the position information sent by the robot 81 . If the robot 81 is not on the preset path, the host computer 82 sends an adjustment instruction to the robot 81 through the cloud server 87 . So that the robot 81 adjusts the motion state according to the adjustment instruction, so that the robot 81 is located on the preset path.
  • the functional unit modules described above may be implemented as a general-purpose processor, a programmable logic controller (Programmable Logic Controller, PLC for short), a digital signal processor ( Digital Signal Processor (referred to as: DSP), Application Specific Integrated Circuit (referred to as: ASIC), Field-Programmable Gate Array (referred to as: FPGA) or other programmable logic devices, discrete gates or transistors Logic devices, discrete hardware components, or any suitable combination thereof.
  • a programmable logic controller Programmable Logic Controller, PLC for short
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array

Abstract

本公开提供一种物品盘点方法和系统、机器人控制装置和机器人。物品盘点方法包括：若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有第一频率的第二信号；通过第二发送天线发送具有第二频率的第四信号；在通过接收天线接收到多个库位电子标签发送的多个第三信号的情况下，将多个第三信号中具有最大信号强度的第三信号作为目标信号；将与发送目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与目标库位相关联的物品电子标签信息；在接收到电子标签接收机发送的多个标签信息的情况下，根据多个标签信息和物品电子标签信息获得目标库位的盘点结果；将目标库位的盘点结果发送给主控机。

Description

物品盘点方法和系统、机器人控制装置和机器人
相关申请的交叉引用
本申请是以CN申请号为202110233756.0，申请日为2021年3月3日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及信息处理领域，特别涉及一种物品盘点方法和系统、机器人控制装置和机器人。
背景技术
目前，在盘点库存时主要通过人工方式进行盘点。工作人员利用PDA(Personal Digital Assistant，个人数字助理)读取设置在物品上的RFID(Radio Frequency Identification，射频识别)电子标签，将所读取的标签数据和库存物品的电子标签信息进行对比以实现物品盘点。
发明内容
根据本公开实施例的第一方面，提供一种物品盘点方法，由机器人控制装置执行，包括：在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有所述第一频率的第二信号，以便接收到所述第二信号的多个库位电子标签分别发送具有所述第一频率的第三信号；通过第二发送天线发送具有第二频率的第四信号，以便接收到所述第四信号的多个物品电子标签分别发送具有第二频率的第五信号；在通过所述接收天线接收到多个第三信号的情况下，将所述多个第三信号中具有最大信号强度的第三信号作为目标信号；将与发送所述目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与所述目标库位相关联的物品电子标签信息；在接收到电子标签接收机发送的多个标签信息的情况下，根据所述多个标签信息和所述物品电子标签信息获得所述目标库位的盘点结果，其中所述电子标签接收机从接收到的第五信号中获取对应的标签信息；将所述目标库位的盘点结果发送给所述主控机。
在一些实施例中，在通过所述接收天线接收到多个第三信号的情况下，根据所述 多个第三信号获得所述机器人的第一定位信息；从定位装置获取所述机器人的第二定位信息；利用所述第一定位信息和所述第二定位信息确定所述机器人的当前位置信息；将所述当前位置信息发送给所述主控机，以便所述主控机检测所述机器人是否在预设路径上。
在一些实施例中，接收图像处理装置提供的所述机器人的位置估计信息，其中所述图像处理装置以预设周期采集所述机器人的图像，通过分析所述图像以获取所述位置估计信息；所述利用所述第一定位信息和所述第二定位信息确定所述机器人的当前位置信息包括：利用所述第一定位信息、所述第二定位信息和所述位置估计信息确定所述机器人的当前位置信息。
在一些实施例中，在接收到主控机发送的调整指令后，根据所述调整指令调整所述机器人的运动状态，以便使所述机器人位于预设路径上。
在一些实施例中，在将所述目标库位的盘点结果发送给所述主控机后，检测是否已获取全部库位的盘点结果；若未获取全部库位的盘点结果，则继续驱动所述机器人沿所述预设路径移动；若已获取全部库位的盘点结果，则驱动所述机器人返回指定地点。
根据本公开实施例的第二方面，提供一种机器人控制装置，包括：第一处理模块，被配置为在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有所述第一频率的第二信号，以便接收到所述第二信号的多个库位电子标签分别发送具有所述第一频率的第三信号，通过第二发送天线发送具有第二频率的第四信号，以便接收到所述第四信号的多个物品电子标签分别发送具有第二频率的第五信号；第二处理模块，被配置为在通过所述接收天线接收到多个第三信号的情况下，将所述多个第三信号中具有最大信号强度的第三信号作为目标信号，将与发送所述目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与所述目标库位相关联的物品电子标签信息，第三处理模块，被配置为在接收到电子标签接收机发送的多个标签信息的情况下，根据所述多个标签信息和所述物品电子标签信息获得所述目标库位的盘点结果，其中所述电子标签接收机从接收到的第五信号中获取对应的标签信息；第四处理模块，被配置为将所述目标库位的盘点结果发送给所述主控机。
根据本公开实施例的第三方面，提供一种机器人控制装置，包括：存储器，被配置为存储指令；处理器，耦合到存储器，处理器被配置为基于存储器存储的指令执行 实现如上述任一实施例所述的方法。
根据本公开实施例的第四方面，提供一种机器人，包括：如上述任一实施例所述的机器人控制装置；接收天线，被配置为接收主控机发送的具有第一频率的第一信号，还被配置为接收库位电子标签发送的具有所述第一频率的第三信号；第一发送天线，被配置为发送具有所述第一频率的第二信号；第二发送天线，被配置为发送具有第二频率的第四信号。
根据本公开实施例的第五方面，提供一种物品盘点系统，包括：如上述任一实施例所述的机器人；主控机，被配置为持续发送具有第一频率的第一信号，还被配置为接收所述机器人发送的盘点结果；库位电子标签，被配置为在接收到具有所述第一频率的第二信号的情况下发送具有第一频率的第三信号；物品电子标签，被配置为在接收到具有第二频率的第四信号的情况下发送具有所述第二频率的第五信号；电子标签接收机，被配置为接收具有所述第二频率的第五信号，从接收到的第五信号中获取对应的标签信息，并将所述标签信息发送给所述机器人。
在一些实施例中，物品盘点系统还包括图像处理装置，被配置为以预设周期采集所述机器人的图像，通过分析所述图像以获取所述机器人的位置估计信息，并将所述位置估计信息发送给所述机器人。
在一些实施例中，主控机还被配置为根据所述机器人发送的位置信息检测所述机器人是否在预设路径上，若所述机器人不在预设路径上，则向所述机器人发送调整指令。
根据本公开实施例的第六方面，提供一种计算机可读存储介质，其中，计算机可读存储介质存储有计算机指令，指令被处理器执行时实现如上述任一实施例涉及的方法。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
下面将对实施例或相关技术描述中所需要使用的附图作简单的介绍。根据下面参照附图的详细描述，可以更加清楚地理解本公开。
显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开一个实施例的物品盘点方法的流程示意图；
图2为本公开一个实施例的机器人控制装置的结构示意图；
图3为本公开另一个实施例的机器人控制装置的结构示意图；
图4为本公开又一个实施例的机器人控制装置的结构示意图；
图5为本公开一个实施例的机器人的结构示意图；
图6为本公开一个实施例的物品盘点系统的结构示意图；
图7为本公开另一个实施例的物品盘点系统的结构示意图；
图8为本公开又一个实施例的物品盘点系统的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
发明人注意到，通过人工方式进行盘点容易出现数据错误，同时人工盘点的工作量，工作效率低。
据此，本公开提供一种物品盘点方案，能够有效降低成本、提升盘点效率。
图1为本公开一个实施例的物品盘点方法的流程示意图。在一些实施例中，下列的物品盘点方法步骤由机器人的机器人控制装置执行。
在步骤101，在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有第一频率的第二信号，以便接收到第二信号的多个库位电子标签分别发送具有第一频率的第三信号。
在一些实施例中，主控机持续发送具有第一频率的第一信号。例如，第一频率为433MHz。
每个库位都设置有一个库位电子标签，库位电子标签的工作频率为第一频率。通过库位电子标签发送的第三信号能够获得对应库位的唯一标识。
在步骤102，通过第二发送天线发送具有第二频率的第四信号，以便接收到第四信号的多个物品电子标签分别发送具有第二频率的第五信号。
在一些实施例中，第二频率为902-928MHz。
每个物品外包装的固定位置处设置有电子标签。物品电子标签的工作频率为第二频率。通过物品电子标签发送的第五信号能够获得对应物品的唯一标识。
在步骤103，在通过接收天线接收到多个第三信号的情况下，将多个第三信号中具有最大信号强度的第三信号作为目标信号。
在步骤104，将与发送目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与目标库位相关联的物品电子标签信息。
在一些实施例中，预先在机器人控制装置中设置有信息库，该信息库包括库位和该库位所放置物品的物品电子标签信息。
在步骤105，在接收到电子标签接收机发送的多个标签信息的情况下，根据多个标签信息和物品电子标签信息获得目标库位的盘点结果，其中电子标签接收机从接收到的第五信号中获取对应的标签信息。
在一些实施例中，电子标签接收机在接收到多个物品电子标签分别发送的具有第二频率的第五信号的情况下，从接收到的第五信号中获取对应的标签信息，并将标签信息发送给机器人。
通过将电子标签接收机提供的多个标签信息和从信息库获取的物品电子标签信息进行比对，就能够判断信息是否匹配，从而实现对目标库位的盘点。
在步骤106，将目标库位的盘点结果发送给主控机。
在一些实施例中，在将目标库位的盘点结果发送给主控机后，进一步检测是否已获取全部库位的盘点结果。若未获取全部库位的盘点结果，则继续驱动机器人沿预设路径移动，以便对其它库位进行盘点。若已获取全部库位的盘点结果，则驱动机器人 返回指定地点。
在本公开上述实施例提供的物品盘点方法中，机器人控制装置利用不同的发送天线，将具有不同频率的射频信号分别发送给库位电子标签和物品电子标签，以便减小相互干扰。机器人控制装置通过利用库位电子标签和物品电子标签所发送的信号进行盘点处理，能够有效降低成本、提升盘点效率。
在一些实施例中，在通过接收天线接收到多个第三信号的情况下，根据多个第三信号获得机器人的第一定位信息。从定位装置获取机器人的第二定位信息。利用第一定位信息和第二定位信息确定机器人的当前位置信息。并将将当前位置信息发送给主控机，以便主控机检测机器人是否在预设路径上。
由于库位电子标签的坐标位置是预先知道的，因此在接收到多个第三信号的情况下，可采用诸如A-GPS(Assisted Global Positioning System，辅助全球定位系统)的定位算法计算机器人的第一定位信息。
在一些实施例中，机器人的定位装置可包括电磁导航定位装置、惯性导航定位装置、超声波导航定位装置、激光导航定位装置、视觉导航定位装置和UWB(Ultra Wideband，超宽带)定位装置中的至少一种。例如，机器人的定位装置包括惯性导航定位装置、超声波导航定位装置。在定位装置包括超声波导航定位装置的情况下，机器人控制装置还可利用超声波实现避障。
这里需要说明的是，电磁导航定位装置需要在地下埋设引导电缆，在地面粘贴磁条等辅助定位设施，工程量较大，且无法实现避障。惯性导航定位装置在定位过程中存在误差积累，从而导致定位精度下降。超声波导航定位装置的性能受物体表面形状影响较大，在仓库环境下超声波方式不易精确定位。激光导航定位装置成本较高，对工作环境(外界光线、地面要求、能见度要求等)要求较高。视觉导航定位装置的计算量大，在距离较远时定位精度较低。UWB定位装置成本高，定位覆盖范围小，受多径和同频干扰影响较大。
为了解决现有技术的不足，在本公开上述实施例中，将利用库位电子标签发送的信号得到的机器人的第一定位信息和从定位装置获取的机器人的第二定位信息进行融合，以得到机器人的当前较为精确的位置信息。
在一些实施例中，图像处理装置以预设周期采集机器人的图像，通过分析图像以获取位置估计信息，并将该位置估计信息发送给机器人控制装置。例如，图像处理装置是具有图像采集和图像处理功能的计算机。
例如，图像处理装置对在仓库巷道内的机器人进行图像采集。通过图像分析以确定机器人在巷道内的位置，进而得到相应的位置估计信息。
在这种情况下，机器人控制装置利用第一定位信息、第二定位信息和位置估计信息获取机器人的当前更为精确的位置信息。
在一些实施例中，主控机根据机器人发送的位置信息检测机器人是否在预设路径上，若机器人不在预设路径上，则向机器人发送调整指令。机器人控制装置在接收到主控机发送的调整指令后，根据调整指令调整机器人的运动状态，以便使机器人位于预设路径上。
图2为本公开一个实施例的机器人控制装置的结构示意图。如图2所述，机器人控制装置包括第一处理模块21、第二处理模块22、第三处理模块23和第四处理模块24。
第一处理模块21被配置为在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有第一频率的第二信号，以便接收到第二信号的多个库位电子标签分别发送具有第一频率的第三信号，通过第二发送天线发送具有第二频率的第四信号，以便接收到第四信号的多个物品电子标签分别发送具有第二频率的第五信号。
在一些实施例中，主控机持续发送具有第一频率的第一信号。例如，第一频率为433MHz。
每个库位都设置有一个库位电子标签，库位电子标签的工作频率为第一频率。通过库位电子标签发送的第三信号能够获得对应库位的唯一标识。
在一些实施例中，第二频率为902-928MHz。
每个物品外包装的固定位置处设置有电子标签。物品电子标签的工作频率为第二频率。通过物品电子标签发送的第五信号能够获得对应物品的唯一标识。
第二处理模块22被配置为在通过接收天线接收到多个第三信号的情况下，将多个第三信号中具有最大信号强度的第三信号作为目标信号，将与发送目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与目标库位相关联的物品电子标签信息。
在一些实施例中，预先在机器人控制装置中设置有信息库，该信息库包括库位和该库位所放置物品的物品电子标签信息。
第三处理模块23被配置为在接收到电子标签接收机发送的多个标签信息的情况 下，根据多个标签信息和物品电子标签信息获得目标库位的盘点结果，其中电子标签接收机从接收到的第五信号中获取对应的标签信息。
在一些实施例中，电子标签接收机在接收到多个物品电子标签分别发送的具有第二频率的第五信号的情况下，从接收到的第五信号中获取对应的标签信息，并将标签信息发送给机器人。
通过将电子标签接收机提供的多个标签信息和从信息库获取的物品电子标签信息进行比对，就能够判断信息是否匹配，从而实现对目标库位的盘点。
第四处理模块24被配置为将目标库位的盘点结果发送给主控机。
在一些实施例中，第四处理模块24在将目标库位的盘点结果发送给主控机后，进一步检测是否已获取全部库位的盘点结果。若未获取全部库位的盘点结果，则继续驱动机器人沿预设路径移动，以便对其它库位进行盘点。若已获取全部库位的盘点结果，则驱动机器人返回指定地点。
图3为本公开另一个实施例的机器人控制装置的结构示意图。图3与图2的不同之处在于，在图3所示实施例中，机器人控制装置还包括第五处理模块25。
在一些实施例中，第五处理模块25在通过接收天线接收到多个第三信号的情况下，根据多个第三信号获得机器人的第一定位信息。从定位装置获取机器人的第二定位信息。利用第一定位信息和第二定位信息确定机器人的当前位置信息。并将将当前位置信息发送给主控机，以便主控机检测机器人是否在预设路径上。
在一些实施例中，第五处理模块25接收图像处理装置提供的机器人的位置估计信息，并利用第一定位信息、第二定位信息和位置估计信息确定机器人的当前位置信息。
在一些实施例中，主控机根据机器人发送的位置信息检测机器人是否在预设路径上，若机器人不在预设路径上，则向机器人发送调整指令。第五处理模块25在接收到主控机发送的调整指令后，根据调整指令调整机器人的运动状态，以便使机器人位于预设路径上。
图4为本公开又一个实施例的机器人控制装置的结构示意图。如图4所示，机器人控制装置包括存储器41和处理器42。
存储器41用于存储指令，处理器42耦合到存储器41，处理器42被配置为基于存储器存储的指令执行实现如图1中任一实施例涉及的方法。
如图4所示，该资源提供装置还包括通信接口43，用于与其它设备进行信息交互。 同时，该资源提供装置还包括总线44，处理器42、通信接口43、以及存储器41通过总线44完成相互间的通信。
存储器41可以包含高速RAM存储器，也可还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器41也可以是存储器阵列。存储器41还可能被分块，并且块可按一定的规则组合成虚拟卷。
此外，处理器42可以是一个中央处理器CPU，或者可以是专用集成电路ASIC，或是被配置成实施本公开实施例的一个或多个集成电路。
本公开同时还涉及一种计算机可读存储介质，其中计算机可读存储介质存储有计算机指令，指令被处理器执行时实现如图1中任一实施例涉及的方法。
图5为本公开一个实施例的机器人的结构示意图。如图5所示，机器人50包括机器人控制装置51、接收天线52、第一发送天线53和第二发送天线54。机器人控制装置51为图2-图4中任一实施例涉及的机器人控制装置。
接收天线52被配置为接收主控机发送的具有第一频率的第一信号，还被配置为接收库位电子标签发送的具有第一频率的第三信号。
第一发送天线53被配置为发送具有第一频率的第二信号。
第二发送天线54被配置为发送具有第二频率的第四信号。
例如，第一频率为433MHz。第二频率为902-928MHz。
图6为本公开一个实施例的物品盘点系统的结构示意图。如图6所示，物品盘点系统包括机器人61、主控机62、库位电子标签63、物品电子标签64和电子标签接收机65。机器人61为图5中任一实施例涉及的机器人。
这里需要说明的是，为了简明起见，在图6中仅示出一个库位电子标签63和一个物品电子标签64。实际上，物品盘点系统包括多个库位电子标签63和多个物品电子标签64。
主控机62被配置为持续发送具有第一频率的第一信号，还被配置为接收机器人61发送的盘点结果。
例如，第一频率为433MHz。
库位电子标签63被配置为在接收到机器人61发送的具有第一频率的第二信号的情况下发送具有第一频率的第三信号。
物品电子标签64被配置为在接收到机器人61发送的具有第二频率的第四信号的情况下发送具有第二频率的第五信号。
电子标签接收机65被配置为接收物品电子标签64发送的具有第二频率的第五信号，从接收到的第五信号中获取对应的标签信息，并将标签信息发送给机器人61。
图7为本公开另一个实施例的物品盘点系统的结构示意图。图7和图6的不同之处在于，在图7所示实施例中，物品盘点系统还包括图像处理装置66。
图像处理装置66被配置为以预设周期采集机器人的图像，通过分析图像以获取机器人的位置估计信息，并将位置估计信息发送给机器人61。
在一些实施例中，主控机62还被配置为根据机器人发送的位置信息检测机器人61是否在预设路径上，若机器人61不在预设路径上，则向机器人61发送调整指令。以便机器人61根据该调整指令调整运动状态，以便使机器人61位于预设路径上。
图8为本公开又一个实施例的物品盘点系统的结构示意图。这里需要说明的是，为了简明起见，在图8中仅示出一个库位电子标签83和一个物品电子标签84。实际上，物品盘点系统包括多个库位电子标签63和多个物品电子标签84。
如图8所示，主控机82持续发送具有第一频率为433MHz的第一信号。机器人81在沿预设路径移动的过程中，若通过接收天线接收到主控机82发送的具有第一频率的第一信号，则通过第一发送天线发送具有第一频率的第二信号，通过第二发送天线发送具有第二频率为902-928MHz的第四信号。
接收到第二信号的多个库位电子标签83分别发送具有第一频率的第三信号。接收到第四信号的多个物品电子标签84分别发送具有第二频率的第五信号。
机器人81在通过接收天线接收到多个库位电子标签83发送的多个第三信号的情况下，将多个第三信号中具有最大信号强度的第三信号作为目标信号，将与发送目标信号的库位电子标签83对应的库位作为目标库位，并从信息库中提取出与目标库位相关联的物品电子标签信息。
电子标签接收机85在接收到物品电子标签84发送的第五信号后，从接收到的第五信号中获取对应的标签信息，并将获得的标签信息发送给机器人81。
机器人81在接收到电子标签接收机85发送的多个标签信息的情况下，根据多个标签信息和物品电子标签信息获得目标库位的盘点结果，并将目标库位的盘点结果通过云端服务器87发送给主控机82。
机器人81在将目标库位的盘点结果发送给主控机82后，进一步检测是否已获取全部库位的盘点结果。若未获取全部库位的盘点结果，则继续沿预设路径移动，以便对其它库位进行盘点。若已获取全部库位的盘点结果，则返回指定地点。
在一些实施例中，图像处理装置86以预设周期采集机器人的图像，通过分析图像以获取位置估计信息，并将该位置估计信息通过云端服务器87发送给机器人81。
机器人81在通过接收天线接收到多个库位电子标签83发送的多个第三信号的情况下，根据多个第三信号获得机器人81的第一定位信息。此外，机器人81还从定位装置获取机器人的第二定位信息。由此机器人利用第一定位信息、第二定位信息和位置估计信息获取机器人81的当前位置信息。机器人81将当前位置信息通过云端服务器87发送给主控机82。
主控机82根据机器人81发送的位置信息检测机器人81是否在预设路径上。若机器人81不在预设路径上，则主控机82通过云端服务器87向机器人81发送调整指令。以便机器人81根据该调整指令调整运动状态，以便使机器人81位于预设路径上。
在一些实施例中，在上面所描述的功能单元模块可以实现为用于执行本公开所描述功能的通用处理器、可编程逻辑控制器(Programmable Logic Controller，简称：PLC)、数字信号处理器(Digital Signal Processor，简称：DSP)、专用集成电路(Application Specific Integrated Circuit，简称：ASIC)、现场可编程门阵列(Field-Programmable Gate Array，简称：FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件或者其任意适当组合。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
本公开的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本公开限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本公开的原理和实际应用，并且使本领域的普通技术人员能够理解本公开从而设计适于特定用途的带有各种修改的各种实施例。

Claims (12)

  1. 一种物品盘点方法，由机器人控制装置执行，包括：
    在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有所述第一频率的第二信号，以便接收到所述第二信号的多个库位电子标签分别发送具有所述第一频率的第三信号；
    通过第二发送天线发送具有第二频率的第四信号，以便接收到所述第四信号的多个物品电子标签分别发送具有第二频率的第五信号；
    在通过所述接收天线接收到多个第三信号的情况下，将所述多个第三信号中具有最大信号强度的第三信号作为目标信号；
    将与发送所述目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与所述目标库位相关联的物品电子标签信息；
    在接收到电子标签接收机发送的多个标签信息的情况下，根据所述多个标签信息和所述物品电子标签信息获得所述目标库位的盘点结果，其中所述电子标签接收机从接收到的第五信号中获取对应的标签信息；
    将所述目标库位的盘点结果发送给所述主控机。
  2. 根据权利要求1所述的方法，还包括：
    在通过所述接收天线接收到多个第三信号的情况下，根据所述多个第三信号获得所述机器人的第一定位信息；
    从定位装置获取所述机器人的第二定位信息；
    利用所述第一定位信息和所述第二定位信息确定所述机器人的当前位置信息；
    将所述当前位置信息发送给所述主控机，以便所述主控机检测所述机器人是否在所述预设路径上。
  3. 根据权利要求2所述的方法，还包括：
    接收图像处理装置提供的所述机器人的位置估计信息，其中所述图像处理装置以预设周期采集所述机器人的图像，通过分析所述图像以获取所述位置估计信息；
    所述利用所述第一定位信息和所述第二定位信息确定所述机器人的当前位置信息包括：
    利用所述第一定位信息、所述第二定位信息和所述位置估计信息确定所述机器人的当前位置信息。
  4. 根据权利要求3所述的方法，还包括：
    在接收到主控机发送的调整指令后，根据所述调整指令调整所述机器人的运动状态，以便使所述机器人位于所述预设路径上。
  5. 根据权利要求1-4中任一项所述的方法，还包括：
    在将所述目标库位的盘点结果发送给所述主控机后，检测是否已获取全部库位的盘点结果；
    若未获取全部库位的盘点结果，则继续驱动所述机器人沿所述预设路径移动；
    若已获取全部库位的盘点结果，则驱动所述机器人返回指定地点。
  6. 一种机器人控制装置，包括：
    第一处理模块，被配置为在驱动机器人沿预设路径移动的过程中，若通过接收天线接收到主控机发送的具有第一频率的第一信号，则通过第一发送天线发送具有所述第一频率的第二信号，以便接收到所述第二信号的多个库位电子标签分别发送具有所述第一频率的第三信号，通过第二发送天线发送具有第二频率的第四信号，以便接收到所述第四信号的多个物品电子标签分别发送具有第二频率的第五信号；
    第二处理模块，被配置为在通过所述接收天线接收到多个第三信号的情况下，将所述多个第三信号中具有最大信号强度的第三信号作为目标信号，将与发送所述目标信号的库位电子标签对应的库位作为目标库位，并从信息库中提取出与所述目标库位相关联的物品电子标签信息；
    第三处理模块，被配置为在接收到电子标签接收机发送的多个标签信息的情况下，根据所述多个标签信息和所述物品电子标签信息获得所述目标库位的盘点结果，其中所述电子标签接收机从接收到的第五信号中获取对应的标签信息；
    第四处理模块，被配置为将所述目标库位的盘点结果发送给所述主控机。
  7. 一种机器人控制装置，包括：
    存储器，被配置为存储指令；
    处理器，耦合到存储器，处理器被配置为基于存储器存储的指令执行实现如权利要求1-5中任一项所述的方法。
  8. 一种机器人，包括：
    如权利要求6或7所述的机器人控制装置；
    接收天线，被配置为接收主控机发送的具有第一频率的第一信号，还被配置为接收库位电子标签发送的具有所述第一频率的第三信号；
    第一发送天线，被配置为发送具有所述第一频率的第二信号；
    第二发送天线，被配置为发送具有第二频率的第四信号。
  9. 一种物品盘点系统，包括：
    如权利要求8所述的机器人；
    主控机，被配置为持续发送具有第一频率的第一信号，还被配置为接收所述机器人发送的盘点结果；
    库位电子标签，被配置为在接收到具有所述第一频率的第二信号的情况下发送具有第一频率的第三信号；
    物品电子标签，被配置为在接收到具有第二频率的第四信号的情况下发送具有所述第二频率的第五信号；
    电子标签接收机，被配置为接收具有所述第二频率的第五信号，从接收到的第五信号中获取对应的标签信息，并将所述标签信息发送给所述机器人。
  10. 根据权利要求9所述的系统，还包括：
    图像处理装置，被配置为以预设周期采集所述机器人的图像，通过分析所述图像以获取所述机器人的位置估计信息，并将所述位置估计信息发送给所述机器人。
  11. 根据权利要求9所述的系统，其中，
    主控机还被配置为根据所述机器人发送的位置信息检测所述机器人是否在预设路径上，若所述机器人不在所述预设路径上，则向所述机器人发送调整指令。
  12. 一种计算机可读存储介质，其中，计算机可读存储介质存储有计算机指令， 指令被处理器执行时实现如权利要求1-5中任一项所述的方法。
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