WO2022222801A1 - 仓储管理方法、装置、仓储机器人、仓储系统及介质 - Google Patents

仓储管理方法、装置、仓储机器人、仓储系统及介质 Download PDF

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Publication number
WO2022222801A1
WO2022222801A1 PCT/CN2022/086452 CN2022086452W WO2022222801A1 WO 2022222801 A1 WO2022222801 A1 WO 2022222801A1 CN 2022086452 W CN2022086452 W CN 2022086452W WO 2022222801 A1 WO2022222801 A1 WO 2022222801A1
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Prior art keywords
operated
image
task
information
warehousing
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PCT/CN2022/086452
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English (en)
French (fr)
Inventor
周红霞
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深圳市库宝软件有限公司
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Publication of WO2022222801A1 publication Critical patent/WO2022222801A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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

Definitions

  • the present disclosure relates to the technical field of intelligent storage, and in particular, to a storage management method, a device, a storage robot, a storage system and a medium.
  • the operation table is a very important part.
  • materials can be registered, and different warehousing services can be performed, such as material warehousing, material warehousing, material counting or material sorting, etc.
  • Current warehousing services require humans or warehousing robots to transport materials to the console for registration by the relevant operators.
  • congestion is prone to occur, and the efficiency of warehousing services is low.
  • the embodiments of the present disclosure provide a warehouse management method, a device, a warehouse robot, a warehouse system and a medium, which realizes that in any area including the operation station, an operation station can be formed anywhere according to the needs of the operation task, and can execute the corresponding operation of the operation station. Register tasks to avoid congestion on existing consoles and improve warehousing service efficiency.
  • an embodiment of the present disclosure provides a warehouse management method, and the warehouse management method includes:
  • the operation area is determined by the image acquisition module of the interactive device, and the image acquisition module is used to acquire images;
  • the execution result of the operation task is output through the information transceiver module.
  • the determining the operation area includes:
  • the operating area is determined based on the shelf image.
  • the determining the operation area according to the shelf image further includes:
  • the shelf image determine a warehouse location, and the warehouse location is set on the shelf;
  • the storage location is determined as the operation area.
  • both the object to be operated and the operation area are provided with identification codes, and the determining the operation area includes:
  • the identification code image of the operation area is collected by the image collection module
  • the position of the operation area is determined according to the recognition result.
  • the target operation type is a warehousing task, and performing the target operation of the operation type on the to-be-operated object includes:
  • the object to be operated is placed in the operation area.
  • the outputting the execution result of the operation task includes:
  • the information about completing the warehousing task is output to the client system via the information transceiver module. Information about the completion of the task execution.
  • the target operation type is an outbound task
  • performing the target operation of the operation type on the to-be-operated object includes:
  • the object to be operated is placed in the operation area.
  • the object to be operated is a material
  • performing the target operation of the operation type on the object to be operated includes:
  • the material is placed in the operating area.
  • the objects to be operated are materials and containers, and performing the target operation of the operation type on the objects to be operated includes:
  • the material is placed in the cargo box.
  • the object to be operated is a material and a container, and the container is placed in the operation area, and performing the target operation of the operation type on the object to be operated includes:
  • the material is placed in the cargo box.
  • the outputting the execution result of the operation task includes:
  • an instruction for updating inventory information is output to the client system via the information transceiving module, where the instruction for updating inventory information is used to indicate that the inventory information is re-determined according to the image of the object to be operated.
  • the target operation type is an inventory task
  • performing the target operation of the operation type on the to-be-operated object includes:
  • the information of the object to be operated is checked, and the information of the object to be operated includes at least one of the number, type and position information of the object to be operated.
  • the outputting the execution result of the operation task includes:
  • the inventory-completion information is output to the client system, and the inventory-completion information is used to indicate the information of re-determining the inventory according to the image of the to-be-operated object.
  • the target operation type is a sorting task, and performing the target operation of the operation type on the to-be-operated object includes:
  • the outputting the execution result of the operation task includes:
  • the sorting completion information is output to the client system, and the sorting completion information is used to indicate the information of re-determining the inventory according to the image of the object to be operated.
  • the present disclosure also provides a warehouse management device, the warehouse management device comprising:
  • an information transceiver module for receiving an operation task from the client system and outputting the execution result of the operation task
  • the object determination module is used to determine the operation area and the object to be operated
  • An operation execution module configured to execute the target operation of the operation type on the to-be-operated object.
  • the present disclosure also provides a storage robot, including a memory, a processor and a computer program;
  • the computer program is stored in the memory, and is configured to be executed by the processor to implement the warehouse management method according to any one of the first aspects above.
  • the present disclosure further provides a storage system, including: the storage robot, the rack, and the client system as described in the third aspect;
  • the storage robot is connected to the client system, and the storage robot is configured to execute the operation task and output the execution result of the operation task in the determined operation area according to the operation task from the client system , wherein the operation area is arranged on the shelf.
  • the storage system further includes an interaction device.
  • the interaction device is connected in communication with the storage robot, and the interaction device is used to obtain and transmit a shelf image to the storage robot, and the shelf image is used to determine the operation area.
  • the present disclosure further provides a computer-readable storage medium, including computer-executable instructions stored in the computer-readable storage medium, the computer-executable instructions being used to implement the first aspect when executed by a processor Any of the described warehouse management methods.
  • the present disclosure also provides a computer program product, the computer program product comprising computer-executable instructions, when the computer-executable instructions are executed by a processor, for implementing the warehouse management according to any one of the first aspects above method.
  • the storage management method, device, storage robot, storage system, and medium provided by the embodiments of the present disclosure realize the registration work corresponding to the operation table in an area other than the operation table by setting an operation area and performing operation tasks in the operation area, and can also assist
  • the operation console performs registration work, because the interactive area for registration work is increased, thereby increasing the processing capacity of warehousing services, and at the same time, the information of operation tasks can be quickly obtained through the interactive device, thereby assisting warehousing managers to improve the speed of warehousing services; therefore
  • the present disclosure can form an operation table anywhere to perform warehousing services such as material registration, which can not only ensure the continuous progress of material registration and warehousing services, but also avoid the accumulation of materials to be registered on the operation table, which greatly improves the efficiency of warehousing services. .
  • FIG. 1 is an application scenario diagram of the warehouse management method provided by an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a warehouse management method provided by an embodiment of the present disclosure
  • FIG. 3 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure.
  • FIG. 4 is a flowchart of a warehouse management method provided by yet another embodiment of the present disclosure.
  • FIG. 5 is an application scenario diagram provided by another embodiment of the present disclosure.
  • FIG. 6 is an application scenario diagram provided by yet another embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a warehouse management device according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a storage robot according to an embodiment of the present disclosure
  • FIG. 9 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.
  • the current intelligent warehousing system relies on the human-computer interaction workstation (or console) for material registration when performing various warehousing services, due to the large amount of materials entering or leaving the warehouse, it usually takes a long time to operate. (For example, a batch of goods must occupy all the operating tables for 12 hours to complete the warehousing or delivery), according to the normal operation process, the material registration part of these inbound and outbound processes depends on the operating table, which will easily lead to materials and orders. Congestion occurs in the registration link of the operation desk, and many other orders or materials cannot receive timely warehousing services, resulting in low warehousing service efficiency.
  • an embodiment of the present disclosure provides a warehouse management method. By setting an operation area at any position including an operation table, and performing a material registration service, it can not only ensure the normal operation of the warehousing service, but also avoid the need for material and The congestion of orders improves the efficiency of warehousing services.
  • FIG. 1 is an application scenario diagram of the warehouse management method provided by an embodiment of the present disclosure.
  • the intelligent warehousing system 100 sends an operation task to the interactive device 110 through the client system 101, and controls the warehousing robot 120 to extract the materials 131 on the shelves 130 in the inventory area, and store the It is moved to the human-computer interaction workstation (also called the console) 140, and the operator of the console 140 performs material registration for the materials in the container 121 to be counted; or registers the materials 131 in the console 140 that have been registered placed on the shelf.
  • the console 140 also called the console
  • the storage robot, material, shelf and operation table in the scene shown in FIG. 1 are only one example for illustration, but this disclosure is not limited by this, that is to say, the storage robot, material, shelf and operation
  • the number of stations can be arbitrary.
  • FIG. 2 is a flowchart of a warehouse management method provided by an embodiment of the present disclosure.
  • the warehouse management method is applied to a warehouse robot.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S201 an operation task from a client system is received through the information transceiver module of the interaction device.
  • the operation task includes the operation type and the object to be operated.
  • the interaction device can be a personal mobile terminal PDA, or a smart phone application
  • the information transceiver module is a module that can communicate and connect with the intelligent storage system, and is used to receive the information sent by the intelligent storage system and can output and return information
  • customer The system can be a part of the intelligent warehousing system, used to record relevant information with external customers or demanders or orders and inventory materials, or it can be the control processing part of the intelligent warehousing system.
  • Operation tasks are specific tasks corresponding to warehousing services.
  • the operation type is the type of warehousing service, such as material entry, material exit, material inventory, or material sorting.
  • the object to be operated is the specific object of the warehousing service, which is generally materials, including containers and commodities.
  • the commodities can be placed individually or in the containers; in the inventory area of the intelligent warehousing system, the containers and commodities are placed on the shelves.
  • the operation task can be expressed as placing 20 basketballs on a certain shelf on a designated box, placing the box on a specific shelf, and making warehouse processing for all the commodities on the shelf.
  • warehouse management personnel can hold the interactive device and obtain operation tasks in any area within the scope of the intelligent storage system through the interactive device.
  • Step S202 the operation area is determined by the image acquisition module of the interactive device.
  • the image acquisition module is used to acquire images.
  • the image acquisition device is a conventional camera including an image processing module, and may also be a dedicated scanning device including a data processing module.
  • the operation area is an area with a certain scope selected by the warehouse management personnel for warehousing services.
  • the warehouse manager selects the corresponding area in the image on the interactive device or automatically identifies the area in the image as the operation area through the interactive device, and sends the confirmation information of the operation area through the information transceiver module.
  • the warehousing robot obtains the location of the operation area, and plans the path of the warehousing service according to the location of the operation area.
  • the operation area is an area other than the operation table in the inventory area. Since the operation area is in the area adjacent to the material, the distance between the operation table and the material is closer, thereby shortening the path for picking and placing materials in the warehousing service. Improve the time to pick and place materials, thereby improving the efficiency of warehousing services.
  • the operation area may also be an operation console.
  • the operation console Through the information transceiver module and the image acquisition module of the interactive device, the task information that needs to be performed on the operation console can be quickly acquired, and the objects to be operated and the objects to be operated in the operation task can be conveniently collected.
  • the information of operation tasks can assist warehouse managers to make decisions more quickly and perform corresponding material registration operations, thereby improving the execution efficiency of operation tasks, thereby improving the efficiency of warehousing services.
  • Step S203 in the operation area, perform the target operation of the target operation type on the object to be operated.
  • the target operation type is used to represent one of the aforementioned types of warehousing services specified by the operation task.
  • the target operation is the operation required by the warehousing service, including material registration through the interactive device, and requiring the warehousing robot to move the specified material to the specified location.
  • Specify The location is the location in the operation area or the designated shelf.
  • the material registration operation performed by the interactive device is limited to be completed in the operation area, that is, the operation area is replaced by the operation table as mentioned above, and the material registration operation corresponding to the operation table is performed to ensure the flexibility of operation.
  • Step S204 outputting the execution result of the operation task through the information sending and receiving module.
  • the execution result includes the time when the operation task is executed and completed, and the material information after execution.
  • the execution result sent to the client system may be the specific shelf position of the specific material in the inventory area and the execution completion time.
  • the interactive device can print the aforementioned operation tasks and execution results, so that the warehouse management personnel can keep paper records, or perform further operations according to the paper content.
  • the operation task is acquired through the information transceiver module of the interactive device, the operation area is determined through the image acquisition module, the target operation task is executed in the operation area, and the execution result is output through the information transceiver module.
  • warehouse management personnel can arbitrarily choose a convenient location as the operation area to perform warehousing services, and the flexibility is higher;
  • An operation table can be formed anywhere, and the operation area can be closer to the material, and the method can also significantly improve the efficiency of the warehousing service.
  • FIG. 3 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure.
  • the improved warehouse management method of this embodiment is a further refinement of step S202 on the basis of the embodiment shown in FIG. 2 .
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S301 an operation task from a client system is received through an information transceiver module of the interactive device.
  • Step S302 receiving the shelf image from the image acquisition module, and determining the operation area according to the shelf image.
  • the image capture module is a conventional camera capable of capturing images.
  • the shelf image is an image of a shelf with a vacant storage location in the inventory area, and the image generally includes a complete structural diagram of the storage location in the shelf or an image including a part of the shelf identifiable information.
  • the operation area is set on the shelf, so that the warehouse robot can locate the position of the operation area, so as to automatically perform some target operations in the warehouse service.
  • the rack further includes a buffer rack for temporarily placing materials.
  • a buffer rack for temporarily placing materials.
  • both the cache rack and the shelf have identifiable information to facilitate the identification of the specific location of the cache rack or the rack.
  • Step S303 according to the shelf image, determine the storage location as the operation area.
  • the storage location is set on the shelf selected by the shelf image.
  • the operation area is based on the storage space on the shelf, and the number of storage space occupied by the operation area is one or more, such as 2, 3 or more.
  • the storage locations corresponding to the operation areas are all previously vacant storage locations, so that various operations of the warehousing service can be conveniently performed on the storage locations.
  • the storage locations corresponding to the operation area are all pre-entered into the intelligent storage system.
  • the intelligent storage robot does not need to pass additional recording, identification and judgment functions, and only needs to check the corresponding location in the intelligent storage system. By modifying the properties, you can quickly locate the storage location corresponding to the operation area.
  • the operation area may be at least two continuous or discontinuous vacant storage locations on a specific shelf captured by the image acquisition module, or may be all storage locations on a buffer shelf placed at a fixed position in the inventory area.
  • Step S304 in the operation area, perform the target operation of the target operation type on the object to be operated.
  • the target operation of the object to be operated is carried out on the aforementioned storage location.
  • the storage robot needs to transport the target object to be operated to the storage location or from the storage location to the target location, it can be easily and intuitively found through the location of the storage location. Location.
  • Step S305 outputting the execution result of the operation task through the information transceiver module.
  • the output execution result includes operation area information for executing the operation task, that is, the specific location where the warehouse location is located.
  • the operation area is determined by the image acquisition module, and the operation area is limited to the existing storage space on the shelf, the target operation of the operation task is performed on the storage space, and the execution result including the operation area is output through the information transceiver module .
  • the intelligent warehousing system and warehousing robot it is convenient for the intelligent warehousing system and warehousing robot to perform rapid positioning, reducing the time for finding and judging the location of the operation area, and improving the efficiency of warehousing services.
  • the operation area is on the shelf, that is, there is a platform for placing items, which also facilitates the operation of warehouse management personnel, and does not need to squat on the ground or bend frequently, reducing labor intensity.
  • the storage location on the shelf is an arbitrarily selected location in the inventory area, it is generally possible to select a location closer to the object to be operated, which can significantly improve the efficiency of warehousing services compared to operating on a fixed-position console. Flexibility, shorten the time for handling objects to be operated, and improve the efficiency of warehousing services.
  • FIG. 4 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure.
  • the improved warehouse management method in this embodiment is a further refinement of step S202 on the basis of the embodiment shown in FIG. 2 .
  • both the object to be operated and the operation area are provided with identification codes.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S401 an operation task from a client system is received through the information transceiver module of the interactive device.
  • the operation object corresponding to the operation task also includes the corresponding identification code and location information, so as to facilitate the warehouse management personnel to select the corresponding location.
  • step S402 the identification code image of the operation area is collected by the image acquisition module; the identification code image of the operation area is recognized by the data processing module of the interactive device; and the position of the operation area is determined according to the identification result.
  • the identification code can be at least one of a two-dimensional code, a barcode, and an electronic label, and the identification code can be set at any position on the shelf and the object to be operated, such as the center, upper right corner, and lower left corner of the front surface, The center of the bottom surface, the top corner, etc., the identification code can be generated according to the position of the shelf, the type and quantity of the material.
  • the identification algorithm of the identification code can be a barcode identification algorithm (when the identification code is a barcode), such as the zbar algorithm, or a two-dimensional code identification algorithm (when the identification code is a two-dimensional code), such as Reed Solomon (RS) algorithm, or can also be an algorithm based on radio frequency identification (when the identification code is an electronic tag).
  • a barcode identification algorithm when the identification code is a barcode
  • a two-dimensional code identification algorithm when the identification code is a two-dimensional code
  • RS Reed Solomon
  • the identification result includes querying the intelligent warehousing system through the information sending and receiving module of the interactive device to obtain the operation area information corresponding to the entered identification code, and the operation area information includes the location and number information of the operation area.
  • determining the position of the operation area includes sending the settings or attributes of the corresponding position of the identification code image to the intelligent storage system through the information transceiver device according to the operation area information obtained by the interactive device, and using the position corresponding to the identification code image as the operation area.
  • the attribute of a shelf is set from the conventional shelf to the operation area.
  • the operation of modifying the setting or attribute of the corresponding position of the identification code image is a temporary modification and has a set time limit.
  • Step S403 in the operation area, perform the target operation of the operation type on the object to be operated.
  • the aforementioned process of collecting and identifying the identification code image is also performed on the object to be operated, thereby facilitating the intelligent warehousing system and the warehousing robot to locate the object to be operated and input the information of the object to be operated into the intelligent warehousing system.
  • Step S404 outputting the execution result of the operation task through the information sending and receiving module.
  • the execution result also includes the information of the operation area and the to-be-operated object identified through the identification code image.
  • FIG. 5 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure.
  • the improved warehouse management method of this embodiment is based on the embodiment shown in FIG. 2 , which refines the operation task into a warehousing task.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S501 receiving the storage task from the client system through the information transceiver module of the interactive device.
  • the warehousing task may include specific information of the to-be-operated object to be warehousing, or may not include specific information and be entered through the interactive device.
  • Step S502 the operation area is determined by the image acquisition module of the interactive device.
  • the operation area can select a completely vacant shelf or a cache shelf, or can select a shelf with more vacant positions.
  • the operation area is the storage position of the object to be operated in the inventory area, or it may be the position where the object to be operated is temporarily placed, and is transported to the set inventory area by the intelligent warehouse robot Location.
  • the operation area selected by the warehousing task is an area adjacent to the object to be operated, such as a shelf or a buffer shelf adjacent to the place where the material to be warehousing is stacked.
  • Step S503 in the operation area, perform the target operation of the operation type on the object to be operated.
  • the target operation of the operation type to be performed on the object to be operated includes:
  • the action of placing the object to be operated in the operation area is completed by the warehouse management personnel, or the object to be operated that has entered information may be transported to the operation area by issuing a handling instruction to the warehouse robot.
  • Step S504 outputting the execution result of the operation task through the information sending and receiving module.
  • the execution result of the output operation task includes:
  • the information of the completed storage task is output to the client system via the information transceiver module, and the completed storage task information is used to indicate the completion of the storage task execution of the image containing the operation area and the image of the to-be-operated object.
  • the target operation includes entering its information through the interactive device and placing it on the operation area, and entering the specific location information of the operation area where the object to be operated is located through the interactive device;
  • the target operation includes entering the information of the material box and the material respectively, and returning the information to the intelligent warehousing system through the interactive device, so that the intelligent warehousing system records the related information of the material box and the material, and then through the interaction
  • the device records the specific location information of the operation area where the object to be operated is located.
  • the images of the operation area and the object to be operated are the position information and characteristic images of the operation area and the object to be operated.
  • the output execution result includes the aforementioned operation area and the position information of the object to be operated, and also includes the target position of the object to be operated stored in the inventory area.
  • the target position of the object to be operated is stored in the inventory area and is not in the operation area, it is necessary to issue a warehousing instruction to the storage robot, so that the storage robot can transport the object to be operated from the operation area to the target position.
  • the execution result is output only after the objects to be operated have been placed in all positions of the operation area or the objects to be operated have been placed.
  • the warehousing task is 20 steel ingots, and there is already a shelf for storing steel ingots in the inventory area. Therefore, when the warehouse management personnel perform the operation task, they perform the aforementioned target operation on the buffer shelf adjacent to the place where the steel ingots are placed, and then Output the execution result to the intelligent warehousing system, and issue a warehousing instruction to the warehousing robot. After the warehousing robot transports the steel ingot to the designated vacant location on the shelf where the steel ingot is stored, the entire warehousing process is completed.
  • the operation task is limited to the storage task, thereby the target operation to be executed and the output execution result are limited.
  • the storage can be carried out in any area including the operation table. Since the selected operation area can be the storage area of the operation object to be stored, there is no need to transport the object to be operated. The area is moved to the operating table, and then transported to the storage area, which can significantly reduce the transportation distance of the object to be operated, shorten the execution time of the warehousing task, and improve the efficiency of the warehousing service.
  • the warehouse management method provided in this embodiment is based on the embodiment shown in FIG. 2 , and refines the operation task into a warehouse-out task.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S601 receiving the outbound task from the client system through the information transceiver module of the interactive device.
  • the outbound task may include specific information of the to-be-operated object to be outbound, such as the material to be picked, the material batch, the picking quantity, and the target production line position.
  • the position where the object to be operated needs to be placed can be any specified position, such as the position adjacent to the operating table, it can be a specified shelf or a specified transport vehicle.
  • specific task information is obtained by collecting images of designated locations and sending back to the intelligent storage system for the outbound task.
  • Step S602 the operation area is determined by the image acquisition module of the interactive device.
  • the operation area generally selects the shelf where the object to be operated is to be performed the outbound operation; when the target location of the object to be operated is a designated shelf or a pre-entered position in any intelligent storage system, the operation The area can also be the target position where the object to be operated needs to be placed.
  • Step S603 in the operation area, perform the target operation of the operation type on the object to be operated.
  • the target operation of the operation type performed on the object to be operated is placing the object to be operated in the operation area.
  • the object to be operated is a material
  • the target operation of the operation type is performed on the object to be operated, including: placing the material in the operation area.
  • the object to be operated is a material
  • the object to be operated is directly placed in the operation area, that is, the target operation is completed.
  • the pre-packaged courier that needs to be shipped out of the warehouse is directly placed on the designated shelf.
  • the object to be operated is a material and a container
  • the target operation of the operation type is performed on the object to be operated, including: placing the container in the operation area; placing the material in the container.
  • the target container when the objects to be operated include materials and containers, and the materials need to be put into the containers, the target container needs to be additionally transported to the operation area, and the materials are placed in the containers and selected according to task requirements To pack or not to pack.
  • the target container can obtain the position information of the target container by collecting the image of the designated placement position of the object to be operated and sending it back to the intelligent storage system.
  • the objects to be operated are materials and containers, and the containers are placed in the operation area, and the target operations of the operation type are performed on the objects to be operated, including:
  • the object to be operated is a material
  • the object to be operated is directly placed in the operation area, that is, the target operation is completed.
  • the container is pre-placed on the shelf to be shipped out, or when the shelf where the container is located is directly selected as the operation area, the step of moving the container can be omitted.
  • the warehouse management personnel can directly place the object to be operated into the cargo box, eliminating the need for a storage robot to carry the object.
  • the action of placing the object to be operated in the operation area is completed by the warehouse management personnel, or the object to be operated that has entered information may be transported to the operation area by issuing a handling instruction to the warehouse robot.
  • Step S604 outputting the execution result of the operation task through the information sending and receiving module.
  • outputting the execution result of the operation task includes: collecting an image of the object to be operated via the image acquisition module; outputting an instruction to update inventory information to the client system via the information transceiver module according to the image of the object to be operated,
  • the instruction for updating the inventory information is used to indicate that the inventory information is re-determined according to the image of the object to be operated.
  • the operation area since the placement position of the object to be operated has been pre-specified in the outbound task, when the operation area is located at the designated placement position, there is no need to enter the position information, only the information of the object to be operated needs to be entered. When the operation area is not in the designated placement position, it is also necessary to enter the information in the operation area and issue a command to the storage robot so that the storage robot can carry it.
  • Updating inventory information does not require the action of the warehousing robot, but only needs to transmit the objects to be operated that are processed out of the warehouse to the intelligent warehousing system.
  • the image of the object to be operated needs to be collected through the image acquisition module, and the information of the object to be operated is entered or identified through the interactive device, so as to avoid the unintended operation in the intelligent storage system. Record the result of this removal.
  • the image of the object to be operated is the operation area and the position information and characteristic image of the object to be operated.
  • the execution result is output only after the objects to be operated have been placed in all positions of the operation area or the objects to be operated have been placed.
  • the intelligent warehousing system will send back the confirmation list, so that the warehouse management personnel can check whether there are any omissions.
  • the outbound task is 20 steel ingots distributed in different positions, and the designated placement position in the outbound task already has racks and containers for storing steel ingots, so the warehouse management personnel can choose the designated placement location as the operation. area, and issue instructions to the warehousing robot to transport the ingot, and manually transport the ingot at the adjacent position to the designated location.
  • the warehousing robot transports the ingot to the designated location, the ingot information is entered through the interactive device, and the updated inventory is output. information to complete the entire outbound process.
  • the operation task is limited to the outbound task, thereby limiting the target operation to be executed and the output execution result.
  • you can carry out the warehouse at the designated position where the object to be operated needs to be placed, without moving from the storage area of the object to be operated to the operation table, and then transporting it to the designated position, which can significantly reduce the cost of storage.
  • the handling distance of the object to be operated is small, the execution time of the warehousing task is shortened, and the efficiency of the warehousing service is improved.
  • the improved warehouse management method of this embodiment is based on the embodiment shown in FIG. 2 , which refines the operation task into the inventory task.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S701 the outbound task from the client system is received through the information transceiver module of the interactive device.
  • the inventory task may include specific information of the to-be-operated object to be inventoryed, such as the material type and inventory quantity to be inventoryed, and the location of the to-be-operated object.
  • Step S702 the operation area is determined by the image acquisition module of the interactive device.
  • the operation area generally selects the rack where the object to be operated is to be performed the sorting operation, and does not need to use a temporary cache rack, so as to avoid the handling operation and improve the execution efficiency of the operation task.
  • Step S703 in the operation area, perform the target operation of the operation type on the object to be operated.
  • the target operation of the operation type performed on the object to be operated is: collecting an image containing the object to be operated via the image acquisition module;
  • the information contains at least one of the number, type and location information of the object to be operated.
  • material counting includes counting and checking whether the quantity and type of materials are the same as those recorded in the operation task, or checking and entering the quantity and type of materials.
  • Step S704 outputting the execution result of the operation task through the information sending and receiving module.
  • outputting the execution result of the operation task includes: collecting an image of the object to be operated via an image acquisition module;
  • the image of the object to be manipulated redefines the inventory information.
  • the execution result of the inventory task is the information of the object to be operated, and does not need the information of the operation area.
  • the image containing the object to be operated may be a whole image of the object to be operated, or a partial image of the identifiable feature information of the object to be operated.
  • the inventory needs to be re-determined to record the completed task.
  • the execution result is output only after all the inventory tasks are completed.
  • the operation task is defined as an inventory task, thereby defining the target operation to be executed and the output execution result.
  • the inventory can be directly carried out at the location of the object to be operated, without moving the object to be operated, and the inventory information record of the inventory can be quickly updated.
  • the handling distance of the object to be operated can be significantly reduced, the execution time of the inventory task can be shortened, the rate of updating the inventory information can be increased, and the efficiency of the warehousing service can be improved.
  • the improved warehouse management method of this embodiment is based on the embodiment shown in FIG. 2 , which refines the operation task into a sorting task.
  • the warehouse management method provided by this embodiment includes the following steps:
  • Step S801 receiving the outbound task from the client system through the information sending and receiving module of the interactive device.
  • the sorting task may include specific information of the to-be-operated object to be sorted, such as the type and location of the material to be sorted.
  • Step S802 the operation area is determined by the image acquisition module of the interactive device.
  • the operation area generally selects the shelf where the to-be-operated object to perform the sorting operation is located, or the vacant cache rack adjacent to the to-be-operated object, so as to ensure that there is enough space to perform the sorting operation.
  • Step S803 in the operation area, perform the target operation of the operation type on the object to be operated.
  • the target operation of the operation type performed on the object to be operated is: material sorting for the object to be operated.
  • the objects of material sorting generally include materials and containers, and the sorting of materials includes the location of the objects to be sorted and the placement of materials in the container.
  • Step S804 outputting the execution result of the operation task through the information transceiver module.
  • outputting the execution result of the operation task includes: collecting an image of the object to be operated via the image acquisition module; outputting sorting completion information to the client system according to the image of the object to be operated, and The image of the object to be manipulated redefines the inventory information.
  • the execution result of the sorting task is the information of the object to be operated, and does not need the information of the operation area.
  • the image containing the object to be operated is generally an overall state image of the object to be operated after being arranged.
  • the execution result is output only after the finishing tasks are all completed.
  • the operation task is defined as a sorting task, thereby defining the target operation to be executed and the output execution result.
  • sorting can be performed directly on the location of the object to be operated or on the adjacent cache rack, reducing the movement of the object to be operated, and can quickly update the information of the object to be operated after sorting.
  • the handling distance of the object to be operated can be significantly reduced, the execution time of the sorting task can be shortened, the rate of updating the inventory information can be increased, and the efficiency of the warehousing service can be improved.
  • FIG. 7 is a schematic structural diagram of a warehouse management device according to an embodiment of the present disclosure.
  • the warehouse management device includes: an information transceiver module 910 , an object determination module 920 and an operation execution module 930 .
  • the information sending and receiving module 910 is used to receive the operation task from the client system and output the execution result of the operation task; the object determination module 920 is used to determine the operation area and the object to be operated; the operation execution module 930 is used to perform the operation on the object to be operated.
  • the target action for the action type is used to perform the operation on the object to be operated.
  • the information transceiver module 910 is specifically configured to receive the operation task from the client system, display or print the operation task externally, and return the execution result of the operation task to the intelligent warehousing system, and return the operation task that needs further operation.
  • Instruction information such as an instruction to transport materials to the warehousing robot, and an instruction to update inventory information returned to the intelligent warehousing system.
  • the information sending and receiving module 910 is also used to print the above-mentioned operation tasks and execution results, so that the warehouse management personnel can keep file records.
  • the object determination module 920 includes:
  • the image acquisition module is used to collect the images of the operation area and the object to be operated;
  • the image recognition interaction module is used to recognize the identifiable feature information in the image of the operation area and the object to be operated.
  • the image recognition interaction module is also used to confirm the operation area and the object to be operated by interacting with the intelligent warehouse system and warehouse management personnel, and can return the identification and interaction content through the information transceiver module 910 .
  • the operation execution module 930 includes:
  • the material handling module is used to move the object to be operated to a designated location, such as moving materials and containers to the operation area in outbound tasks or inbound tasks;
  • the material sorting module is used for specific sorting and inventory of the objects to be operated placed on the shelves.
  • Both the material handling module and the material sorting module can be implemented by a manipulator, and the material handling module also includes a kinematic structure to facilitate movement within the smart storage system.
  • the warehousing management device provided by the embodiments of the present disclosure can implement the warehousing management method provided by the foregoing method embodiments, and compared with the foregoing method embodiments, the participation of warehousing management personnel can be reduced, the overall automation rate of the intelligent warehousing system can be improved, and the warehousing service can be improved. efficiency.
  • FIG. 8 is a schematic structural diagram of a storage robot according to an embodiment of the present disclosure. As shown in FIG. 8 , 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 warehouse management method provided by any of the foregoing method embodiments of the present disclosure.
  • the memory 1010 and the processor 1020 are connected through a bus 1030 .
  • FIG. 9 is a schematic structural diagram of a storage system according to an embodiment of the present disclosure.
  • the storage system includes: a storage robot 1110 , a shelf 1120 and an intelligent storage system 1130 .
  • the object to be operated 1121 is placed on the shelf 1120 , the storage robot 1110 is the storage robot provided in the aforementioned storage robot embodiments of the present disclosure, and the storage robot 1110 is connected to the intelligent storage system 1130 for performing operations issued by the intelligent storage system 1130
  • the task is moved to the set position and an operation area is established, such as on the shelf 1120 , and then the operation task is performed on the object to be operated 1121 , and the execution result is returned to the intelligent storage system 1130 .
  • the above-mentioned storage system further includes an interaction device; the interaction device is connected in communication with the storage robot, and the interaction device is used to obtain a shelf image and transmit it to the storage machine, and the shelf image is used to determine the operation area.
  • 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 warehouse management method provided by any one of the method embodiments 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.
  • An embodiment of the present disclosure provides a computer program product, which includes computer-executable instructions, which, when executed by a processor, are used to implement the warehouse management method in the foregoing method embodiment.
  • 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

一种仓储管理方法、装置、仓储机器人、仓储系统及介质，该方法包括通过交互装置（110）的信息收发模块接收到来自客户系统（101）的操作任务；通过交互装置的图像采集模块确定操作区；在操作区内，对待操作对象执行操作类型的目标操作；通过信息收发模块输出操作任务的执行结果。该方法实现了在包括操作台在内的任意区域，根据操作任务需要随地形成操作台，并能执行操作台对应的登记任务，避免现有操作台出现的拥堵情况，提高了仓储服务效率。

Description

仓储管理方法、装置、仓储机器人、仓储系统及介质
本申请要求于2021年4月19日提交中国专利局、申请号为202110421116.2、申请名称为“仓储管理方法、装置、仓储机器人、仓储系统及介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及智能仓储技术领域，尤其涉及一种仓储管理方法、装置、仓储机器人、仓储系统及介质。
背景技术
在智能仓储系统中，操作台是非常重要的组成部分。通过操作台可以将物料登记，进行不同的仓储服务，例如，物料入库、物料出库、物料盘点或物料整理等。目前的仓储服务需要人工或仓储机器人将物料运输至操作台，以由相关操作人员对物料进行登记。当操作台处待登记的物料量较大时，易出现拥堵现象，且仓储服务效率较低。
发明内容
本公开实施例提供了一种仓储管理方法、装置、仓储机器人、仓储系统及介质，实现了在包括操作台在内的任意区域，根据操作任务需要随地形成操作台，并能执行操作台对应的登记任务，避免现有操作台出现的拥堵情况，提高了仓储服务效率。
第一方面，本公开实施例提供了一种仓储管理方法，所述仓储管理方法包括：
通过交互装置的信息收发模块接收到来自客户系统的操作任务，其中，所述操作任务包含操作类型和待操作对象；
通过所述交互装置的图像采集模块确定操作区，所述图像采集模块用于采集图像；
在所述操作区内，对所述待操作对象执行所述操作类型的目标操作；
通过所述信息收发模块输出所述操作任务的执行结果。
可选地，所述确定操作区，包括：
接收来自所述图像采集模块的货架图像，
根据所述货架图像确定所述操作区。
可选地，所述根据所述货架图像确定所述操作区，还包括：
根据所述货架图像，确定库位，所述库位设置在所述货架上；
确定所述库位为所述操作区。
可选地，所述待操作对象和操作区均设置有标识码，所述确定操作区包括：
通过来自所述图像采集模块采集操作区的标识码图像；
通过交互装置的数据处理模块识别操作区的标识码图像；
根据识别结果确定所述操作区的位置。
可选地，所述目标操作类型为入库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
将所述待操作对象放置在所述操作区。
可选地，所述输出所述操作任务的执行结果，包括：
经由所述图像采集模块采集操作区和待操作对象的图像；
根据所述操作区和待操作对象的图像，经由所述信息收发模块向客户系统输出完成入库任务信息，所述完成入库任务信息用于表示含有操作区和待操作对象的图像的入库任务执行完成的信息。
可选地，所述目标操作类型为出库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
将所述待操作对象放置在所述操作区。
可选地，所述待操作对象为物料，所述对所述待操作对象执行所述操作类型的目标操作，包括：
将所述物料放置在所述操作区。
可选地，所述待操作对象为物料和货箱，所述对所述待操作对象执行所述操作类型的目标操作，包括：
将所述货箱放置在所述操作区；
将所述物料放置于所述货箱中。
可选地，所述待操作对象为物料和货箱，所述货箱放置在所述操作区， 所述对所述待操作对象执行所述操作类型的目标操作，包括：
将所述物料放置于所述货箱中。
可选地，所述输出所述操作任务的执行结果，包括：
经由所述图像采集模块采集待操作对象的图像；
根据所述待操作对象的图像，经由所述信息收发模块向客户系统输出更新库存信息的指令，所述更新库存信息的指令用于表示根据所述待操作对象的图像重新确定库存信息。
可选地，所述目标操作类型为盘点任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
经由所述图像采集模块采集包含待操作对象的图像；
根据所述包含待操作对象的图像，盘点所述待操作对象的信息，所述待操作对象的信息包含所述待操作对象的数量、种类和位置信息中的至少一种。
可选地，所述输出所述操作任务的执行结果，包括：
经由所述图像采集模块采集待操作对象的图像；
根据所述待操作对象的图像，向客户系统输出盘点完成信息，所述盘点完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。
可选地，所述目标操作类型为整理任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
对待操作对象进行物料整理。
可选地，所述输出所述操作任务的执行结果，包括：
经由所述图像采集模块采集待操作对象的图像；
根据所述待操作对象的图像，向客户系统输出整理完成信息，所述整理完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。
第二方面，本公开还提供了一种仓储管理装置，所述仓储管理装置包括：
信息收发模块，用于接收来自客户系统的操作任务并输出所述操作任务的执行结果；
对象确定模块，用于确定操作区和待操作对象；
操作执行模块，用于对所述待操作对象执行所述操作类型的目标操作。
第三方面，本公开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 执行以实现如上述第一方面任一所述的仓储管理方法。
第四方面，本公开还提供了一种仓储系统，包括：如上述第三方面所述的仓储机器人、货架和客户系统；
其中，所述仓储机器人与所述客户系统连接，所述仓储机器人用于根据来自所述客户系统的操作任务，在确定的操作区内，执行所述操作任务并输出所述操作任务的执行结果，其中，所述操作区设置于货架上。
可选地，仓储系统还包括交互装置。所述交互装置与所述仓储机器人通信连接，所述交互装置用于得到货架图像并传输给仓储机器人，所述货架图像用于确定所述操作区。
第五方面，本公开还提供了一种计算机可读存储介质，包括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上述第一方面任一所述的仓储管理方法。
第六方面，本公开还提供了一种计算机程序产品，所述计算机程序产品包含计算机执行指令，所述计算机执行指令被处理器执行时用于实现如上述第一方面任一所述的仓储管理方法。
本公开实施例提供的仓储管理方法、装置、仓储机器人、仓储系统及介质，通过设置操作区并在操作区内执行操作任务，实现在操作台以外的区域执行操作台对应登记工作，也可以辅助操作台进行登记工作，由于增加了进行登记工作的交互区域，从而增加了仓储服务的处理能力，同时通过交互装置能够快速获取操作任务的信息，从而辅助仓储管理人员提高进行仓储服务的速度；因此，本公开可以根据操作任务需要，随地形成操作台进行物料登记等仓储服务，既能保证物料登记和仓储服务的持续进行，又能避免了操作台的待登记物料堆积，大大提高了仓储服务效率。
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仓储管理方法的一种应用场景图；
图2为本公开一个实施例提供的仓储管理方法的流程图；
图3为本公开另一个实施例提供的仓储管理方法的流程图；
图4为本公开又一个实施例提供的仓储管理方法的流程图；
图5为本公开另一个实施例提供的应用场景图；
图6为本公开又一个实施例提供的应用场景图；
图7为本公开一个实施例提供的仓储管理装置的结构示意图；
图8为本公开一个实施例提供的仓储机器人的结构示意图
图9为本公开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。
考虑到目前智能仓储系统在进行各种仓储服务时，都是依托人机交互工作站(或操作台)进行物料登记作业，由于入库或出库的物料量较大时，通常会长时间占用操作台(如一批货物须占用全部操作台12小时才能完成入库或者出库)，按正常操作流程中将这些出入库都流程中的物料登记部分都依赖操作台进行，就容易导致物料和订单在操作台的登记环节出现拥堵现象，很多其他订单或物料得不到及时的仓储服务，仓储服务效率低下。
为了解决这一问题，本公开实施例提供一种仓储管理方法，通过在包括操作台在内的任意位置设置操作区，进行物料登记服务，不仅能保证仓储服务的正常进行，还避免了物料和订单的拥堵，提高了仓储服务的效率。
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仓储管理方法的一种应用场景图。如图1所示，在进行仓储服务时，智能仓储系统100通过客户系统101下发操作任务 到交互装置110，并控制仓储机器人120对位于库存区的货架130上的物料131进行提取，并将其移动至人机交互工作站(也可称为操作台)140中，由操作台140的操作人员对待盘点货箱121中的物料进行物料登记；或将操作台140中已进行物料登记的物料131放置到货架上。
需说明的是，图1所示场景中仓储机器人、物料、货架和操作台仅以一个为例进行示例说明，但本公开不以此为限制，也就是说，仓储机器人、物料、货架和操作台的个数都可以是任意的。
以下通过具体实施例详细说明本公开提供的仓储管理方法。
图2为本公开一个实施例提供的仓储管理方法的流程图。该仓储管理方法应用于仓储机器人，如图2所示，本实施例提供的仓储管理方法包括以下步骤：
步骤S201，通过交互装置的信息收发模块接收到来自客户系统的操作任务。
其中，操作任务包含操作类型和待操作对象。
其中，交互装置可以是个人移动终端PDA，也可以是智能手机应用；信息收发模块为能够与智能仓储系统通讯连接的模块，用于接收智能仓储系统发送的信息并能输出和回传信息；客户系统可以为智能仓储系统的一部分，用于记录与外部客户或需求方或订单及库存物料的相关信息，也可以为智能仓储系统的控制处理部分。
操作任务为仓储服务对应的具体任务。操作类型为仓储服务的种类，如物料入库、物料出库、物料盘点或物料整理。待操作对象为仓储服务的具体对象，一般为物料，包括货箱和商品，商品可以单独放置，也可以放置在货箱内；在智能仓储系统的库存区，货箱和商品放置于货架上。
示例性的，操作任务可以表示为将某货架上的20个篮球放置在指定的货箱上，并将货箱放置在具体某货架上，并将该货架上的全部商品做出库处理。
进一步地，仓储管理人员可以手持交互装置，并通过交互装置在智能仓储系统范围内的任意区域获取操作任务。
步骤S202，通过交互装置的图像采集模块确定操作区。
其中，图像采集模块用于采集图像。
在一些实施例中，图像采集装置为包括图像处理模块在内的常规摄像头，也可以为包括数据处理模块的专用的扫描装置。
操作区为仓储管理人员选定的具有确定范围的进行仓储服务的区域。
进一步地，通过图像采集模块采集图像后，通过仓储管理人员选择交互装置上图像中对应的区域或通过交互装置自动识别图像中的区域为操作区，并将操作区的确认信息通过信息收发模块发送给智能仓储系统，从而使仓储机器人获取操作区的位置，并根据操作区的位置规划仓储服务的路径。
在一些实施例中，操作区为库存区内操作台以外的区域，由于操作区就在邻近物料的区域，相比操作台到物料的距离更近，从而缩短仓储服务中物料取放的路径，提高物料取放的时间，进而提高仓储服务的效率。
在一些实施例中，操作区也可以为操作台，通过交互装置的信息收发模块和图像采集模块，能够快速获取需要在操作台进行的任务信息，并能方便地采集操作任务的待操作对象和操作任务的信息，从而辅助仓储管理人员更快速地进行决策和执行相应的物料登记操作，从而提高操作任务的执行效率，进而提高仓储服务的效率。
步骤S203，在操作区内，对待操作对象执行目标操作类型的目标操作。
目标操作类型用于表示操作任务指定的前述仓储服务的种类之一，目标操作为仓储服务对应所需的操作，包括通过交互装置进行物料登记，和需要仓储机器人将指定物料移动至指定位置，指定位置为操作区内的位置或指定的货架。
其中，交互装置进行的物料登记操作限定于在操作区内完成，即前述将操作区替代操作台，进行操作台对应的物料登记作业，以保证操作的灵活性。
步骤S204，通过信息收发模块输出操作任务的执行结果。
当前述物料登记操作完成后，需要向客户系统发送操作任务执行完成的信息。
其中，执行结果包括操作任务执行完成的时间，和执行后的物料信息。示例性的，当执行完入库任务后，向客户系统发送的执行结果可以为特定物料在库存区的具体货架位置和执行完成时间。
可选地，交互装置可以打印前述操作任务和执行结果，以便仓储管理人员留存纸面记录，或根据纸面内容进行进一步操作。
本公开实施例提供的仓储管理方法，通过交互装置的信息收发模块获取操作任务，通过图像采集模块确定操作区，在操作区中执行目标操作任务，并通过信息收发模块输出执行结果。通过在包括操作台在内的任意位置执行 仓储服务的操作任务，在现有操作台的基础上，增加了进行仓储服务的站点，提高了仓储服务的灵活性，还能通过交互装置提高仓储管理人员在现有操作台收发信息并进行物料登记的效率，由此，仓储管理人员可以任意选择方便地位置作为操作区，进行仓储服务，灵活度更高；由于仓储管理人员可以根据操作任务需要，随地形成操作台，操作区可以离物料更近，本方法还能显著提高仓储服务的效率。
图3为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上对步骤S202的进一步细化，如图3所示，本实施例提供的仓储管理方法包括以下步骤：
步骤S301，通过交互装置的信息收发模块接收到来自客户系统的操作任务。
步骤S302，接收来自图像采集模块的货架图像，根据货架图像确定操作区。
在一些实施例中，图像采集模块为能够拍摄图像的常规摄像头。
其中，货架图像为库存区内存在空余库位的货架的图像，图像一般包括货架中包含库位的完整结构图或者包括有货架可识别信息部分的图像。
在一些实施例中，操作区设置在货架上，以便于仓储机器人对操作区的位置进行定位，以自动进行仓储服务中的部分目标操作。
可选地，货架还包括用于临时放置物料的缓存架。一般地，缓存架与货架上都具有可识别信息，以便于识别缓存架或货架的具体位置。
步骤S303，根据货架图像，确定库位为操作区。
其中，库位设置在货架图像选中的货架上。
在一些实施例中，操作区以货架上的库位为单位，且操作区占用的库位数量为一个或多个，如2个、3个或更多数量。
在一些实施例中，操作区所对应的库位均为事先空置的库位，由此，能够方便在库位上进行仓储服务的各种操作。
在一些实施例中，操作区所对应的库位均为预先录入到智能仓储系统中的位置，智能仓储机器人不需要通过额外的录像、识别和判断功能，只需要对智能仓储系统中对应位置的属性进行修改，就能快速定位操作区所对应的库位。
示例性的，操作区可以为通过图像采集模块采集的某具体货架上至少两 个连续或不连续的空置库位，也可以为某放置在库存区固定位置的缓存架上的所有库位。
步骤S304，在操作区内，对待操作对象执行目标操作类型的目标操作。
对待操作对象的目标操作均在前述库位上进行，当需要只能仓储机器人将目标待操作对象搬运至库位或从库位上搬运至目标位置时，可以通过库位的定位方便直观地找到位置。
步骤S305，通过信息收发模块输出操作任务的执行结果。
在一些实施例中，输出的执行结果包括执行操作任务的操作区信息，即库位所在的具体位置。
本实施例中，通过图像采集模块确定操作区，并将操作区限定为货架上已经存在的库位，在库位上进行操作任务的目标操作，并通过信息收发模块输出包含操作区的执行结果。由此能够方便智能仓储系统和仓储机器人进行快速定位，减少寻找和判断操作区位置的时间，提高仓储服务的效率。同时，由于操作区在货架上，即存在平台用于放置物品，也方便了仓储管理人员的操作，不需要蹲在地上或频繁弯腰，减小了劳动强度。由于货架上的库位为在库存区内任意选择的位置，因而在一般情况下都能选择离待操作对象更近的位置，相比在位置固定的操作台进行操作，能够显著提升仓储服务的灵活性，并缩短搬运待操作对象的时间，提升仓储服务效率。
图4为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上对步骤S202的进一步细化，本实施例中，待操作对象和操作区均设置有标识码。如图4所示，本实施例提供的仓储管理方法包括以下步骤：
步骤S401，通过交互装置的信息收发模块接收到来自客户系统的操作任务。
在一些实施例中，操作任务所对应的操作对象也包括对应的标识码和位置信息，以方便仓储管理人员选择对应的位置。
步骤S402，通过来自图像采集模块采集操作区的标识码图像；通过交互装置的数据处理模块识别操作区的标识码图像；根据识别结果确定操作区的位置。
在一些实施例中，标识码可以是二维码、条形码、电子标签中的至少一种，标识码可以设置于货架和待操作对象的任意位置，如前表面的中心、右 上角、左下角，底面的中心、顶角处等，标识码可以是根据货架的位置、物料的类型和数量生成的。
进一步地，标识码的识别算法，可以是条形码识别算法(标识码为条形码时)，如zbar算法，还可以是二维码识别算法(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(标识码为电子标签时)。
在一些实施例中，识别结果包括通过交互装置的信息收发模块向智能仓储系统查询得到已录入的标识码对应操作区信息，操作区信息包括操作区的位置和编号信息。
进一步地，确定操作区的位置包括根据交互装置得到的操作区信息，通过信息收发装置向智能仓储系统发送修改标识码图像对应位置的设置或属性，将标识码图像对应的位置作为操作区。如将某货架的属性由常规置物架设置为操作区。
进一步地，修改标识码图像对应位置的设置或属性的操作为临时修改，且具有设定时间限制。
步骤S403，在操作区内，对待操作对象执行操作类型的目标操作。
在一些实施例中，对待操作对象也进行前述采集标识码图像并进行识别的过程，从而方便智能仓储系统和仓储机器人对待操作对象进行定位，并向智能仓储系统录入待操作对象的信息。
步骤S404，通过信息收发模块输出操作任务的执行结果。
在一些实施例中，执行结果也包括通过标识码图像识别得到的操作区和待操作对象的信息。
本实施例中，在图2所示实施例的基础上，通过细化设置在操作区和待操作对象上的标识码图像，并通过标识码图像识别和录入操作区与待操作对象的信息，根据录入的信息执行操作任务并输出执行结果。由此方便智能仓储系统和仓储机器人进行快速定位，并方便智能仓储系统记录执行结果的具体情况，从而提高智能仓储系统内信息的准确性，降低失误和错误信息的比例，提高仓储服务的可靠性。
图5为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务细化为入库任务。如图5所示，本实施例提供的仓储管理方法包括以下步骤：
步骤S501，通过交互装置的信息收发模块接收到来自客户系统的入库任务。
具体的，入库任务可以包括待进行入库的待操作对象的具体信息，也可以未包括具体信息并通过交互装置录入。
步骤S502，通过交互装置的图像采集模块确定操作区。
具体的，在入库任务中，操作区可以选择完全空置的货架或缓存架，也可以选择具有较多空置位置的货架。
如图5所示，在一些实施例中，操作区为待操作对象在库存区内的储放位置，也可以为待操作对象临时放置的位置，并通过智能仓储机器人搬运至设定的库存区位置。
在一些实施例中，入库任务所选中的操作区为邻近待操作对象的区域，如邻近待执行入库的物料堆放地的货架或缓存架。
步骤S503，在操作区内，对待操作对象执行操作类型的目标操作。
在入库任务中，对待操作对象执行操作类型的目标操作包括：
将待操作对象放置在操作区。
在一些实施例中，将待操作对象放置到操作区的动作通过仓储管理人员完成，也可以通过向仓储机器人下发搬运指令，将已录入信息的待操作对象搬运至操作区。
步骤S504，通过信息收发模块输出操作任务的执行结果。
可选地，在入库任务中，输出操作任务的执行结果包括：
经由图像采集模块采集操作区和待操作对象的图像；
根据操作区和待操作对象的图像，经由信息收发模块向客户系统输出完成入库任务信息，完成入库任务信息用于表示含有操作区和待操作对象的图像的入库任务执行完成的信息。
具体的，当待操作对象为不含物料箱的物料时，目标操作包括通过交互装置录入其信息并放置在操作区上，通过交互装置录入待操作对象所在操作区的具体位置信息；当待操作对象为包含物料箱的商品或物料时，目标操作包括分别录入物料箱和物料的信息，通过交互装置向智能仓储系统回传信息，使智能仓储系统记录物料箱与物料的关联信息，然后通过交互装置录入待操作对象所在操作区的具体位置信息。
当待操作对象已经预先录入智能仓储系统时，则只需要录入待操作对象 所在操作区的具体位置信息即可。
进一步地，操作区和待操作对象的图像为操作区和待操作对象的位置信息和特征图像。
目标操作执行完毕时，输出的执行结果包括前述操作区和待操作对象的位置信息，还包括待操作对象在库存区储放的目标位置。当的待操作对象在库存区储放的目标位置并非操作区上时，需要向仓储机器人下发入库指令，使仓储机器人将待操作对象从操作区搬运至目标位置。
一般的，在操作区的全部位置都已经放置待操作对象或待操作对象已经放置完毕，才输出执行结果。
示例性的，入库任务为20枚的钢锭，库存区已有储放钢锭的货架，因此，仓储管理人员在执行操作任务时，在钢锭放置处邻近的缓存架上执行了前述目标操作，然后向智能仓储系统输出执行结果，并向仓储机器人下发入库指令，待仓储机器人将钢锭搬运至储放钢锭的货架上的指定空置库位，完成全部入库流程。
本实施例中，将操作任务限定为入库任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行入库任务，可以在包括操作台在内的任意区域进行入库，由于选定的操作区可以为待入库操作对象的储放区域，不需要从待操作对象的搬运区域移动到操作台，再搬运至储放区域，由此可以显著减小待操作对象的搬运距离，缩短入库任务的执行时间，提高仓储服务的效率。
本实施例提供的仓储管理方法是在图2所示实施例的基础上将操作任务细化为出库任务。本实施例提供的仓储管理方法包括以下步骤：
步骤S601，通过交互装置的信息收发模块接收到来自客户系统的出库任务。
具体的，出库任务可以包括待进行出库的待操作对象的具体信息，如待拣选物料、物料批次、拣选数量和目标产线位置。待操作对象需要放置的位置可以为任意指定位置，如操作台邻近位置处，可以为指定货架，或指定运输车辆。
在一些实施例中，出库任务通过采集指定位置的图像并回传智能仓储系统，得到具体的任务信息。
步骤S602，通过交互装置的图像采集模块确定操作区。
具体的，在出库任务中，操作区一般选择待执行出库操作的待操作对象所在货架；当待操作对象需要放置的目标位置为指定货架或任意智能仓储系统中预先录入的位置时，操作区也可以为待操作对象需要放置的目标位置。
步骤S603，在操作区内，对待操作对象执行操作类型的目标操作。
如图6所示，在出库任务中，对待操作对象执行操作类型的目标操作为将待操作对象放置在操作区。
可选地，待操作对象为物料，对待操作对象执行操作类型的目标操作，包括：将物料放置在操作区。
对于待操作对象为物料的情况，直接将待操作对象放置到操作区，即完成目标操作。例如将需要出库的预先包装好的快递直接放置在指定货架上。
可选地，待操作对象为物料和货箱，对待操作对象执行操作类型的目标操作，包括：将货箱放置在操作区；将物料放置于货箱中。
在一些实施例中，对于待操作对象包括物料和货箱，且需要将物料放进货箱的情况，需要额外将目标货箱搬运至操作区，并将物料放在货箱中并根据任务要求选择打包或不打包。目标货箱可以通过采集待操作对象的指定放置位置的图像并回传智能仓储系统，得到目标货箱的位置信息。
可选地，待操作对象为物料和货箱，且货箱放置在操作区，对待操作对象执行操作类型的目标操作，包括：
对于待操作对象为物料的情况，直接将待操作对象放置到操作区，即完成目标操作。
在一些实施例中，货箱为预先放置在待出库货架上，或直接选择货箱所在货架为操作区时，可以省去搬运货箱的步骤。
进一步地，当待操作对象位于仓储管理人员邻近位置处时，仓储管理人员可以直接将待操作对象放置到货箱中，省去需要仓储机器人搬运的环节。
在一些实施例中，将待操作对象放置到操作区的动作通过仓储管理人员完成，也可以通过向仓储机器人下发搬运指令，将已录入信息的待操作对象搬运至操作区。
步骤S604，通过信息收发模块输出操作任务的执行结果。
可选地，在出库任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，经由信息收发模块向客户系统输出更新库存信息的指令，更新库存信息的指令用于表示根据待操 作对象的图像重新确定库存信息。
具体的，由于出库任务中，待操作对象的放置位置已经预先指定，当操作区位于指定放置位置时，无须录入位置信息，只需要录入待操作对象的信息。而当操作区不在指定放置位置时，还需要录入到操作区的信息并向仓储机器人下发命令，以便仓储机器人进行搬运，但也不需要将操作区位置再回传智能仓储系统并记录。
更新库存信息不需要仓储机器人动作，只需要将被执行出库处理的待操作对象传输至智能仓储系统。对于待操作对象由仓储管理人员而非仓储机器人搬运至指定放置位置时，需要经由图像采集模块采集待操作对象的图像，通过交互装置录入或识别待操作对象的信息，以避免智能仓储系统中未记录该搬运结果。
具体的，待操作对象的图像为操作区和待操作对象的位置信息和特征图像。
一般的，在操作区的全部位置都已经放置待操作对象或待操作对象已经放置完毕，才输出执行结果。
可选地，执行结果发送到智能仓储系统后，智能仓储系统会回传确定清单，以便仓储管理人员检查是否有遗漏。
示例性的，出库任务为分布在不同位置的20枚的钢锭，且出库任务中的指定放置位置已有储放钢锭的货架和货箱，因此，仓储管理人员可以选择指定放置位置为操作区，并向仓储机器人下发搬运钢锭的指令，并将邻近位置处的钢锭手动搬运至指定放置位置，当仓储机器人将钢锭搬运至指定放置位置，通过交互装置录入钢锭信息，并输出更新库存的信息，完成全部出库流程。
本实施例中，操作任务限定为出库任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行入库任务，可以在待操作对象需要放置的指定位置进行出库，不需要从待操作对象的储放区域移动到操作台，再搬运至指定位置，由此可以显著减小待操作对象的搬运距离，缩短入库任务的执行时间，提高仓储服务的效率。
本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务细化为盘点任务。本实施例提供的仓储管理方法包括以下步骤：
步骤S701，通过交互装置的信息收发模块接收到来自客户系统的出库任 务。
具体的，盘点任务可以包括待进行盘点的待操作对象的具体信息，如待盘点的物料种类、库存数量，且包括待操作对象的所在位置。
步骤S702，通过交互装置的图像采集模块确定操作区。
具体的，在盘点任务中，操作区一般选择待执行整理操作的待操作对象所在货架，而不需要用临时的缓存架，以避免搬运操作，提高操作任务的执行效率。
步骤S703，在操作区内，对待操作对象执行操作类型的目标操作。
可选地，在盘点任务中，对待操作对象执行操作类型的目标操作为：经由图像采集模块采集包含待操作对象的图像；根据包含待操作对象的图像，盘点待操作对象的信息，待操作对象的信息包含待操作对象的数量、种类和位置信息中的至少一种。
具体的，物料盘点包括盘点和核对物料的数量和种类是否与操作任务中的记录相同，或者核对物料的数量和种类并录入。
步骤S704，通过信息收发模块输出操作任务的执行结果。
可选地，在盘点任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，向客户系统输出盘点完成信息，盘点完成信息用于表示根据待操作对象的图像重新确定库存的信息。
具体的，盘点任务的执行结果为待操作对象的信息，而不需要操作区的信息。包含待操作对象的图像可以为待操作对象的整体摄像，也可以为待操作对象的可识别特征信息的局部摄像。
无论盘点结果是否与智能仓储系统中的操作任务上的记录相同，盘点任务完成之后需要重新确定库存，以记录完成的任务情况。
一般的，在盘点任务全部完成后，才输出执行结果。
本实施例中，操作任务限定为盘点任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行盘点任务，可以直接在待操作对象所在位置进行盘点，不需要移动待操作对象，且能快速更新盘点的库存信息记录。由此可以显著减小待操作对象的搬运距离，缩短盘点任务的执行时间，提高库存信息更新的速率，提高仓储服务的效率。
本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务 细化为整理任务。本实施例提供的仓储管理方法包括以下步骤：
步骤S801，通过交互装置的信息收发模块接收到来自客户系统的出库任务。
具体的，整理任务可以包括待进行整理的待操作对象的具体信息，如待整理的物料种类和所在位置。
步骤S802，通过交互装置的图像采集模块确定操作区。
具体的，在整理任务中，操作区一般选择待执行整理操作的待操作对象所在货架，或邻近待操作对象的空置的缓存架，以保证有足够的空间执行整理操作。
步骤S803，在操作区内，对待操作对象执行操作类型的目标操作。
可选地，在盘点任务中，对待操作对象执行操作类型的目标操作为：对待操作对象进行物料整理。
具体的，物料整理的对象一般包括物料和货箱，物料整理包括对待整理的待操作对象所在位置，及货箱内物料的放置进行整理。
步骤S804，通过信息收发模块输出操作任务的执行结果。
可选地，在整理任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，向客户系统输出整理完成信息，整理完成信息用于表示根据待操作对象的图像重新确定库存的信息。
具体的，整理任务的执行结果为待操作对象的信息，而不需要操作区的信息。包含待操作对象的图像一般为整理后的待操作对象的整体状态图像。
一般的，在整理任务全部完成后，才输出执行结果。
本实施例中，操作任务限定为整理任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行整理任务，可以直接在待操作对象所在位置或邻近的缓存架上进行整理，减小对待操作对象的移动，且能快速更新整理后的待操作对象信息。由此可以显著减小待操作对象的搬运距离，缩短整理任务的执行时间，提高库存信息更新的速率，提高仓储服务的效率。
图7为本公开一个实施例提供的仓储管理装置的结构示意图。如图7所示，该仓储管理装置包括：信息收发模块910，对象确定模块920和操作执行模块930。
其中，信息收发模块910，用于接收来自客户系统的操作任务并输出操作 任务的执行结果；对象确定模块920，用于确定操作区和待操作对象；操作执行模块930，用于对待操作对象执行操作类型的目标操作。
可选地，信息收发模块910具体用于接收来自客户系统的操作任务，并将操作任务对外显示或打印输出，和将操作任务的执行结果向智能仓储系统回传，并回传需要进一步操作的指令信息，如向仓储机器人下发搬运物料的指令、向智能仓储系统回传的更新库存信息的指令。
进一步地，信息收发模块910还用于打印上述操作任务和执行结果，以便仓储管理人员留档记录。
可选地，对象确定模块920包括：
图像采集模块，用于采集操作区和待操作对象的图像；
图像识别交互模块，用于识别操作区和待操作对象的图像中的可识别特征信息。
进一步地，图像识别交互模块还用于通过与智能仓储系统和仓储管理人员的交互，确认操作区和待操作对象，并能通过信息收发模块910回传识别和交互的内容。
可选地，操作执行模块930包括：
物料搬运模块，用于将待操作对象搬运到指定位置，如在出库任务或入库任务中将物料和货箱搬运至操作区；
物料整理模块，用于对放置在货架上的待操作对象进行具体整理和盘点。
物料搬运模块和物料整理模块都可以通过机械手实现，物料搬运模块还包括运动结构，以便于在智能仓储系统内移动。
本公开实施例提供的仓储管理装置，能够实现前述方法实施例提供的仓储管理方法，且相比前述方法实施例，可以减少仓储管理人员的参与，提高智能仓储系统整体自动化率，进而提高仓储服务效率。
图8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8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执行以实现本公开前述方法实施例中任一实施例提供的仓储管理方法。
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前述方法实施例中各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9为本公开一个实施例提供的仓储系统的结构示意图。如图10所示，该仓储系统包括：仓储机器人1110、货架1120和智能仓储系统1130。
其中，待操作对象1121放置于货架1120上，仓储机器人1110为本公开前述仓储机器人实施例中提供的仓储机器人，仓储机器人1110与智能仓储系统1130连接，用于根据智能仓储系统1130下发的操作任务移动至设定位置并建立操作区，如货架1120上，然后对待操作对象1121执行操作任务，并向智能仓储系统1130回传执行结果。
可选地，上述仓储系统还包括交互装置；交互装置与仓储机器人通信连接，交互装置用于得到货架图像并传输给仓储机器，货架图像用于确定操作区。
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方法实施例中任一实施例提供的仓储管理方法。
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。
本公开一个实施例提供了一种计算机程序产品，其包含计算机执行指令，该计算机执行指令被处理器执行时用于实现如上述方法实施例中的仓储管理方法。
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 (21)

  1. 一种仓储管理方法，其特征在于，所述仓储管理方法包括：
    通过交互装置的信息收发模块接收到来自客户系统的操作任务，其中，所述操作任务包含操作类型和待操作对象；
    通过所述交互装置的图像采集模块确定操作区，所述图像采集模块用于采集图像；
    在所述操作区内，对所述待操作对象执行所述操作类型的目标操作；
    通过所述信息收发模块输出所述操作任务的执行结果。
  2. 根据权利要求1所述的仓储管理方法，其特征在于，所述确定操作区，包括：
    接收来自所述图像采集模块的货架图像，
    根据所述货架图像确定所述操作区。
  3. 根据权利要求2所述的仓储管理方法，其特征在于，所述根据所述货架图像确定所述操作区，还包括：
    根据所述货架图像，确定库位，所述库位设置在所述货架上；
    确定所述库位为所述操作区。
  4. 根据权利要求1所述的仓储管理方法，其特征在于，所述待操作对象和操作区均设置有标识码，所述确定操作区包括：
    通过来自所述图像采集模块采集操作区的标识码图像；
    通过交互装置的数据处理模块识别操作区的标识码图像；
    根据识别结果确定所述操作区的位置。
  5. 根据权利要求1所述的仓储管理方法，其特征在于，所述目标操作类型为入库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    将所述待操作对象放置在所述操作区。
  6. 根据权利要求5所述的仓储管理方法，其特征在于，所述输出所述操作任务的执行结果，包括：
    经由所述图像采集模块采集操作区和待操作对象的图像；
    根据所述操作区和待操作对象的图像，经由所述信息收发模块向客户系统输出完成入库任务信息，所述完成入库任务信息用于表示含有操作区和待操作对象的图像的入库任务执行完成的信息。
  7. 根据权利要求1所述的仓储管理方法，其特征在于，所述目标操作类型为出库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    将所述待操作对象放置在所述操作区。
  8. 根据权利要求7所述的仓储管理方法，其特征在于，所述待操作对象为物料，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    将所述物料放置在所述操作区。
  9. 根据权利要求7所述的仓储管理方法，其特征在于，所述待操作对象为物料和货箱，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    将所述货箱放置在所述操作区；
    将所述物料放置于所述货箱中。
  10. 根据权利要求7所述的仓储管理方法，其特征在于，所述待操作对象为物料和货箱，所述货箱放置在所述操作区，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    将所述物料放置于所述货箱中。
  11. 根据权利要求7至10任一所述的仓储管理方法，其特征在于，所述输出所述操作任务的执行结果，包括：
    经由所述图像采集模块采集待操作对象的图像；
    根据所述待操作对象的图像，经由所述信息收发模块向客户系统输出更新库存信息的指令，所述更新库存信息的指令用于表示根据所述待操作对象的图像重新确定库存信息。
  12. 根据权利要求1所述的仓储管理方法，其特征在于，所述目标操作类型为盘点任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    经由所述图像采集模块采集包含待操作对象的图像；
    根据所述包含待操作对象的图像，盘点所述待操作对象的信息，所述待操作对象的信息包含所述待操作对象的数量、种类和位置信息中的至少一种。
  13. 根据权利要求12所述的仓储管理方法，其特征在于，所述输出所述操作任务的执行结果，包括：
    经由所述图像采集模块采集待操作对象的图像；
    根据所述待操作对象的图像，向客户系统输出盘点完成信息，所述盘点完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。
  14. 根据权利要求1所述的仓储管理方法，其特征在于，所述目标操作类型为整理任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：
    对待操作对象进行物料整理。
  15. 根据权利要求14所述的仓储管理方法，其特征在于，所述输出所述操作任务的执行结果，包括：
    经由图像采集模块采集待操作对象的图像；
    根据所述待操作对象的图像，向客户系统输出整理完成信息，所述整理完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。
  16. 一种仓储管理装置，其特征在于，所述仓储管理装置包括：
    信息收发模块，用于接收来自客户系统的操作任务并输出所述操作任务的执行结果；
    对象确定模块，用于确定操作区和待操作对象；
    操作执行模块，用于对所述待操作对象执行所述操作类型的目标操作。
  17. 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1-15任一项所述的仓储管理方法。
  18. 一种仓储系统，其特征在于，包括：权利要求17所述的仓储机器人、货架和客户系统；
    其中，所述仓储机器人与所述客户系统连接，所述仓储机器人用于根据来自所述客户系统的操作任务，在确定的操作区内，执行所述操作任务并输出所述操作任务的执行结果，其中，所述操作区设置于货架上。
  19. 根据权利要求18所述的仓储系统，其特征在于，还包括交互装置；
    所述交互装置与所述仓储机器人通信连接，所述交互装置用于得到货架图像并传输给仓储机器人，所述货架图像用于确定所述操作区。
  20. 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1-15任一项所述的仓储管理方法。
  21. 一种计算机程序产品，其特征在于，所述计算机程序产品包含计算机执行指令，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1-15 任一项所述的仓储管理方法。
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