WO2023011229A1 - 自移动设备的工作方法及自移动设备 - Google Patents

自移动设备的工作方法及自移动设备 Download PDF

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Publication number
WO2023011229A1
WO2023011229A1 PCT/CN2022/107572 CN2022107572W WO2023011229A1 WO 2023011229 A1 WO2023011229 A1 WO 2023011229A1 CN 2022107572 W CN2022107572 W CN 2022107572W WO 2023011229 A1 WO2023011229 A1 WO 2023011229A1
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Prior art keywords
self
target shelf
moving device
replenishment
shelf
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PCT/CN2022/107572
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English (en)
French (fr)
Inventor
何明明
Original Assignee
苏州宝时得电动工具有限公司
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Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN202280005604.8A priority Critical patent/CN115943403A/zh
Publication of WO2023011229A1 publication Critical patent/WO2023011229A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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

Definitions

  • the present application relates to the technical field of electric tools, in particular to a working method of a self-moving device and the self-moving device.
  • the embodiments of the present application are dedicated to providing a working method of a self-moving device and the self-moving device, which are used to solve the problem in the prior art that the self-moving device may bring safety hazards to customers during work.
  • a working method from a mobile device comprising: acquiring commodity information on a target shelf; determining whether the target shelf is out of stock according to the commodity information; in the case that the target shelf is out of stock , implement different replenishment strategies based on the customer flow in the preset area of the mall.
  • the self-mobile device executes different replenishment strategies based on the passenger flow in the preset area of the mall, which can effectively reduce the time-consuming delay caused by the self-mobile device during work. Safety hazards posed by customers.
  • the method further includes: going to the warehouse to pick up the goods, and returning to the target shelf.
  • the replenishment strategy includes: performing a replenishment operation on the target shelf, placing commodities to be replenished on a temporary shelf, and the self-moving device itself as a temporary shelf docking beside the target shelf.
  • an appropriate strategy can be selected from the replenishment strategies according to the passenger flow in the preset area, thereby helping to improve the work efficiency of the autonomous mobile device while reducing potential safety hazards .
  • the implementation of different replenishment strategies based on the passenger flow in the preset area of the mall includes: when the preset area is in a scene of large passenger flow, docking the self-mobile device itself as a temporary shelf next to the target shelf.
  • the self-moving device when the preset area is in a large passenger flow scene, the self-moving device itself is used as a temporary shelf and parked beside the target shelf, which can reduce potential safety hazards and enable customers to It is convenient to purchase the commodities carried on the mobile device, so that the work efficiency of the self-mobile device can be improved.
  • implementing different replenishment strategies based on passenger flow in a preset area of the mall includes: performing a replenishment operation on the target shelf when the preset area is in a low passenger flow scenario.
  • the target shelf is normally replenished, so that customers can Next, the working efficiency of the self-mobile device is improved.
  • the target shelf is one of the various types of shelves in the mall
  • the self-moving device is one of the various types of self-moving devices
  • the various types of self-moving devices are used for the various types of shelves respectively. restock.
  • the types of commodities placed on various shelves in the shopping mall may be different. Restocking the various shelves can improve the work efficiency of the self-moving device.
  • the method further includes: judging whether to use the current self-mobile device to execute the replenishment strategy according to the commodity information on the target shelf, and if not, calling another self-mobile device to execute the replenishment strategy.
  • the self-moving device includes working modules for performing replenishment operations; the method further includes: using different types of working modules to perform replenishment operations according to commodity category information of the target shelf.
  • the shopping mall is equipped with an information management system, and the determining whether the target shelf is out of stock according to the product information includes: when the information management system performs an out-of-stock warning on the target shelf, according to The commodity information determines whether the target shelf is out of stock.
  • the information management system when the information management system performs an out-of-stock warning on the target shelf, it is determined whether the target shelf is out of stock according to the commodity information, and the out-of-stock shelf in the shopping mall can be determined in time , thereby helping to improve the work efficiency of the self-mobile device.
  • the self-moving device includes a patrol camera
  • the acquiring information of commodities on the target shelf includes: capturing patrol images based on the patrol camera to acquire commodity information on the target shelf.
  • the self-moving device includes a patrol camera
  • the method further includes: determining whether there is a human body within a preset distance according to the patrol image captured by the patrol camera, and prohibiting the replenishment operation on the target shelf if it is determined that a human body exists.
  • the mobile device includes a patrol camera
  • the method further includes: planning a replenishment path according to the patrol images captured by the patrol camera.
  • the self-moving device includes a communication module, and the method further includes: sending information that the target shelf is out of stock through the communication module, and/or receiving customer flow information in a preset area of the shopping mall.
  • the passenger flow in the preset area is determined according to the monitoring images captured by the monitoring cameras of the shopping mall.
  • the passenger flow in the preset area can be accurately determined according to the surveillance image captured by the surveillance camera of the shopping mall.
  • the delivery strategy can effectively reduce the safety hazards brought by mobile devices to customers during work.
  • a self-moving device including: a housing, a mobile module, and a working module.
  • the self-moving device moves and works in a shopping mall, and it is characterized in that the self-moving device also includes: an acquisition module for acquiring Commodity information on the target shelf; a first determination module, configured to determine whether the target shelf is out of stock according to the commodity information; Different replenishment strategies are implemented according to the passenger flow in the set area.
  • the self-mobile device executes different replenishment strategies based on the passenger flow in the preset area of the mall, which can effectively reduce the time-consuming delay caused by the self-mobile device during work. Safety hazards posed by customers.
  • the mobile module is also used to control the self-mobile device to go to the warehouse to pick up goods and return to the target shelf.
  • the replenishment strategy includes: performing a replenishment operation on the target shelf, placing commodities to be replenished on a temporary shelf, and the self-moving device itself as a temporary shelf docking beside the target shelf.
  • an appropriate strategy can be selected from the replenishment strategies according to the passenger flow in the preset area, thereby helping to improve the work efficiency of the autonomous mobile device while reducing potential safety hazards .
  • execution module is specifically configured to: when the preset area is in a large passenger flow scene, park the self-moving device itself as a temporary shelf next to the target shelf.
  • the self-moving device when the preset area is in a large passenger flow scene, the self-moving device itself is used as a temporary shelf and parked beside the target shelf, which can reduce potential safety hazards and enable customers to It is convenient to purchase the commodities carried on the mobile device, so that the work efficiency of the self-mobile device can be improved.
  • execution module is specifically configured to: replenish the target shelf when the preset area is in a scene of small passenger flow.
  • the target shelf is normally replenished, so that customers can Next, the working efficiency of the self-mobile device is improved.
  • the target shelf is one of the various types of shelves in the mall
  • the self-moving device is one of the various types of self-moving devices
  • the various types of self-moving devices are used for the various types of shelves respectively. restock.
  • the types of commodities placed on various shelves in the shopping mall may be different. Restocking the various shelves can improve the work efficiency of the self-moving device.
  • the self-mobile device further includes a second determination module, configured to: judge whether to use the current self-mobile device to implement the replenishment strategy according to the commodity information on the target shelf, and if not, call another self-mobile device Implement a replenishment strategy.
  • the working module is used to execute the replenishment operation; the executing module is also used to execute the replenishment operation by using different types of working modules according to the commodity category information of the target shelf.
  • the shopping mall is equipped with an information management system, and the first determining module is specifically configured to: determine the target shelf according to the product information when the information management system performs an out-of-stock warning on the target shelf. Whether the shelf is out of stock.
  • the information management system when the information management system performs an out-of-stock warning on the target shelf, it is determined whether the target shelf is out of stock according to the commodity information, and the out-of-stock shelf in the shopping mall can be determined in time , thereby helping to improve the work efficiency of the self-mobile device.
  • the self-moving device further includes a patrol camera, and the acquisition module is specifically configured to: capture commodity information on the target shelf based on the patrol image captured by the patrol camera.
  • the self-moving device also includes a patrol camera
  • the self-moving device also includes a third determination module, configured to: determine whether there is a human body within a preset distance according to the patrol image captured by the patrol camera, and if it is determined that there is a human body Then the replenishment operation on the target shelf is prohibited.
  • the self-moving device further includes a patrol camera
  • the self-moving device further includes a route planning module, configured to: plan a replenishment route according to the patrol images captured by the patrol camera.
  • the self-moving device further includes a communication module, configured to: send the information that the target shelf is out of stock, and/or receive the passenger flow information of the preset area of the shopping mall.
  • the passenger flow in the preset area is determined according to the monitoring images captured by the monitoring cameras of the shopping mall.
  • the passenger flow in the preset area can be accurately determined according to the surveillance image captured by the surveillance camera of the shopping mall.
  • the delivery strategy can effectively reduce the safety hazards brought by mobile devices to customers during work.
  • an autonomous mobile device including a transceiver, a processor, and a memory.
  • the processor is used to control the transceiver to send and receive signals
  • the memory is used to store a computer program
  • the processor is used to call and run the computer program from the memory, so that the self-mobile device executes the method in the first aspect.
  • a device for controlling self-moving equipment has the function of the device for realizing the method design of the first aspect above.
  • These functions may be implemented by hardware, or may be implemented by executing corresponding software through hardware.
  • the hardware or software includes one or more units corresponding to the above functions.
  • the device may be a server or a controller installed in a shopping mall.
  • an apparatus for controlling an autonomous mobile device including a transceiver, a processor, and a memory.
  • the processor is used to control the transceiver to send and receive signals
  • the memory is used to store a computer program
  • the processor is used to call and run the computer program from the memory, so that the device executes the method in the first aspect.
  • the device may be a server or a controller installed in a shopping mall.
  • a chip in a sixth aspect, includes a processor and a data interface, and the processor reads instructions stored on the memory through the data interface, and executes the first aspect or any possible implementation of the first aspect methods in methods.
  • a computer program product comprising: computer program code, when the computer program code is run on a computer, the computer is made to execute the first aspect or any possible method of the first aspect. method in the implementation.
  • a computer-readable medium stores program codes, and when the computer program codes run on a computer, the computer executes the first aspect or any one of the first aspects. method in the implementation of .
  • the self-mobile device executes different replenishment strategies based on the passenger flow in the preset area of the mall, which can effectively reduce the time-consuming delay caused by the self-mobile device during work. Safety hazards posed by customers.
  • FIG. 1 is a schematic block diagram of a shopping mall replenishment system provided by an embodiment of the present application.
  • Fig. 2 is a schematic block diagram of a working method of a self-mobile device in an embodiment of the present application.
  • Fig. 3 is a schematic structural diagram of a mobile device in an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of an autonomous mobile device in another embodiment of the present application.
  • replenishment robots can be used in shopping malls to replace manual replenishment operations.
  • a replenishment robot can be used to identify out-of-stock shelves, and then the replenishment robot can also move to the warehouse to pick up the goods and return to the out-of-stock shelves to perform replenishment operations.
  • the replenishment robot that is working may bring safety hazards to customers, especially when the passenger flow is relatively large, this risk may be higher.
  • the embodiment of the present application proposes a working method of the self-moving device and the self-moving device, which can improve the security of the self-moving device.
  • an embodiment of the present application provides a shopping mall replenishment system 100 , and the system 100 may include a warehouse 110 , a shopping mall 120 and a mobile device 130 .
  • the warehouse 110 may include at least one shelf (taking 5 shelves as an example in FIG.
  • the warehouse manager can place the goods to be shipped out on the transfer platform 111, so as to move from the mobile device 130 to the warehouse 110 (at the transfer station 111) to take the goods away;
  • the self-mobile device 130 can also pick up goods directly from the warehouse.
  • the at least one shelf can be used to display commodities for sale
  • the at least one surveillance camera can include a communication module so as to communicate with the self-mobile device 130, the server 140 and the warehouse manager.
  • the warehouse manager can communicate through a terminal device with a communication function, a communication device installed at the relay station 111 or other communication devices, which is not limited in this embodiment of the present application.
  • the self-mobile device 130 may include a housing, a mobile module, a working module, a communication module, a sensor, a battery and other modules, and the self-mobile device 130 may be an intelligent robot that patrols and performs replenishment operations in a shopping mall.
  • Self-mobile device 130 may include multiple self-mobile devices.
  • FIG. 1 shows a situation where self-mobile device 130a performs a replenishment operation in shopping mall 120 and self-mobile devices 130b, 130c, and 130d are located in waiting area 150 for waiting. It should be noted that the self-mobile devices 130a-130d in FIG. 1 are only examples and not limiting, and the number of self-mobile devices 130 is not limited in this embodiment of the present application.
  • the system 100 in FIG. 1 may also include a docking station (not shown in FIG. 1 ), wherein the docking station may be a charging station, for example, the self-mobile device 130 may automatically return to the charging station for charging when it stops working or needs to be charged. .
  • the docking station may be a charging station, for example, the self-mobile device 130 may automatically return to the charging station for charging when it stops working or needs to be charged.
  • the self-mobile device 130 can patrol in the mall 120.
  • the sensor for example, the sensor can be a patrol camera installed on the self-mobile device
  • the sensor can obtain the product information on each shelf in the mall 120, so as to Determine whether each shelf is out of stock; in the case of out-of-stock target shelves, you can send out-of-stock information to the warehouse administrator to inform the out-of-stock target shelves, out-of-stock products, and the number of out-of-stock products; warehouse After receiving the out-of-stock information, the administrator can place the corresponding goods on the transfer platform 111, move from the mobile device to the transfer platform 111 to receive the goods, and return to the target shelf to perform replenishment operations on the target shelf.
  • the self-mobile device 130 when the self-mobile device 130 is patrolling in the shopping mall 120 , it may also use sensors to identify and correct misplaced or misplaced commodities.
  • the self-mobile device 130 can communicate with the monitoring camera in the shopping mall 120, obtain the monitoring image taken by the monitoring camera, determine the passenger flow in the preset area of the shopping mall 120 according to the monitoring image, and execute the procedure based on the passenger flow in the preset area.
  • Different replenishment strategies may refer to the entire shopping mall (that is, the shopping mall 120 ), or may refer to a partial area in the shopping mall 120 , which is not limited in this embodiment of the present application.
  • the passenger flow in the preset area can be accurately determined according to the surveillance image captured by the surveillance camera of the shopping mall.
  • the delivery strategy can effectively reduce the safety hazards brought by mobile devices to customers during work.
  • the passenger flow in the preset area may include large passenger flow scenarios and small passenger flow scenarios
  • the replenishment strategy may include: performing a replenishment operation on the target shelf, placing commodities to be replenished on temporary shelves, The self-mobile device itself stops beside the target shelf as a temporary shelf.
  • an appropriate strategy can be selected from the replenishment strategies according to the passenger flow in the preset area, thereby helping to improve the work efficiency of the autonomous mobile device while reducing potential safety hazards .
  • the self-moving device 130 can park itself as a temporary shelf next to the shelf 123 (ie, the target shelf) , while reducing potential safety hazards, customers can conveniently purchase commodities carried on the self-moving device, thereby improving the work efficiency of the self-moving device;
  • the self-moving device can normally perform a replenishment operation on the target shelf, so that the work efficiency of the self-moving device can be improved without affecting customers (or in other words, not causing too much impact on customers).
  • the self-moving device 130 can also place the goods to be replenished on the shelf 121 (ie, the temporary shelf); or , the self-moving device 130 may also directly stop at the original location (that is, temporarily stop the replenishment operation), and continue to perform the replenishment operation on the target shelf when the passenger flow in the preset area becomes small.
  • replenishment strategies are only examples and not limiting, and the self-mobile device 130 may also implement other replenishment strategies based on the passenger flow in the preset area, which is not included in this embodiment of the present application. Not limited.
  • a plurality of self-moving devices in the system 100 can be respectively responsible for a plurality of different areas, and the types of goods placed on various shelves in the plurality of different areas can be different.
  • the working modules of the mobile devices working in the multiple different areas may be different, or the mobile devices working in the multiple different areas may be different.
  • the types of commodities placed on various shelves in the shopping mall may be different. Replenishment of the various shelves can improve the work efficiency of the self-moving device.
  • the self-moving device 130b can work in the small-to-medium-weight commodity area with a regular appearance. Commodities with regular weight and appearance; the self-moving device 130c can work in the area of goods with small and medium weight and irregular appearance.
  • the working module of the self-moving device 130c can include an adsorption module, and the self-moving device in this area can use the adsorption module to absorb the medium and small weight , Commodities with irregular appearance;
  • the self-moving equipment 130d can work in the heavy commodity area,
  • the working module of the self-moving equipment 130d can include a fork arm, and the self-moving equipment 130d can move through guide rails, and the self-moving equipment in this area can use the fork fork lift the heavy item.
  • the above-mentioned embodiments are only examples and not limiting, and the specific division of labor and specific structures of the multiple self-mobile devices can be set according to actual conditions, which are not limited in this embodiment of the present application.
  • the mobile device 130a patrols the mall 120 and determines whether there is an out-of-stock shelf in the mall 120.
  • the self-mobile device 130a may first determine whether the current self-mobile device (i.e. the self-mobile device 130a) performs the replenishment operation, and if so, the self-mobile device 130a performs the replenishment operation; Otherwise, the self-mobile device 130a may call other self-mobile devices (for example, self-mobile devices 130b, 130c, or 130d in the waiting area 150) according to the commodity on the target shelf.
  • the self-mobile device 130a may call other self-mobile devices (for example, self-mobile devices 130b, 130c, or 130d in the waiting area 150) according to the commodity on the target shelf.
  • the self-moving device 130a can call the self-moving device 130b to perform replenishment operations on the target shelf;
  • the working module of the self-moving device 130c is an adsorption module, then the self-moving device 130a can call the self-moving device 130c to perform replenishment operations on the target shelf;
  • the target shelf is located in the heavy commodity area, the self-moving device
  • the working module of 130d is a fork arm, and the self-moving device 130d moves through the guide rail, and then the self-moving device 130a can call the self-moving device 130d to perform a replenishment operation on the target shelf.
  • commodities with small and medium weight and regular appearance can include bottled commodities, canned commodities, and commodities packaged in small boxes, etc.
  • commodities with small and medium weight and irregular appearance can include small items, plastic-packed commodities, and bulk commodities, etc., and heavy commodities It can include boxes of beverages, bags of rice, medium and large electrical appliances, etc.
  • the system 100 may also include other product areas and other types of mobile devices, which are not limited in this embodiment of the present application.
  • the system 100 in Fig. 1 can also include a management information system (management information system, MIS), and the MIS system can determine each product stored on each shelf in the mall according to the shipping information of each commodity in the warehouse and the sales information of each commodity in the mall.
  • the number of commodities, so as to determine the target shelf that is out of stock, and issue an early warning message (for example, the early warning information can indicate the target shelf that is out of stock, and various information on the product that is out of stock, etc.).
  • the specific working method of the MIS system can refer to The prior art is not limited in this embodiment of the present application.
  • the self-moving device can determine whether the target shelf is out of stock according to the product information when the MIS system gives an out-of-stock warning to the target shelf, so that it can be determined in time out-of-stock shelves in shopping malls, thus helping to increase the efficiency of said self-moving equipment.
  • the system 100 in FIG. 1 may also include a server 140 .
  • the server 140 can control the mobile device 130 to patrol the shopping mall 120. During the patrol, it can control the mobile device 130 to use sensors to obtain commodity information on each shelf in the shopping mall 120, and can also receive information sent from the mobile device 130. The product information, and determine whether each shelf is out of stock based on the product information.
  • the server 140 can also communicate with the monitoring camera and the warehouse manager in the shopping mall 120. When the target shelf out of stock is found, it can send out-of-stock information to the warehouse manager to inform the target shelf out of stock, the out-of-stock The number of items and items that are out of stock, etc.
  • the server 140 can also communicate with the monitoring camera in the shopping mall 120 to obtain the monitoring image taken by the monitoring camera, determine the passenger flow in the preset area of the shopping mall 120 according to the monitoring image, and control the traffic based on the passenger flow in the preset area. Different replenishment strategies are implemented from the mobile device 130 .
  • Fig. 2 is a schematic block diagram of a working method 200 of a mobile device according to an embodiment of the present application.
  • the method 200 can be executed by the mobile device 130 in FIG. 1 , or can be executed by the mobile device 130 under the control of the server 140 in FIG. 1 .
  • the above method 200 is described as an example.
  • FIG. 2 shows that method 200 includes step 210, step 220, and step 230, but these steps or operations are only examples, and embodiments of the present application may also perform other operations or variations of the operations of method 200 in FIG. 2 , or, and Not all steps need to be performed, or the steps can be performed in another order.
  • the self-moving device may include a housing, a mobile module, a working module, a communication module, a sensor, a battery and other modules, and the self-moving device may acquire commodity information on each shelf in a shopping mall through a sensor, and the commodity
  • the information may include the category of the commodity, the weight of the commodity, and the location of the commodity in the warehouse (for example, the shelf position or shelf number of the commodity stored in the warehouse, etc.).
  • the self-moving device may also include a working module for performing replenishment operations.
  • the sensor can be a camera (the camera can be used to identify barcodes or two-dimensional codes, etc.), a radio frequency identification (radio frequency identification, RFID) reader or other sensors for sensing objects, and the product information can be passed through the image Information, barcodes, QR codes, or other sensory information (collected by other sensors for object sensing) is determined.
  • a camera the camera can be used to identify barcodes or two-dimensional codes, etc.
  • a radio frequency identification radio frequency identification, RFID
  • RFID radio frequency identification
  • the self-mobile device may include a camera (such as a patrol camera), and during the patrol process, the camera may capture patrol images to obtain commodity information on each shelf in the mall, so as to determine whether each shelf is out of stock.
  • a camera such as a patrol camera
  • the camera may capture patrol images to obtain commodity information on each shelf in the mall, so as to determine whether each shelf is out of stock.
  • the autonomous mobile device may have an environment recognition function.
  • the self-moving device can determine whether there is a human body within a preset distance according to the inspection image captured by the camera, and if it is determined that a human body exists, it is forbidden to perform replenishment operations on the target shelf.
  • the self-mobile device can also determine whether there are dropped items or items with a risk of falling in the shopping mall according to the inspection image captured by the camera, and if so, it can issue a drop warning.
  • the autonomous mobile device may also perform obstacle avoidance according to the inspection image captured by the camera, so as to avoid various obstacles (such as commodities, shelves or other autonomous mobile devices, etc.) during the inspection process.
  • the self-mobile device may also determine an obstacle avoidance strategy according to the tour image captured by the camera, for example, the obstacle avoidance strategy may include passing by the obstacle, or passing by the obstacle, and the like.
  • the self-mobile device may perform path planning.
  • the self-mobile device can plan a patrol path or a replenishment path according to the patrol image captured by the camera.
  • the target shelf is one of various types of shelves in the shopping mall
  • the self-moving device is one of multiple types of self-moving devices
  • the various types of self-moving devices are all The various shelves mentioned above are replenished.
  • multiple self-moving devices are used to replenish the various shelves respectively, which can improve the work efficiency of the self-moving devices.
  • the shopping mall can be divided into a plurality of different areas, and a plurality of self-moving devices can be arranged in the shopping mall, and the plurality of self-moving devices can be respectively responsible for a plurality of different areas, and various shelves in the plurality of different areas
  • the types of commodities placed on the display may be different, and correspondingly, the self-mobile devices working in the multiple different areas may also be different.
  • the self-mobile device can also use other methods (for example, image recognition (vision) technology) to obtain the product information, or can also obtain the product information through the monitoring camera of the shopping mall.
  • image recognition for example, image recognition (vision) technology
  • the warehouse manager can communicate with the self-mobile device through a terminal device with a communication function, a communication device set at the transfer station 111 or other communication devices.
  • the self-mobile device can send out-of-stock information to the warehouse manager to inform the out-of-stock target shelf, the out-of-stock commodity, and the quantity of the out-of-stock commodity;
  • the administrator can place the corresponding goods on the transfer platform, so as to move from the mobile device to the transfer platform to pick up the goods, and return to the target shelf to replenish the target shelf.
  • the self-mobile device may also go to the warehouse to pick up goods by itself, and return to the target shelf to perform replenishment operations.
  • the shopping mall may be equipped with a MIS system, and the MIS system may give out-of-stock warnings to the shelves in the shopping mall.
  • the MIS system can issue an early warning message when a target shelf in the mall is out of stock, and the early warning message can indicate the target shelf out of stock and various information about the out of stock commodity.
  • the specific working mode of the MIS system reference may be made to the prior art, which is not limited in this embodiment of the present application.
  • the self-moving device can obtain commodity information on the target shelf when the MIS system issues an out-of-stock warning on the target shelf, and determine the target shelf according to the commodity information. Whether the shelf is out of stock, so that the shelf out of stock in the mall can be determined in time, thereby helping to improve the work efficiency of the self-moving device.
  • the self-mobile device can also judge whether to use the current self-mobile device to implement the replenishment strategy according to the commodity information on the target shelf, and if not, call another self-mobile device to implement the replenishment strategy.
  • the self-moving device may use different types of working modules to perform replenishment operations according to the product type information of the target shelf.
  • the self-mobile device executes different replenishment strategies based on the passenger flow in the preset area of the mall, which can effectively reduce the time-consuming delay caused by the self-mobile device during work. Safety hazards posed by customers.
  • the preset area here may refer to the entire shopping mall, or may refer to a partial area in the shopping mall, which is not limited in this embodiment of the present application.
  • the replenishment strategy may include: performing a replenishment operation on the target shelf, placing the goods to be replenished on a temporary shelf, and the self-moving device itself as a temporary shelf docking beside the target shelf.
  • the self-moving device selects an appropriate strategy from the replenishment strategies according to the passenger flow in the preset area, which helps to improve the security of the self-moving device while reducing potential safety hazards. work efficiency.
  • replenishment strategies are only examples and not limiting, and the self-mobile device 130 may also implement other replenishment strategies based on the passenger flow in the preset area, which is not included in this embodiment of the present application. Not limited.
  • the passenger flow in the preset area can be divided into large passenger flow and small passenger flow.
  • the passenger flow in the preset area is greater than or equal to 20 people, it can be considered that the preset area is in a large passenger flow scene; when the passenger flow in the preset area is less than or equal to 5 people, it can be considered The preset area is in a small passenger flow scene.
  • the way of dividing the passenger flow in the preset area here is only an example and not limiting, and other ways can also be used to divide the passenger flow in the preset area.
  • the embodiment of the present application There is no limitation on this.
  • the self-moving device when the preset area is in a scene with a large passenger flow, can park itself as a temporary shelf next to the target shelf, which can reduce potential safety hazards while The customer can conveniently purchase the commodities carried on the self-mobile device, thereby improving the work efficiency of the self-mobile device.
  • the self-moving device can also place the goods to be replenished on a temporary shelf; When the passenger flow in the preset area becomes small, the replenishment operation is continued on the target shelf.
  • the self-moving device when the preset area is in a scene with a small passenger flow, can normally perform replenishment operations on the target shelf, which can be done without affecting customers (or in other words, In the case that customers cause too much influence), the work efficiency of the self-mobile device is improved.
  • the passenger flow in the preset area may be determined according to monitoring images captured by a monitoring camera of the shopping mall.
  • the self-moving device may further include a communication module, and the self-moving device may send information that the target shelf is out of stock through the communication module.
  • the self-mobile device may also receive passenger flow information in a preset area of the shopping mall through the communication module.
  • the self-mobile device can also communicate with the monitoring camera in the shopping mall through the communication module to obtain the monitoring image taken by the monitoring camera, determine the passenger flow in the preset area of the shopping mall according to the monitoring image, and based on the Different replenishment strategies are implemented for the passenger flow in the preset area; or, the self-mobile device may also receive the passenger flow information of the preset area of the mall directly through the communication module.
  • the passenger flow in the preset area can be accurately determined according to the surveillance image captured by the surveillance camera of the shopping mall.
  • the delivery strategy can effectively reduce the safety hazards brought by mobile devices to customers during work.
  • the self-moving device can also move to the warehouse to pick up the various commodities to be replenished after determining the various commodities to be replenished on the multiple target shelves, and return to the shopping mall to sort the multiple target shelves sequentially.
  • Performing a replenishment operation that is, the self-moving device only needs to move to the warehouse once to replenish the plurality of target shelves, thereby improving the work efficiency of the self-moving device.
  • the self-mobile device can perform replenishment operations on the target shelf according to the "first in, first out” principle, so as to ensure that customers can get the target shelf first. Items previously placed on the shelf.
  • the self-moving device can adjust the height of the working module or itself, so that it can perform replenishment operations on shelves at high and low places.
  • the self-moving device may adopt a certain maneuvering strategy to perform replenishment operations. For example, the self-moving device may first move the items around the target shelf or other commodities on the target shelf, and then put the items around the target shelf or other commodities on the target shelf back to the original place after the replenishment operation is completed.
  • the self-moving device can also be linked with an elevator.
  • the self-mobile device can go to the warehouse on the second floor to pick up the goods through the elevator after finding the target shelf that is out of stock, and then return to the target shelf through the elevator to replace it. Perform replenishment operations.
  • Fig. 3 is a schematic block diagram of a self-mobile device 300 provided by an embodiment of the present application. It should be understood that the autonomous mobile device 300 shown in FIG. 3 is only an example, and the autonomous mobile device 300 in the embodiment of the present application may further include other modules or units.
  • the self-mobile device 300 can execute each step in the method in FIG. 2 , and details are not described here again to avoid repetition.
  • the self-moving device 300 includes: a casing, a mobile module, and a working module. As shown in FIG. 3 , the self-moving device 300 also includes:
  • An acquisition module 310 configured to acquire commodity information on the target shelf
  • the first determination module 320 is configured to determine whether the target shelf is out of stock according to the commodity information
  • the execution module 330 is configured to implement different replenishment strategies based on the passenger flow in the preset area of the mall when the target shelf is out of stock.
  • the self-mobile device 300 here is embodied in the form of functional modules.
  • the term “module” here may be implemented in the form of software and/or hardware, which is not specifically limited.
  • a “module” may be a software program, a hardware circuit or a combination of both to realize the above functions.
  • the hardware circuitry may include application specific integrated circuits (ASICs), electronic circuits, processors (such as shared processors, dedicated processors, or group processors) for executing one or more software or firmware programs. etc.) and memory, incorporating logic, and/or other suitable components to support the described functionality.
  • ASICs application specific integrated circuits
  • processors such as shared processors, dedicated processors, or group processors
  • memory incorporating logic, and/or other suitable components to support the described functionality.
  • the self-mobile device 300 provided in the embodiment of the present application may include a processor or a chip, so as to execute the method described in the embodiment of the present application.
  • Fig. 4 is a schematic block diagram of a mobile device 400 according to an embodiment of the present application.
  • the mobile device 400 shown in FIG. 4 includes a memory 401 , a processor 402 , a communication interface 403 and a bus 404 .
  • the memory 401 , the processor 402 , and the communication interface 403 are connected to each other through the bus 404 .
  • the memory 401 may be a read only memory (read only memory, ROM), a static storage device, a dynamic storage device or a random access memory (random access memory, RAM).
  • the memory 401 may store a program.
  • the processor 402 is configured to execute each step of the method of the embodiment of the present application, for example, may execute each step of the embodiment shown in FIG. 2 .
  • the processor 402 can adopt a general-purpose central processing unit (central processing unit, CPU), a microprocessor, an application specific integrated circuit (application specific integrated circuit, ASIC), or one or more integrated circuits, for executing related programs, to Implement the method of the method embodiment of the present application.
  • CPU central processing unit
  • ASIC application specific integrated circuit
  • the processor 402 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the method in the embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 402 or instructions in the form of software.
  • the above-mentioned processor 402 can also be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an application-specific integrated circuit (ASIC), a ready-made programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, Discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processing
  • ASIC application-specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module may be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • the storage medium is located in the memory 401, and the processor 402 reads the information in the memory 401, and combines its hardware to complete the functions required by the units included in the self-mobile device in the embodiment of the present application, or execute the method of the method embodiment of the present application, For example, various steps/functions of the embodiment shown in FIG. 2 can be executed.
  • the communication interface 403 may use, but is not limited to, a transceiver device such as a transceiver to implement communication between the device 400 and other devices or communication networks.
  • the bus 404 may include pathways for transferring information between various components of the mobile device 400 (eg, memory 401 , processor 402 , communication interface 403 ).
  • the processor may be a central processing unit (central processing unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (digital signal processor, DSP), dedicated integrated Circuit (application specific integrated circuit, ASIC), off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • At least one means one or more, and “multiple” means two or more.
  • At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • at least one item (piece) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple .
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • all or part of them may be implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be read by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (digital video disc, DVD)) or a semiconductor medium (for example, a solid state disk (solid state disk, SSD) )wait.
  • a magnetic medium for example, a floppy disk, a hard disk, a magnetic tape
  • an optical medium for example, a digital versatile disc (digital video disc, DVD)
  • a semiconductor medium for example, a solid state disk (solid state disk, SSD)

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Abstract

本申请提供了一种自移动设备的工作方法及自移动设备，该方法包括：获取目标货架上的商品信息；根据所述商品信息确定所述目标货架是否缺货；在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略。本申请实施例中的方法可以降低自移动设备在工作时给顾客带来的安全隐患。

Description

自移动设备的工作方法及自移动设备 技术领域
本申请涉及电动工具技术领域，具体涉及一种自移动设备的工作方法及自移动设备。
背景技术
随着社会经济的发展，人们的生活质量不断提高，人工的成本也在不断提高，越来越多的行业实现了机器自动化。以超市为例，目前很多超市都开始使用补货机器人进行补货。但是，补货机器人执行补货操作时，可能会给超市中购物的顾客带来安全隐患。
发明内容
有鉴于此，本申请实施例致力于提供一种自移动设备的工作方法及自移动设备，用于解决现有技术中自移动设备在工作时可能会给顾客带来安全隐患的问题。
第一方面，提供一种自移动设备的工作方法，该方法包括：获取目标货架上的商品信息；根据所述商品信息确定所述目标货架是否缺货；在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略。
在本申请实施例中，所述自移动设备在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
进一步地，所述基于商场的预设区域内的客流量执行不同的补货策略之前，所述方法还包括：前往仓库取货，并返回所述目标货架。
进一步地，所述补货策略包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。
在本申请实施例中，可以根据所述预设区域内的客流量从所述补货策略中选择合适的策略，从而有助于在降低安全隐患的同时，提高所述自移动设备的工作效率。
进一步地，所述基于商场的预设区域内的客流量执行不同的补货策略，包括：在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁。
在本申请实施例中，在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁，可以在降低安全隐患的同时，使顾客能够方便地选购所述自移动设备上携带的商品，从而可以提高所述自移动设备的工作效率。
进一步地，所述基于商场的预设区域内的客流量执行不同的补货策略，包括：在所述预设区域处于小客流场景的情况下，对所述目标货架执行补货操作。
在本申请实施例中，在所述预设区域处于小客流场景的情况下，对所述目标货架进行正常补货，这样可以在不影响顾客(或者说，不对顾客造成太大影响)的情况下，提高所述自移动设备的工作效率。
进一步地，所述目标货架为所述商场中的多种货架中的一个，所述自移动设备为多种自移动设 备中的一个，所述多种自移动设备分别为所述多种货架进行补货。
在本申请实施例中，所述商场中的多种货架上摆放的商品的种类可能会不同，此时，针对所述多种货架上摆放的商品的种类，使用多种自移动设备分别为所述多种货架进行补货，可以提高所述自移动设备的工作效率。
进一步地，所述方法还包括：根据所述目标货架上的商品信息，判断是否使用当前自移动设备执行补货策略，若否，则调用另一自移动设备执行补货策略。
进一步地，所述自移动设备包括工作模块，用于执行补货操作；所述方法还包括：根据目标货架的商品种类信息，使用不同种类的工作模块执行补货操作。
进一步地，所述商场设置有信息管理系统，所述根据所述商品信息确定所述目标货架是否缺货，包括：在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货。
在本申请实施例中，在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货，可以及时确定出商场中缺货的货架，从而有助于提高所述自移动设备的工作效率。
进一步地，所述自移动设备包括巡视摄像头，所述获取目标货架上的商品信息包括：基于所述巡视摄像头拍摄巡视图像来获取目标货架上的商品信息。
进一步地，所述自移动设备包括巡视摄像头，所述方法还包括：根据所述巡视摄像头拍摄的巡视图像确定预设距离内是否存在人体，若确定存在人体则禁止对目标货架执行补货操作。
进一步地，所述自移动设备包括巡视摄像头，所述方法还包括：根据所述巡视摄像头拍摄的巡视图像规划补货路径。
进一步地，所述自移动设备包括通信模块，所述方法还包括：通过所述通信模块发送所述目标货架缺货的信息，和/或接收所述商场的预设区域的客流量信息。
进一步地，所述预设区域内的客流量是根据所述商场的监控摄像头拍摄的监控图像确定的。
在本申请实施例中，根据所述商场的监控摄像头拍摄的监控图像可以准确地确定出所述预设区域内的客流量，此时，基于所述预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
第二方面，提供一种自移动设备，包括：壳体、移动模块及工作模块，所述自移动设备在商场内移动和工作，其特征在于，自移动设备还包括：获取模块，用于获取目标货架上的商品信息；第一确定模块，用于根据所述商品信息确定所述目标货架是否缺货；执行模块，用于在所述目标货架缺货的情况下，基于所述商场的预设区域内的客流量执行不同的补货策略。
在本申请实施例中，所述自移动设备在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
进一步地，所述移动模块还用于控制所述自移动设备前往仓库取货，并返回所述目标货架。
进一步地，所述补货策略包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。
在本申请实施例中，可以根据所述预设区域内的客流量从所述补货策略中选择合适的策略，从而有助于在降低安全隐患的同时，提高所述自移动设备的工作效率。
进一步地，所述执行模块具体用于：在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁。
在本申请实施例中，在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁，可以在降低安全隐患的同时，使顾客能够方便地选购所述自移动设备上携带的商品，从而可以提高所述自移动设备的工作效率。
进一步地，所述执行模块具体用于：在所述预设区域处于小客流场景的情况下，对所述目标货架进行补货。
在本申请实施例中，在所述预设区域处于小客流场景的情况下，对所述目标货架进行正常补货，这样可以在不影响顾客(或者说，不对顾客造成太大影响)的情况下，提高所述自移动设备的工作效率。
进一步地，所述目标货架为所述商场中的多种货架中的一个，所述自移动设备为多种自移动设备中的一个，所述多种自移动设备分别为所述多种货架进行补货。
在本申请实施例中，所述商场中的多种货架上摆放的商品的种类可能会不同，此时，针对所述多种货架上摆放的商品的种类，使用多种自移动设备分别为所述多种货架进行补货，可以提高所述自移动设备的工作效率。
进一步地，所述自移动设备还包括第二确定模块，用于：根据所述目标货架上的商品信息，判断是否使用当前自移动设备执行补货策略，若否，则调用另一自移动设备执行补货策略。
进一步地，所述工作模块用于执行补货操作；所述执行模块还用于：根据目标货架的商品种类信息，使用不同种类的工作模块执行补货操作。
进一步地，所述商场设置有信息管理系统，所述第一确定模块具体用于：在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货。
在本申请实施例中，在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货，可以及时确定出商场中缺货的货架，从而有助于提高所述自移动设备的工作效率。
进一步地，所述自移动设备还包括巡视摄像头，所述获取模块具体用于：基于所述巡视摄像头拍摄巡视图像来获取目标货架上的商品信息。
进一步地，所述自移动设备还包括巡视摄像头，所述自移动设备还包括第三确定模块，用于：根据所述巡视摄像头拍摄的巡视图像确定预设距离内是否存在人体，若确定存在人体则禁止对目标货架执行补货操作。
进一步地，所述自移动设备还包括巡视摄像头，所述自移动设备还包括路径规划模块，用于：根据所述巡视摄像头拍摄的巡视图像规划补货路径。
进一步地，所述自移动设备还包括通信模块，用于：发送所述目标货架缺货的信息，和/或接收所述商场的预设区域的客流量信息。
进一步地，所述预设区域内的客流量是根据所述商场的监控摄像头拍摄的监控图像确定的。
在本申请实施例中，根据所述商场的监控摄像头拍摄的监控图像可以准确地确定出所述预设区域内的客流量，此时，基于所述预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
第三方面，提供了一种自移动设备，包括收发器、处理器和存储器。该处理器用于控制收发器收发信号，该存储器用于存储计算机程序，该处理器用于从存储器中调用并运行该计算机程序，使得该自移动设备执行第一方面中的方法。
第四方面，提供了一种控制自移动设备的装置，所述装置具有实现上述第一方面的方法设计 的装置的功能。这些功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的单元。可选地，所述装置可以为设置于商场中的服务器或控制器等。
第五方面，提供了一种控制自移动设备的装置，包括收发器、处理器和存储器。该处理器用于控制收发器收发信号，该存储器用于存储计算机程序，该处理器用于从存储器中调用并运行该计算机程序，使得该装置执行第一方面中的方法。可选地，所述装置可以为设置于商场中的服务器或控制器等。
第六方面，提供一种芯片，所述芯片包括处理器与数据接口，所述处理器通过所述数据接口读取存储器上存储的指令，执行第一方面或第一方面的任一可能的实现方式中的方法。
第七方面，提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行第一方面或第一方面的任一可能的实现方式中的方法。
第八方面，提供了一种计算机可读介质，所述计算机可读介质存储有程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行第一方面或第一方面的任一可能的实现方式中的方法。
在本申请实施例中，所述自移动设备在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
附图说明
图1为本申请实施例提供的一种商场的补货系统的示意性框图。
图2为本申请一个实施例中的自移动设备的工作方法的示意性框图。
图3为本申请一个实施例中的自移动设备的结构示意图。
图4为本申请另一个实施例中的自移动设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
随着社会经济的发展，人们的生活质量不断提高，人工的成本在不断提高，很多行业都开始逐步实现机器自动化，比如，可以在商场中使用补货机器人代替人工执行补货操作。例如，可以使用补货机器人确定缺货的货架，随后，该补货机器人还可以移动至仓库处取货，并返回至缺货的货架处执行补货操作。但是，当商场中有顾客购物时，正在工作的补货机器人可能给顾客带来安全隐患，尤其在客流量比较大的时候，这种风险可能会更高。
基于上述技术问题，本申请实施例提出了一种自移动设备的工作方法及自移动设备，可以提升自移动设备的安全性。
参见图1，本申请实施例提供一种商场的补货系统100，该系统100可以包括仓库110、商场120和自移动设备130。其中，仓库110中可以包括至少一个货架(图1中以5个货架作为示例，即货架112-货架116)和中转台111，该至少一个货架可以用于存放货物，中转台111可以用于放置 待出库的货物，例如，仓库管理员可以将待出库的货物放在中转台111上，以便于自移动设备130移动到仓库110(中的该中转台111处)将该货物取走；或者，自移动设备130也可以直接从仓库取货。
商场120中可以包括至少一个货架(图1中以5个货架作为示例，即货架121-货架125)和至少一个监控摄像头(图1中以4个摄像头作为示例，即摄像头126-摄像头129)，该至少一个货架可以用于摆放售卖的商品，该至少一个监控摄像头可以包括通信模块，以便于与自移动设备130、服务器140及仓库管理员进行通信。其中，仓库管理员可以通过随身携带的具有通信功能的终端设备、设置于中转台111处的通信设备或其他通信设备进行通信，本申请实施例中对此并不限定。
自移动设备130可以包括壳体、移动模块、工作模块、通信模块、传感器及电池等其他模块，自移动设备130可以为商场中进行巡视及执行补货操作的智能机器人。自移动设备130可以包括多个自移动设备，例如，图1中示出了自移动设备130a在商场120中执行补货操作，自移动设备130b、130c及130d位于等候区150进行等待的情况。需要说明的是，图1中的自移动设备130a-130d仅为示例而非限定，本申请实施例中对自移动设备130的数量并不做限定。
图1中的系统100还可以包括停靠站(图1中未示出)，其中，停靠站可以为充电站，例如，自移动设备130可以在停止工作或需要充电时，自动返回充电站进行充电。
自移动设备130可以在商场120中进行巡视，在巡视的过程中可以通过传感器(例如，该传感器可以为设置于自移动设备上的巡视摄像头)获取商场120中的各个货架上的商品信息，以确定各个货架是否缺货；在发现缺货的目标货架的情况下，可以向仓库管理员发送缺货信息，以告知缺货的目标货架、缺货的商品及缺货的商品的数量等；仓库管理员在收到缺货信息后，可以相应的货物放置于中转台111上，自移动设备移动至中转台111处接收该货物，并返回目标货架，以便对该目标货架执行补货操作。可选地，所述自移动设备130在商场120中进行巡视的过程中，也可以通过传感器识别并校正摆放错误或位置错误的商品。
自移动设备130可以与商场120中的监控摄像头进行通信，获取监控摄像头拍摄的监控图像，根据该监控图像确定商场120的预设区域的客流量，并基于所述预设区域内的客流量执行不同的补货策略。这里的预设区域可以指整个商场(即商场120)，也可以指商场120中的部分区域，本申请实施例中对此并不限定。在本申请实施例中，根据所述商场的监控摄像头拍摄的监控图像可以准确地确定出所述预设区域内的客流量，此时，基于所述预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
其中，所述预设区域的客流量可以包括大客流场景和小客流场景，所述补货策略可以包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。在本申请实施例中，可以根据所述预设区域内的客流量从所述补货策略中选择合适的策略，从而有助于在降低安全隐患的同时，提高所述自移动设备的工作效率。
例如，假设货架123为所述目标货架，在所述预设区域处于大客流场景的情况下，所述自移动设备130可以将其自身作为临时货架停靠在货架123(即所述目标货架)旁，可以在降低安全隐患的同时，使顾客能够方便地选购所述自移动设备上携带的商品，从而可以提高所述自移动设备的工作效率；在所述预设区域处于小客流场景的情况下，所述自移动设备可以正常对所述目标货架执行补货操作，这样可以在不影响顾客(或者说，不对顾客造成太大影响)的情况下，提高所述自移动设备的工作效率。
或者，假设货架121为临时货架，在所述预设区域处于大客流场景的情况下，所述自移动设 备130也可以将待补货商品放置于货架121(即所述临时货架)上；或者，所述自移动设备130也可以直接停在原地(即暂时停止补货操作)，待所述预设区域的客流量变为小客流时，再继续对所述目标货架执行补货操作。
需要说明的是，上述几种补货策略仅为示例而非限定，所述自移动设备130也可以基于所述预设区域内的客流量执行其他的补货策略，本申请实施例对此并不限定。
系统100中的多个自移动设备(例如，图1中的自移动设备130a-130d)可以分别负责多个不同区域，该多个不同区域中的多种货架上摆放的商品的种类可以不同，相应地，在该多个不同区域工作的自移动设备的工作模块可以不同，或者，在该多个不同区域工作的自移动设备可以不同。在本申请实施例中，所述商场中的多种货架上摆放的商品的种类可以不同，此时，针对所述多种货架上摆放的商品的种类，使用多种自移动设备分别为所述多种货架进行补货，可以提高所述自移动设备的工作效率。
例如，如图1所示，自移动设备130b可以在中小重量、外观规则的商品区域工作，自移动设备130b的工作模块可以包括夹爪，该区域的自移动设备可以使用夹爪抓取该中小重量、外观规则的商品；自移动设备130c可以在中小重量、外观不规则的商品区域工作，自移动设备130c的工作模块可以包括吸附模块，该区域的自移动设备可以使用吸附模块吸附该中小重量、外观不规则的商品；自移动设备130d可以在重型商品区域工作，自移动设备130d的工作模块可以包括叉臂，自移动设备130d可以通过导轨移动，该区域的自移动设备可以使用叉臂叉起该重型商品。需要说明的是，上述实施例仅为示例而非限定，该多个自移动设备的具体分工方式和具体结构可以根据实际情况进行设置，本申请实施例中并不限定。
或者，在系统100中，自移动设备130a在商场120中进行巡视并确定商场120中是否存在缺货的货架。在发现缺货的目标货架的情况下，自移动设备130a可以先确定是否由当前自移动设备(即自移动设备130a)执行补货操作，如果可以，则由自移动设备130a执行补货操作；否则，自移动设备130a可以根据目标货架所处的商品调用其他自移动设备(例如，等候区150中的自移动设备130b、130c或130d)。
例如，若目标货架位于中小重量、外观规则的商品区域，自移动设备130b的工作模块为夹爪，则自移动设备130a可以调用自移动设备130b对目标货架执行补货操作；若目标货架位于中小重量、外观不规则的商品区域，自移动设备130c的工作模块为吸附模块，则自移动设备130a可以调用自移动设备130c对目标货架执行补货操作；若目标货架位于重型商品区域，自移动设备130d的工作模块为叉臂，自移动设备130d通过导轨移动，则自移动设备130a可以调用自移动设备130d对目标货架执行补货操作。
其中，中小重量、外观规则的商品可以包括瓶装商品、罐装商品及小盒包装的商品等，中小重量、外观不规则的商品可以包括小件物品、塑料包装商品及散件商品等，重型商品可以包括成箱饮料、袋装米、中大型电器等。当然，系统100也可以包括其他的商品区域及其他类型的自移动设备，本申请实施例中对此并不限定。
图1中的系统100还可以包括管理信息系统(management information system，MIS)，MIS系统可以根据仓库中各商品的出货信息和商场中各商品的销售信息确定商场中的各个货架上存放的各商品的数量，从而确定出缺货的目标货架，并发出预警信息(例如，预警信息可以指示缺货的目标货架，及缺货的商品的各种信息等)，MIS系统的具体工作方式可以参照现有技术，本申请实施例中对此并不限定。
在本申请实施例中，所述自移动设备可以在所述MIS系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货，这样可以及时确定出商场中缺货的货架，从而有助于提高所述自移动设备的工作效率。
图1中的系统100还可以包括服务器140。所述服务器140可以控制自移动设备130在商场120进行巡视，在巡视的过程中，可以控制自移动设备130使用传感器获取商场120中的各个货架上的商品信息，还可以接收自移动设备130发送的该商品信息，并根据该商品信息确定各个货架是否缺货。
服务器140也可以与商场120中的监控摄像头及仓库管理员进行通信，在发现缺货的目标货架的情况下，可以向仓库管理员发送缺货信息，以告知缺货的目标货架、缺货的商品及缺货的商品的数量等。
服务器140还可以与商场120中的监控摄像头进行通信，以获取监控摄像头拍摄的监控图像，根据该监控图像确定商场120的预设区域的客流量，并基于所述预设区域内的客流量控制自移动设备130执行不同的补货策略。
图2是本申请一实施例的自移动设备的工作方法200的示意性框图。所述方法200可以由图1中的自移动设备130执行，或者也可以由图1中的服务器140控制自移动设备130执行，为便于理解，下述实施例中仅以自移动设备130执行所述方法200为例进行描述。
图2示出了方法200包括步骤210、步骤220及步骤230，但这些步骤或操作仅是示例，本申请实施例还可以执行其他操作或者图2中方法200的各个操作的变形，或者，并不是所有步骤都需要执行，或者，这些步骤可以按照其他顺序执行。
S210，获取目标货架上的商品信息。
可选地，自移动设备可以包括壳体、移动模块、工作模块、通信模块、传感器及电池等其他模块，所述自移动设备可以通过传感器获取商场中的各个货架上的商品信息，所述商品信息可以包括商品的类别、商品的重量及商品的在仓库中的库位(例如，商品在仓库中存放的货架位置或货架号等)等。所述自移动设备还可以包括工作模块，用于执行补货操作。
所述传感器可以为摄像头(该摄像头可以用于识别条形码或二维码等)、无线电射频识别(radio frequency identification，RFID)读写器或其他用于感测物体的传感器，该商品信息可以通过图像信息、条形码、二维码或(其他用于物体感测的传感器采集的)其他感测信息确定。
例如，自移动设备可以包括摄像头(比如巡视摄像头)，在巡视的过程中可以通过所述摄像头拍摄巡视图像来获取商场中的各个货架上的商品信息，以确定各个货架是否缺货。
可选地，所述自移动设备可以具有环境识别功能。
例如，所述自移动设备可以根据所述摄像头拍摄的巡视图像确定预设距离内是否存在人体，若确定存在人体则禁止对目标货架执行补货操作。
再例如，所述自移动设备还可以根据所述摄像头拍摄的巡视图像确定商场中是否有掉落的物品或者存在掉落风险的物品，若存在，则可以进行掉落警示。
又例如，所述自移动设备也可以根据所述摄像头拍摄的巡视图像进行避障，以躲避巡视过程中的各种障碍物(如商品、货架或其他自移动设备等)。所述自移动设备还可以根据所述摄像头拍摄的巡视图像确定避障策略，例如，避障策略可以包括从障碍物的旁边通过、或者在从障碍物的旁边通过的情况下绕行通过等。
可选地，所述自移动设备可以进行路径规划。例如，所述自移动设备可以根据所述摄像头拍 摄的巡视图像规划巡视路径或补货路径。
在一些可能的实现方式中，所述目标货架为所述商场中的多种货架中的一个，所述自移动设备为多种自移动设备中的一个，所述多种自移动设备分别为所述多种货架进行补货。在本申请实施例中，针对所述多种货架上摆放的商品的种类，使用多种自移动设备分别为所述多种货架进行补货，可以提高所述自移动设备的工作效率。
例如，所述商场可以分为多个不同区域，所述商场中可以设置有多个自移动设备，该多个自移动设备可以分别负责多个不同区域，该多个不同区域中的多种货架上摆放的商品的种类可以不同，相应地，在该多个不同区域工作的自移动设备也可以不同。
当然，所述自移动设备也可以使用其他方法(例如，图像识别(vision)技术)来获取所述商品信息，或者，也可以通过商场的监控摄像头来获取所述商品信息，本申请实施例中对此并不限定。
S220，根据所述商品信息确定所述目标货架是否缺货。
进一步地，仓库管理员可以通过随身携带的具有通信功能的终端设备、设置于中转台111处的通信设备或其他通信设备与所述自移动设备进行通信。
例如，在发现缺货的目标货架的情况下，所述自移动设备可以向仓库管理员发送缺货信息，以告知缺货的目标货架、缺货的商品及缺货的商品的数量等；仓库管理员在收到缺货信息后，可以相应的货物放置于中转台上，以便自移动设备移动至中转台处领取该货物，并返回目标货架处对所述目标货架进行补货。
再例如，所述自移动设备也可以自行前往仓库取货，并返回所述目标货架，以执行补货操作。
可选地，所述商场可以设置有MIS系统，MIS系统可以对所述商场中的货架进行缺货预警。例如，MIS系统可以在所述商场中的目标货架发生缺货时，发出预警信息，该预警信息可以指示缺货的目标货架，及缺货的商品的各种信息等。MIS系统的具体工作方式可以参照现有技术，本申请实施例中对此并不限定。
在一些可能的实现方式中，所述自移动设备可以在所述MIS系统对所述目标货架进行缺货预警的情况下，获取目标货架上的商品信息，并根据所述商品信息确定所述目标货架是否缺货，这样可以及时确定出商场中缺货的货架，从而有助于提高所述自移动设备的工作效率。
可选地，所述自移动设备还可以根据所述目标货架上的商品信息，判断是否使用当前自移动设备执行补货策略，若否，则调用另一自移动设备执行补货策略。可选地，所述自移动设备可以根据目标货架的商品种类信息，使用不同种类的工作模块执行补货操作。
S230，在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略。
在本申请实施例中，所述自移动设备在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
这里的预设区域可以指整个商场，也可以指商场中的部分区域，本申请实施例中对此并不限定。
其中，所述补货策略可以包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。在本申请实施例中，所述自移动设备根据所述预设区域内的客流量从所述补货策略中选择合适的策略，有助于在降低安全隐患的同时，提高所述自移动设备的工作效率。
需要说明的是，上述几种补货策略仅为示例而非限定，所述自移动设备130也可以基于所述 预设区域内的客流量执行其他的补货策略，本申请实施例对此并不限定。
可选地，所述预设区域内的客流量可以分为大客流和小客流。例如，在所述预设区域内的客流量大于或等于20人时，可以认为所述预设区域处于大客流场景；在所述预设区域内的客流量小于或等于5人时，可以认为所述预设区域处于小客流场景。本领域技术人员可知，这里对所述预设区域内的客流量的划分方式仅为示例而非限定，也可以使用其他的方式对所述预设区域内的客流量进行划分，本申请实施例中对此并不限定。
在一些可能的实现方式中，在所述预设区域处于大客流场景的情况下，所述自移动设备可以将自身作为临时货架停靠在所述目标货架旁，这样可以在降低安全隐患的同时，使顾客能够方便地选购所述自移动设备上携带的商品，从而可以提高所述自移动设备的工作效率。
或者，在所述预设区域处于大客流场景的情况下，所述自移动设备也可以将待补货商品放置于临时货架上；或者，所述自移动设备也可以直接停在原地，待所述预设区域的客流量变为小客流时，再继续对所述目标货架执行补货操作。
在一些可能的实现方式中，在所述预设区域处于小客流场景的情况下，所述自移动设备可以正常对所述目标货架执行补货操作，这样可以在不影响顾客(或者说，不对顾客造成太大影响)的情况下，提高所述自移动设备的工作效率。
可选地，所述预设区域内的客流量可以是根据所述商场的监控摄像头拍摄的监控图像确定的。可选地，所述自移动设备还可以包括通信模块，所述自移动设备可以通过所述通信模块发送所述目标货架缺货的信息。可选地，所述自移动设备还可以通过所述通信模块接收所述商场的预设区域的客流量信息。
例如，所述自移动设备还可以通过所述通信模块与商场中的监控摄像头进行通信，以获取监控摄像头拍摄的监控图像，根据该监控图像确定商场的预设区域的客流量，并基于所述预设区域内的客流量执行不同的补货策略；或者，所述自移动设备也可以直接通过所述通信模块接收所述商场的预设区域的客流量信息。
在本申请实施例中，根据所述商场的监控摄像头拍摄的监控图像可以准确地确定出所述预设区域内的客流量，此时，基于所述预设区域内的客流量执行不同的补货策略，可以有效降低自移动设备在工作时给顾客带来的安全隐患。
当然，所述自移动设备也可以在确定多个目标货架上的多种待补货商品之后，移动至仓库领取所述多种待补货商品，并返回商场中依次对所述多个目标货架执行补货操作，即，所述自移动设备只需要移动至仓库一次，就可以对所述多个目标货架进行补货，从而能够提高所述自移动设备的工作效率。
可选地，在待补货商品为有保质期的商品的情况下，所述自移动设备可以按照“先进先出”的原则对目标货架执行补货操作，以保证顾客可以先拿到所述目标货架上之前摆放的商品。
可选地，所述自移动设备可以调整工作模块或其自身的高度，以使其能够对处于高处及低处的货架执行补货操作。
可选地，在操作空间不足时，所述自移动设备可以采取一定的腾挪策略，以执行补货操作。例如，所述自移动设备可以先移动目标货架周围的物品或目标货架上的其他商品，待完成补货操作之后，再将目标货架周围的物品或目标货架上的其他商品放回原处。
可选地，在前往仓库取货及返回目标货架的过程中，所述自移动设备还可以与电梯联动。例如，在仓库位于二楼，目标货架位于一楼的情况下，自移动设备可以在发现缺货的目标货架之后， 通过电梯前往二楼的仓库取货，随后再通过电梯返回目标货架处对其执行补货操作。
上文结合图1及图2，详细描述了本申请的方法实施例，下面结合图3及图4，详细描述本申请的装置实施例。应理解，方法实施例的描述与装置实施例的描述相互对应，因此，未详细描述的部分可以参见前面方法实施例。
图3是本申请一个实施例提供的自移动设备300的示意性框图。应理解，图3示出的自移动设备300仅是示例，本申请实施例的自移动设备300还可包括其他模块或单元。
应理解，自移动设备300能够执行图2的方法中的各个步骤，为了避免重复，此处不再详述。
在本申请一种可能的实现方式中，所述自移动设备300包括：壳体、移动模块及工作模块，如图3所示，所述自移动设备300还包括：
获取模块310，用于获取目标货架上的商品信息；
第一确定模块320，用于根据所述商品信息确定所述目标货架是否缺货；
执行模块330，用于在所述目标货架缺货的情况下，基于所述商场的预设区域内的客流量执行不同的补货策略。
应理解，这里的自移动设备300以功能模块的形式体现。这里的术语“模块”可以通过软件和/或硬件形式实现，对此不作具体限定。例如，“模块”可以是实现上述功能的软件程序、硬件电路或二者结合。所述硬件电路可能包括应用特有集成电路(application specific integrated circuit，ASIC)、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。
作为一个示例，本申请实施例提供的自移动设备300可以包括处理器或芯片，以用于执行本申请实施例所述的方法。
图4是本申请一个实施例的自移动设备400的示意性框图。图4所示的自移动设备400包括存储器401、处理器402、通信接口403以及总线404。其中，存储器401、处理器402、通信接口403通过总线404实现彼此之间的通信连接。
存储器401可以是只读存储器(read only memory，ROM)，静态存储设备，动态存储设备或者随机存取存储器(random access memory，RAM)。存储器401可以存储程序，当存储器401中存储的程序被处理器402执行时，处理器402用于执行本申请实施例的方法的各个步骤，例如，可以执行图2所示实施例的各个步骤。
处理器402可以采用通用的中央处理器(central processing unit，CPU)，微处理器，应用专用集成电路(application specific integrated circuit，ASIC)，或者一个或多个集成电路，用于执行相关程序，以实现本申请方法实施例的方法。
处理器402还可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，本申请实施例的方法的各个步骤可以通过处理器402中的硬件的集成逻辑电路或者软件形式的指令完成。
上述处理器402还可以是通用处理器、数字信号处理器(digital signal processing，DSP)、专用集成电路(ASIC)、现成可编程门阵列(field programmable gate array，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。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器， 可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器401，处理器402读取存储器401中的信息，结合其硬件完成本申请实施例中自移动设备包括的单元所需执行的功能，或者，执行本申请方法实施例的方法，例如，可以执行图2所示实施例的各个步骤/功能。
通信接口403可以使用但不限于收发器一类的收发装置，来实现装置400与其他设备或通信网络之间的通信。
总线404可以包括在自移动设备400各个部件(例如，存储器401、处理器402、通信接口403)之间传送信息的通路。
应理解，本申请实施例中，该处理器可以为中央处理单元(central processing unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(appl ication specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，其中A,B可以是单数或者复数。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系，但也可能表示的是一种“和/或”的关系，具体可参考前后文进行理解。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a-b,a-c,b-c,或a-b-c，其中a,b,c可以是单个，也可以是多个。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、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，所述单元的划分，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，例如多个单元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，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个 计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber Line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够读取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如，软盘、硬盘、磁带)、光介质(例如，数字通用光盘(digital video disc，DVD))或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (28)

  1. 一种自移动设备的工作方法，其特征在于，包括：
    获取目标货架上的商品信息；
    根据所述商品信息确定所述目标货架是否缺货；
    在所述目标货架缺货的情况下，基于商场的预设区域内的客流量执行不同的补货策略。
  2. 根据权利要求1所述的方法，其特征在于，所述基于商场的预设区域内的客流量执行不同的补货策略之前，还包括：前往仓库取货，并返回所述目标货架。
  3. 根据权利要求1所述的方法，其特征在于，所述补货策略包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。
  4. 根据权利要求3所述的方法，其特征在于，所述基于商场的预设区域内的客流量执行不同的补货策略，包括：
    在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁。
  5. 根据权利要求3所述的方法，其特征在于，所述基于商场的预设区域内的客流量执行不同的补货策略，包括：
    在所述预设区域处于小客流场景的情况下，对所述目标货架执行补货操作。
  6. 根据权利要求1所述的方法，其特征在于，所述目标货架为所述商场中的多种货架中的一个，所述自移动设备为多种自移动设备中的一个，所述多种自移动设备分别为所述多种货架进行补货。
  7. 根据权利要求6所述的方法，其特征在于，还包括：根据所述目标货架上的商品信息，判断是否使用当前自移动设备执行补货策略，若否，则调用另一自移动设备执行补货策略。
  8. 根据权利要求1所述的方法，其特征在于，所述自移动设备包括工作模块，用于执行补货操作；所述方法还包括：根据目标货架的商品种类信息，使用不同种类的工作模块执行补货操作。
  9. 根据权利要求1所述的方法，其特征在于，所述商场设置有信息管理系统，所述根据所述商品信息确定所述目标货架是否缺货，包括：
    在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货。
  10. 根据权利要求1所述的方法，其特征在于，所述自移动设备包括巡视摄像头，所述获取目标货架上的商品信息包括：基于所述巡视摄像头拍摄巡视图像来获取目标货架上的商品信息。
  11. 根据权利要求1所述的方法，其特征在于，所述自移动设备包括巡视摄像头，所述方法还包括：根据所述巡视摄像头拍摄的巡视图像确定预设距离内是否存在人体，若确定存在人体则禁止对目标货架执行补货操作。
  12. 根据权利要求1所述的方法，其特征在于，所述自移动设备包括巡视摄像头，所述方法还包括：根据所述巡视摄像头拍摄的巡视图像规划补货路径。
  13. 根据权利要求1所述的方法，其特征在于，所述自移动设备包括通信模块，所述方法还包括：通过所述通信模块发送所述目标货架缺货的信息，和/或接收所述商场的预设区域的客流量信息。
  14. 根据权利要求1至13中任一项所述的方法，其特征在于，所述预设区域内的客流量是根据所述商场的监控摄像头拍摄的监控图像确定的。
  15. 一种自移动设备，包括：壳体、移动模块及工作模块，所述自移动设备在商场内移动和 工作，其特征在于，自移动设备还包括：
    获取模块，用于获取目标货架上的商品信息；
    第一确定模块，用于根据所述商品信息确定所述目标货架是否缺货；
    执行模块，用于在所述目标货架缺货的情况下，基于所述商场的预设区域内的客流量执行不同的补货策略。
  16. 根据权利要求15所述的自移动设备，其特征在于，所述移动模块还用于控制所述自移动设备前往仓库取货，并返回所述目标货架。
  17. 根据权利要求15所述的自移动设备，其特征在于，所述补货策略包括：对所述目标货架执行补货操作、将待补货商品放置于临时货架上、所述自移动设备自身作为临时货架停靠在所述目标货架旁。
  18. 根据权利要求17所述的自移动设备，其特征在于，所述执行模块具体用于：
    在所述预设区域处于大客流场景的情况下，将所述自移动设备自身作为临时货架停靠在所述目标货架旁。
  19. 根据权利要求17所述的自移动设备，其特征在于，所述执行模块具体用于：
    在所述预设区域处于小客流场景的情况下，对所述目标货架执行补货操作。
  20. 根据权利要求15所述的自移动设备，其特征在于，所述目标货架为所述商场中的多种货架中的一个，所述自移动设备为多种自移动设备中的一个，所述多种自移动设备分别为所述多种货架进行补货。
  21. 根据权利要求20所述的自移动设备，其特征在于，所述自移动设备还包括第二确定模块，用于：根据所述目标货架上的商品信息，判断是否使用当前自移动设备执行补货策略，若否，则调用另一自移动设备执行补货策略。
  22. 根据权利要求15所述的自移动设备，其特征在于，所述工作模块用于执行补货操作；所述执行模块还用于：根据目标货架的商品种类信息，使用不同种类的工作模块执行补货操作。
  23. 根据权利要求15所述的自移动设备，其特征在于，所述商场设置有信息管理系统，所述第一确定模块具体用于：
    在所述信息管理系统对所述目标货架进行缺货预警的情况下，根据所述商品信息确定所述目标货架是否缺货。
  24. 根据权利要求15所述的自移动设备，其特征在于，所述自移动设备还包括巡视摄像头，所述获取模块具体用于：基于所述巡视摄像头拍摄巡视图像来获取目标货架上的商品信息。
  25. 根据权利要求15所述的自移动设备，其特征在于，所述自移动设备还包括巡视摄像头，所述自移动设备还包括第三确定模块，用于：根据所述巡视摄像头拍摄的巡视图像确定预设距离内是否存在人体，若确定存在人体则禁止对目标货架执行补货操作。
  26. 根据权利要求15所述的自移动设备，其特征在于，所述自移动设备还包括巡视摄像头，所述自移动设备还包括路径规划模块，用于：根据所述巡视摄像头拍摄的巡视图像规划补货路径。
  27. 根据权利要求15所述的自移动设备，其特征在于，所述自移动设备还包括通信模块，用于：发送所述目标货架缺货的信息，和/或接收所述商场的预设区域的客流量信息。
  28. 根据权利要求15至27中任一项所述的自移动设备，其特征在于，所述预设区域内的客流量是根据所述商场的监控摄像头拍摄的监控图像确定的。
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