WO2023116248A1 - 料箱、料箱识别方法、装置、设备、仓储系统及介质 - Google Patents

料箱、料箱识别方法、装置、设备、仓储系统及介质 Download PDF

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Publication number
WO2023116248A1
WO2023116248A1 PCT/CN2022/130981 CN2022130981W WO2023116248A1 WO 2023116248 A1 WO2023116248 A1 WO 2023116248A1 CN 2022130981 W CN2022130981 W CN 2022130981W WO 2023116248 A1 WO2023116248 A1 WO 2023116248A1
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WO
WIPO (PCT)
Prior art keywords
material box
identification code
bin
identification
grid
Prior art date
Application number
PCT/CN2022/130981
Other languages
English (en)
French (fr)
Inventor
宋桐娟
周浪
景子龙
Original Assignee
深圳市海柔创新科技有限公司
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Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2023116248A1 publication Critical patent/WO2023116248A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0485—Check-in, check-out devices
    • 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 material box, a material box identification method, a device, equipment, a storage system and a medium.
  • the robot-based warehousing system uses an intelligent operating system to automatically take out and store goods through system instructions. At the same time, it can run 24 hours a day, replacing manual management and operation, improving the efficiency of warehousing, and has been widely used and favored.
  • the material box used in the storage system can be divided into multiple compartments according to the demand, so that different compartments can store different goods, so as to improve the space utilization rate and storage capacity of the storage system.
  • the operator is often unable to determine the position of the grid, resulting in low efficiency of sorting tasks.
  • the disclosure provides a material box, a material box identification method, device, equipment, storage system and medium. By identifying the material box identification code set on the material box, the position of each grid opening of the material box can be quickly determined, thereby improving the classification. Picking efficiency.
  • an embodiment of the present disclosure provides a material box, the material box includes a bottom plate, a side plate, and a material box identification code attached to the side plate, the bottom plate and the side plate form a grid; the The material box identification code includes a first identification code and a second identification code, the first identification code is used to identify the grid opening of the material box, and the second identification code is used to identify the orientation of the material box; wherein , the grid opening is an independent space for storing goods in the material box, the grid opening includes one or more storage units, and the storage unit is the smallest unit for storing goods that can be divided into the material box .
  • the bottom plate and the side plate form at least 2 slots, and the first identification code for identifying each slot in the at least 2 slots is located on the side plate.
  • the first identification code is also used to identify the container.
  • the second identification code is also used to identify the bin.
  • the quantity of the first identification code is the quantity of storage units in the bin.
  • the material box is provided with a material box opening for picking and placing goods, at least one first side of each grid is at least partially coincident with the side of the material box opening, and the first The identification code is arranged on at least two sides of the opening of the bin, and the first identification code is mapped to the slot where the first side on which it is located belongs.
  • the first identification code is arranged on two opposite second sides of the opening of the bin, wherein one side of each slot intersects with one of the second sides.
  • the bottom plate and the side plate form the inner cavity and the container opening;
  • the first identification code includes a first part, a second part and a third part; the first part of the first identification code
  • the side plate is arranged on a side away from the inner cavity, the second part is arranged on the top of the side plate, and the third part is arranged on a side of the side plate facing the inner cavity.
  • text codes are set on the first part and the third part; when the first identification code is expanded, the first part and the third part of the first identification code are set
  • the character code of is symmetrical about the center of the first identification code.
  • At least two opposite sides of the material box are provided with grid openings, and when the partition board is inserted into the oppositely arranged grid openings, the storage space of the material box can be divided to obtain multiple The grid.
  • the first side and the second side of the material box are provided with a first number of grid openings
  • the third side and the fourth side of the material box are provided with a second number of grid openings
  • the first side is opposite to the second side
  • the third side is opposite to the fourth side
  • the first number is less than or equal to the second number
  • the second identification code is arranged on at least two sides of the container.
  • each side of the bin is provided with a second identification code, and the second identification codes on the first side and the second side are oppositely set;
  • the setting position of the second identification code on the fourth side is symmetrical with respect to the center point of the material box.
  • the direction of the material box corresponding to the second identification code provided on two opposite sides of the material box is opposite.
  • the material box further includes a third identification code
  • the third identification code includes a preset identification pattern
  • the robot can determine the robot and set the The pose relationship of the bins of the third identification code.
  • the embodiment of the present disclosure also provides a method for identifying a bin, the method including:
  • the material box is the material box provided in any embodiment corresponding to the first aspect of the present disclosure
  • the setting surface is the material box Any side provided with the second identification code
  • determining the position of each grid opening of the material box includes:
  • the first attribute is used to describe the number of grid openings corresponding to the material box; according to the recognition result, determine the current pose of the material box; according to the The current pose of the material box and the first attribute determine the position of each slot of the material box.
  • determining the position of each grid opening of the material box includes:
  • the second attribute is used to describe the storage unit corresponding to each grid of the material box; when the orientation information of the material box in the recognition result is the first orientation information, based on the first correspondence, determine the position of each storage unit of the bin; or, when the orientation information of the bin in the recognition result is the second orientation information, based on the second correspondence, determine The position of each storage unit of the material box; according to the second attribute and the position of each storage unit, determine the position of each grid opening of the material box; wherein, the first correspondence is used to describe the The position of each storage unit of the material box when the box is in the first orientation or the orientation information is the first orientation information, and the second correspondence is used to describe that the material box is in the second orientation or the orientation information is the second orientation information. The location of each storage unit of the bin when facing the message.
  • the method also includes:
  • One or more target bins are determined according to the sorting task and the storage information of each bin of the bin, wherein the storage information of the bin includes the goods stored in the bin and their quantity.
  • the method also includes:
  • the embodiment of the present disclosure also provides a bin identification device, which includes:
  • the identification module is used to identify the second identification code set on the setting surface of the material box, the material box is the material box provided by any embodiment corresponding to the first aspect of the present disclosure, and the setting surface is the material box The box is provided with any side of the second identification code; the position determination module is used to determine the position of each grid opening of the material box according to the recognition result; the instruction generation module is used to generate a sorting instruction according to the position of each grid opening .
  • an embodiment of the present disclosure further provides a bin identification device, including: a memory and at least one processor; the memory stores computer-executed instructions; the at least one processor executes the computer-executed instructions stored in the memory, The at least one processor is made to execute the bin identification method provided in any embodiment corresponding to the second aspect of the present disclosure.
  • an embodiment of the present disclosure further provides a storage system, including the material box provided in any embodiment corresponding to the first aspect of the present disclosure and the material box identification device provided in the embodiment corresponding to the fourth aspect of the present disclosure.
  • the embodiments of the present disclosure further provide a computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the second aspect of the present disclosure is implemented.
  • the bin identification method provided in any one of the embodiments.
  • an embodiment of the present disclosure further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the bin identification method provided in any embodiment corresponding to the second aspect of the present disclosure is implemented.
  • a material box identification code including a first identification code and a second identification code is set on the material box, and the first identification code can be used For identifying the grid opening of the material box, the second identification code is used to identify the orientation of the material box, so that during sorting, the orientation of the material box and the individual positions of the material box can be quickly determined based on the first identification code and the second identification code.
  • the position of the grid is convenient for sorting the goods stored in the set grid, which simplifies the process for the operator to identify the grid and improves the efficiency of sorting.
  • FIG. 1 is an application scenario diagram of a bin identification method provided by an embodiment of the present disclosure
  • Fig. 2 is a schematic structural view of a material box provided by an embodiment of the present disclosure
  • Fig. 3 is a schematic diagram of the identification code in the embodiment shown in Fig. 2 of the present disclosure
  • Fig. 4 is a schematic structural view of a material box provided by another embodiment of the present disclosure.
  • Fig. 5 is a schematic structural view of a material box provided by another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of the expanded first identification code provided in the embodiment shown in FIG. 5 of the present disclosure.
  • Fig. 7 is a schematic structural view of a material box provided by another embodiment of the present disclosure.
  • Fig. 8 is a schematic diagram of the setting position of the identification code of the material box provided by the embodiment shown in Fig. 7 of the present disclosure
  • Fig. 9 is a schematic structural diagram of a material box provided by another embodiment of the present disclosure.
  • FIG. 10 is a flowchart of a bin identification method provided by an embodiment of the present disclosure.
  • FIG. 11 is a flowchart of step S302 in the embodiment shown in FIG. 10 of the present disclosure.
  • Fig. 12 is a schematic diagram of the relative positions of the material box and the identifier in the embodiment shown in Fig. 11 of the present disclosure
  • FIG. 13 is a flow chart of a bin identification method provided by another embodiment of the present disclosure.
  • Fig. 14 is a schematic structural diagram of the sorting workstation in the embodiment shown in Fig. 13 of the present disclosure.
  • Fig. 15 is a schematic structural diagram of a bin identification device provided by an embodiment of the present disclosure.
  • Fig. 16 is a schematic structural diagram of a bin identification device provided by an embodiment of the present disclosure.
  • Fig. 17 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
  • FIG. 1 is an application scenario diagram of a bin identification method provided by an embodiment of the present disclosure.
  • the bin identification method provided by an embodiment of the present disclosure may be executed by a bin identification device.
  • the storage space of the material box 10 can be divided into a plurality of grid openings 11 according to the requirements.
  • 4 grid openings are taken as an example, and each grid opening 11 is an independent physical space , so that the same or different SKUs (Stock Keeping Units, stock keeping units), or the same or different types of goods are placed in different grid openings 11 of the material box 10.
  • SKUs Stock Keeping Units, stock keeping units
  • the orientation of the bins 10 will be changed during the transportation of the bins 10, so that the operator 30 cannot know what is on the operation platform 20 Therefore, the operator needs to scan the goods in the grid 11 multiple times to identify the grid 11 to be sorted and identify the location of the bin 10. It takes a lot of time for the grid, which leads to the low efficiency of the sorting task execution and cannot meet the needs of customers.
  • the present disclosure provides a material box with a first identification code and a second identification code and its identification method.
  • the material box can be quickly determined
  • the orientation of the grid is verified by identifying the first identification code, which improves the efficiency and accuracy of the grid identification, thereby improving the execution efficiency of the sorting task.
  • Figure 2 is a schematic structural view of a material box provided by an embodiment of the present disclosure.
  • the material box 10 includes a bottom plate 13, a side plate 14, and a material box identification code attached to the side plate 14, and the bottom plate and the side plates form a The grid opening 11, the bin identification code includes a first identification code 210 and a second identification code 220 .
  • the grid opening 11 is an independent space for storing goods in the material box 10, and the grid opening 11 may include one or more storage units, and the storage unit is the smallest unit that the material box 10 can be divided for storing goods.
  • the first identification code 210 is used to identify the opening 11 of the material box 10
  • the second identification code 220 is used to identify the orientation of the material box 10 .
  • the first identification code 210 includes the slot identification information of the corresponding slot 11 to identify the slot 11 .
  • the second identification code 220 includes orientation information of the material box 10 to identify the orientation of the material box 10 .
  • the bottom plate 13 and the side plate 14 form at least 2 grid openings 11 , such as 2, 4, 8, etc.
  • 2 grid openings 11 such as 2, 4, 8, etc.
  • FIG. 2 the formation of 2 grid openings is taken as an example.
  • the number of first identification codes 210 used to identify each of the at least 2 slots 11 is at least 1, such as 1, 2, 4 and so on.
  • one slot 11 may correspond to at least one first identification code 210 , that is, one slot 11 may correspond to one or more first identification codes 210 for identifying the slot 11 .
  • the first identification code 210 can also be used to identify the container 10 .
  • the second identification code 220 can also be used to identify the container 10 .
  • the first identification code 210 may include the bin identification information of the bin 10 and the bin identification information of the corresponding bin 11
  • the second identification code 220 may include the bin identification information of the bin 10 and the bin identification information of the bin 11.
  • the orientation information of the box 10 and the identification information of the box 10 may be a unique identification code of the box 10 for identifying the box 10 .
  • the first identification code 210 and the second identification code 220 may be composed of one or more of one-dimensional codes, two-dimensional codes, barcodes, codes, characters, patterns, and the like.
  • both the first identification code 210 and the second identification code 220 may be composed of a one-dimensional code and a code.
  • FIG. 3 is a schematic diagram of the identification code in the embodiment shown in FIG. 2 of the present disclosure.
  • the identification code may be the above-mentioned first identification code 210 or the second identification code 220.
  • the identification code includes a barcode The symbol area A1 and the ASCII character string area A2, the barcode symbol area A1 is provided with a corresponding barcode, and the ASCII character string area A2 is provided with a corresponding code.
  • the encoding of the first identification code 210 and the second identification code 220 can be encoded using the code 128 encoding rule.
  • the first identification code 210 may be sequentially composed of three parts: preset control characters, bin identification information and slot identification information.
  • the second identification code 220 may be sequentially composed of three parts: preset control characters, bin identification information and orientation information.
  • the preset control character can be LX, which is used to represent the material box; the identification information of the material box can be identified by 6 digits, and the identification information of the grid can be represented by a single letter, such as eight letters from A to H, They are used to identify slots A to H respectively.
  • Orientation information can also be represented by a single letter, such as Q and R.
  • Q and R represent two different orientations of the material box, and the two orientations are opposite.
  • the first identification code 210 corresponding to the opening of the first material box A may be LX000001A
  • the code of the second identification code 220 provided on one of the surfaces of the third material box may be LX000003Q.
  • the number of first identification codes 210 is the number of storage units in the material box, so that no matter what division method is used to divide the storage space of the material box, there can be at least one first identification code 210 and One slot 11 corresponds to identify each slot 11 of the material box 10 based on each first identification code 210 .
  • the second identification code 220 can be set on at least two sides of the container 10 .
  • the second identification code 220 may be set on two opposite sides of the material box 10, or on two adjacent sides of the material box 10, or on three sides of the material box 10, or on the material box 10. Each side of the case 10 is provided with a second identification code 220 .
  • the number of the second identification code 220 on the side where the second identification code 220 is set may be one or more.
  • the direction of the material box 10 corresponding to the second identification code 220 provided on the opposite side of the material box 10 is opposite.
  • the first identification code 210 of the material box 10 may have a one-to-one correspondence with the storage unit.
  • the number of storage units can be 4, 8, 12 or other numbers, which can be specifically determined according to factors such as the size of the material box 10, the size of the goods stored in the storage system, and the task requirements to be processed.
  • the storage unit mentioned in the present disclosure is the smallest storage space that can be divided into material boxes by partitions.
  • the number and size of the slots 11 of the material box 10 can be adjusted according to requirements.
  • the size of each slot 11 of the bin 10 is the same.
  • each compartment 11 of the material box 10 may consist of two storage units.
  • the size of each compartment 11 of the bin 10 may be different.
  • the compartment A of the material box 10 may be composed of two storage units, and the compartment B may be composed of six storage units.
  • a material box identification code including a first identification code and a second identification code is set on the material box, the first identification code can be used to identify the grid opening of the material box, and the second identification code is used to identify the The orientation of the material box, so that during sorting, the orientation of the material box and the position of each grid of the material box can be quickly determined based on the first identification code and the second identification code, so as to facilitate the storage of the goods stored in the set grid. Sorting simplifies the process for operators to identify the bins and improves the efficiency of sorting.
  • Fig. 4 is a schematic structural view of a bin provided in another embodiment of the present disclosure.
  • the bin 10 is provided with a bin opening 12 for picking and placing goods, and at least one first row of each grid opening 11 One side coincides with at least part of the side of the opening 12 of the material box.
  • four grid openings are taken as an example.
  • the first identification code 210 may be set on the first side of the grid opening 11 for identifying the set grid opening 11 .
  • the first identification code 210 may be set on at least two sides of the opening 12 of the bin, and the first identification code 210 is mapped to the slot 11 where the first side on which it is located belongs.
  • the first identification code 210 is set on the two opposite sides of the bin opening 12 as an example, and each first identification code 210 is mapped to a grid opening 11 .
  • the first identification code 210 can also be set on two adjacent sides of the opening 12 of the material box.
  • multiple first identification codes 210 can be mapped to the same grid slot 11 .
  • first identification codes 210 are uniformly arranged on the two groups of long sides of the material box opening 12 respectively. If the material box 12 is divided into " There are 4 grid openings 11 in the shape of "ten”, then the first side of each grid opening 11 is provided with 2 first identification codes 210, and the 2 first identification codes 210 and the grid opening to which the first side is set belong correspond. If the material box 10 only includes one slot, that is, the storage space of the material box is not divided, then all the first identification codes 210 set on the opening 12 of the material box are mapped to the slot.
  • the first identification code 210 may be set on two opposite second sides 121 of the bin opening 12 , and each slot 11 has a first side intersecting a second side 121 .
  • each obtained grid has at least one first side intersecting with one of the second sides 121 .
  • the convenience of scanning the first identification code 210 is improved by disposing the first identification code 210 on the first side where the corresponding grid opening 11 intersects with the bin opening 12 .
  • Fig. 5 is a schematic structural view of a bin provided by another embodiment of the present disclosure.
  • the bottom plate 13 and the side plate 14 of the bin 10 form an inner cavity and a bin opening 12, and goods can pass through the bin opening 12 is stored in the inner cavity, or the goods in the inner cavity are taken out through the opening 12 of the material box.
  • the first identification code 210 can be folded in half and arranged on the side of the opening 12 of the material box, so that the operator can recognize the first identification code 210 provided on the material box 10 from various angles.
  • the first identification code 210 is set on two opposite side panels 14 .
  • the first identification code 210 may include a first part 211, a second part 212 and a third part 213, the first part 211 of the first identification code 210 is set on the side of the side plate 14 away from the inner cavity, and the second part 212 is set on the On the top of the side plate 14, the third portion 213 is disposed on the side of the side plate 14 facing the inner cavity.
  • the first part 211 , the second part 212 and the third part 213 of the same first identification code 210 are consecutive.
  • the first part 211 and the third part 213 of the same first identification code 210 are arranged opposite and have the same size.
  • the first part 211, the second part 212 and the third part 213 all include recognizable identification codes, such as one-dimensional codes, so that operators can conveniently scan the first identification codes at various positions to Identify slot 11.
  • text codes are set on the first part 211 and the third part 213;
  • the center of the identification code 210 is symmetrical. Therefore, when the operator looks at the first identification code on both sides of the side plate 14 provided with the first identification code 210, the direction of the text code on the first identification code 210 is in line with his reading habits. , so that the character encoding on the first identification code 210 can be quickly known.
  • the grid identification information in the character code corresponding to the first identification code 210 may be encoded sequentially in a clockwise or counterclockwise direction.
  • FIG. 6 is a schematic diagram of the expansion of the first identification code provided in the embodiment shown in FIG. 5 of the present disclosure. As shown in FIG. One part 211 and the third part 213, and the orientations of the text codes on the first part 211 and the third part 213 are different, and the center of the first identification code is a symmetrical figure, and the barcode of the first identification code 210 is set on the second part 212 .
  • the first identification code 210 can be folded on the edge of the container opening 12 to wrap the side where it is located, so that the second part 212 of the first identification code 210 is folded into three sides, so that The operator recognizes the barcode on the second part 212 of the first identification code from various angles.
  • FIG 7 is a schematic structural view of a material box provided by another embodiment of the present disclosure, referring to Figure 5 and Figure 7, the opposite side (or side plate 14) of the material box 10 is provided with a grid opening 141 (represented by a dotted line box) ), when the partition 142 is inserted into the oppositely arranged grid opening 141, the storage space of the material box 10 can be divided into grids, thereby obtaining multiple grid openings 11.
  • a grid opening 141 represented by a dotted line box
  • the grid opening 141 can be provided only on a group of opposite sides, so as to divide the storage space of the material box 10 from the direction corresponding to the opposite sides, such as dividing into three independent spaces, that is, three grid.
  • the number of grid openings 141 can determine the maximum number of grid openings 11, that is, the number of storage units, and the position of inserting partitions 142 determines the number of grid openings 11 of the material box, that is, the number of grid openings can be determined by inserting partitions.
  • the position and number of plates 142 vary from 1 to the maximum number.
  • the grid openings 141 can be arranged on each side of the material box 10, and the grid openings 141 on the opposite two sides are arranged oppositely, so as to monitor the storage space of the material box 10 from two directions. Split to get more storage units.
  • the grid opening 141 is set on each side as an example.
  • the number of compartment openings 141 provided on the opposite first and second sides is less than or equal to the number of compartment openings 141 provided on the opposite third and fourth sides.
  • the above two second sides 121 are respectively the side where the third side intersects with the opening 12 of the material box and the side where the fourth side intersects with the opening 12 of the material box.
  • the first side and the second side of the material box 10 are provided with a first number of grid openings 141, and the third side and the fourth side of the material box 10 are provided with a second number of grid openings 141, The first side is opposite to the second side, the third side is opposite to the fourth side, and the first number is less than or equal to the second number.
  • one grid opening 141 can be respectively set on the first side and the second side, and three grid openings 141 can be respectively set on the third side and the fourth side, so that when the partition plate 142 is inserted into each oppositely arranged
  • material box 10 can be divided into 8 grid openings 11.
  • each grid opening 141 is composed of two through holes, and each through hole can be elongated, such as a rectangle or a rectangle with rounded corners, so as to facilitate the opening and closing of the material box 10 from two different directions.
  • the storage space is divided.
  • the material box 10 is generally in the shape of a cuboid, that is, the material box opening 12 is a rectangle, and the above-mentioned second side 121 may be a long side of the material box opening 12 .
  • the first side and the second side are the sides where the short side of the material box opening 12 is located, and the third side and the fourth side are the sides where the long side of the material box opening 12 is located.
  • a second identification code 220 is provided on each side (or side plate 14) of the material box 10, the second identification code 220 on the first side and the second side are oppositely arranged, and the third side and the setting position of the second identification code 220 on the fourth side are symmetrical about the center point of the material box 10 . Since the material box 10 is usually in the shape of a cuboid, the above-mentioned setting method allows the operator or the mechanical arm to directly rotate the material box 10 by 180° without moving or adjusting the position after pasting the second identification code 220 on the third side. The second identification code 220 on the fourth side can be pasted at the original position, which improves the convenience and efficiency of pasting the second identification code 220 .
  • FIG. 8 is a schematic diagram of the setting position of the identification code of the material box provided by the embodiment shown in FIG. 7 of the present disclosure.
  • each grid opening is the smallest independent space that can be divided, that is, the number of storage units is 8, which are represented by letters A ⁇ H respectively.
  • the first side S1 and the second side S2 are set
  • the setting center of the second identification code 220 is respectively the center of the first side S1 and the second side S2
  • the setting position of the second identification code 220 provided on the third side S3 and the fourth side S4 is about the central point O of the material box 10.
  • the center is symmetrical, and the height of the setting position of the second identification code 220 on the third side S3 can be located on the same horizontal line as the center of the third side S3.
  • Q or R is used to identify the second identification code 220, wherein, the orientation of the material box 10 corresponding to the second identification code 220 corresponding to Q and R is opposite, and Q can indicate that the orientation of the material box 10 is the first orientation, such as positive R can indicate that the orientation of the material box 10 is the second orientation, such as reverse, the first orientation is opposite to the orientation corresponding to the second orientation.
  • FIG. 9 is a schematic structural view of a material box provided by another embodiment of the present disclosure.
  • the third identification code 230 includes a preset identification pattern, so that the robot can determine the pose relationship between the robot and the bin 10 on which the third identification code 230 is set, by identifying the preset identification pattern on the third identification code 230, Furthermore, the alignment between the robot and the material box 10 is realized so as to safely carry out the pick-and-place operation of the material box 10 .
  • the preset identification pattern may be a two-dimensional code.
  • the third identification code 230 can be set on two opposite sides, and one of the sides on which the third identification code 230 is set is the one where the bin 10 is placed on the shelf, facing the end where the robot is located.
  • the side is as above-mentioned first side and second side.
  • the respective identification codes, the first identification code 210 , the second identification code 220 and the third identification code 230 may be set as centrally as possible to facilitate scanning and identification.
  • FIG. 10 is a flow chart of a bin identification method provided by an embodiment of the present disclosure.
  • the bin identification method can be executed by a bin identification device. As shown in FIG. 10 , the bin identification method provided in this embodiment includes the following steps:
  • Step S301 acquiring the recognition result of the second identification code set on the setting surface of the material box.
  • the material box is the material box 10 provided by any of the above-mentioned embodiments
  • the setting surface is any side of the material box provided with the second identification code, such as any side.
  • the four sides of the material box are respectively named as the first side, the second side, the third side and the fourth side, wherein the first side is opposite to the second side, and the third side is opposite to the fourth side.
  • the material box can be in the shape of a cuboid, that is, the above-mentioned material box opening includes a long side and a short side, and the setting surface can be one of the sides where the short side of the material box is located, or the setting surface can be the side of the material box. One of the sides on which the long side is located.
  • the recognition result of the second identification code set on the setting surface of the material box can be recognized by the recognizer, and then the recognition result can be uploaded to the material box recognition device.
  • the material box can be transported to the operation platform through the conveying line, and when the material box is transported to the identification area of the recognizer, the second mark on the set surface of the material box on the conveying line is recognized by the recognizer code to get the recognition result.
  • Step S302 according to the recognition result, determine the position of each compartment of the material box.
  • the material box identification device may determine the orientation of the material box based on the identification result, and then determine the positions of the individual slots of the material box based on the orientation of the material box.
  • the grid identification information of the grid of each material box is encoded in a certain order, such as counterclockwise or clockwise. After the orientation of the material box is determined, it can be encoded according to the orientation of the material box and the The number of divided grids determines the position of each grid of the material box.
  • the material box when dividing the grid, can be divided into four equal parts along the long side, and the material box can be divided into two equal parts along the short side, so as to obtain 8 grid openings, a total of two rows , four in each row, and each grid corresponds to a grid code.
  • the codes of each grid in the counterclockwise direction are A to H in sequence, because there is a long side and a short side in the opening of the material box.
  • the transport direction of the material box is the direction of the long side
  • the sides where the two short sides are located are the first side and the second side respectively
  • the material box The first side of the container may be located in front of the second side in the direction of transport, or the second side may be located in front of the second side in the direction of transport, so that there are two opposite orientations of the container.
  • the transport direction is the way of the short side
  • the recognition result of the second identification code set on the two adjacent sides or the setting surface of the material box can be obtained, and then based on the two adjacent sides or The identification result of the second identification code set on the setting surface determines the position of each grid opening of the material box, specifically based on the identification results of the second identification code set on the two adjacent sides or the setting surface, determine The orientation of the material box; and then determine the position of each grid of the material box based on the orientation of the material box.
  • FIG. 11 is a flowchart of step S302 in the embodiment shown in FIG. 10 of the present disclosure. As shown in FIG. 11, step S302 may include the following steps:
  • Step S3021 acquiring the second attribute of the material box.
  • the second attribute is used to describe the storage unit corresponding to each compartment of the material box.
  • the storage space of the material box when dividing the compartments of the material box, can be equally divided into multiple compartments, that is, the space dimensions of the divided compartments are the same, and the number of corresponding storage units is also the same. same.
  • the grid openings of the material box when dividing the grid openings of the material box, unequal divisions can be performed, that is, the grid openings of the material box can be divided into independent spaces with different spatial dimensions, that is, the storage units corresponding to different grid openings Quantities can vary.
  • the storage space of the material box is divided into 2 compartments, then one compartment may correspond to a storage unit, and the other compartment may correspond to the remaining 3 storage units. unit.
  • the second attribute of the material box may be set according to the storage unit corresponding to each slot.
  • Step S3022 when the orientation information of the material box in the recognition result is the first orientation information, based on the first correspondence, determine the position of each storage unit of the material box.
  • the first correspondence is used to describe the position of each storage unit of the material box when the material box is in the first orientation or the orientation information is the first orientation information.
  • Step S3023 when the orientation information of the material box in the recognition result is the second orientation information, based on the second correspondence, determine the position of each storage unit of the material box.
  • the second corresponding relationship is used to describe the position of each storage unit of the material box when the material box is in the second orientation or the orientation information is the second orientation information.
  • the orientation of the bin is the first orientation, for example, the first side of the bin is located in front of the second side along the transport direction
  • the orientation information is the second orientation information
  • the orientation of the material box is the second orientation, for example, the second side is located in front of the first side along the transport direction.
  • the location where the recognizer is set is fixed, and the direction corresponding to the orientation information of the second identification code set on the setting surface of the material box facing the recognizer is the direction of the material box, that is, the direction of the material box set on the setting surface.
  • the orientation corresponding to the orientation information of the second identification code is the first orientation
  • the orientation of the material box is the first orientation
  • the orientation corresponding to the orientation information of the second identification code set on the setting surface is the second orientation
  • the material box The orientation of the box is the second orientation.
  • FIG. 12 is a schematic diagram of the relative positions of the container and the identifier in the embodiment shown in FIG. 11 of the present disclosure.
  • the identifier 50 Identify the second identification code 220 on the opposite side of the material box 10 (ie, the setting surface), so as to determine the orientation of the material box 10 based on the orientation corresponding to the orientation information on the second identification code 220 on the setting surface.
  • the corresponding relationship corresponding to the orientation may be obtained, and then based on the corresponding relationship of the orientation, the positions of the storage units of the material box are determined.
  • Step S3024 according to the second attribute of the material box and the location of each storage unit, determine the position of each compartment of the material box.
  • the position of each compartment of the material box or the area where each compartment is located can be determined.
  • Step S303 generating a sorting instruction according to the position of each bin.
  • a sorting instruction can be generated based on the position of each bin, so that the mechanical arm or the operator can know the position of each bin, so as to facilitate the sorting of the goods in the corresponding bin. sorting.
  • the position of each bin can also be displayed, so that the operator can quickly and intuitively locate the bin to be sorted.
  • the sorting indication can be a light indication, and the light can be controlled to illuminate each bin corresponding to the sorting task according to the position of each bin and each bin corresponding to the sorting task, so that the operator can intuitively determine the sorting task.
  • Each compartment of the sorting list is required.
  • the material box identification method determines the position of each grid opening of the material box by identifying the second identification code set on the material box, and then generates a sorting instruction based on the position of each grid opening to assist the operator Or the robot arm quickly locates the selected grid, and then performs the corresponding sorting task, which improves the efficiency of sorting.
  • Fig. 13 is a flowchart of a bin identification method provided by another embodiment of the present disclosure. This embodiment further refines step S302 and step S303 on the basis of the embodiment shown in Fig. 10, and after step S303 Increase the related steps of target grid verification, as shown in Figure 13, the bin identification method provided in this embodiment may include the following steps:
  • Step S401 acquiring the recognition result of the second identification code set on the setting surface of the material box and the first attribute of the material box.
  • the first attribute is used to describe the number of slots corresponding to the bin.
  • the material box when dividing the grid for the material box, the material box is usually divided into multiple grids with the same space size.
  • the division method corresponding to each number of slots may be unique and fixed. After obtaining the number of slots corresponding to the bin, that is, the second attribute of the bin, the storage unit corresponding to each slot can be determined.
  • the orientation corresponding to the second identification code on the setting surface may be determined according to the recognition result, that is, the orientation of the material box may be determined.
  • Step S403 Determine the position of each slot of the material box according to the current pose of the material box and the first attribute of the material box.
  • the position or area of each grid opening of the material box can be determined based on the orientation of the material box and the number of grid openings of the material box.
  • Step S404 Determine the position of the target bin according to the position of each bin and the target bin corresponding to the sorting task.
  • the target slot corresponding to the sorting task is one or more slots of the bin.
  • one or more target bins corresponding to the sorting task may be determined according to the sorting task and storage information of each bin of the bin.
  • the storage information of the grid includes the goods stored in the grid and their quantity.
  • the task requirements of the sorting task may only include the type of goods to be sorted and the sorting quantity of each type of goods, and then it may be based on the task requirements of the sorting task and the storage information of each compartment of the bin , allocate as few bins as possible to the sorting task as the target bins of the sorting task, so as to improve the sorting efficiency while meeting the task requirements of the sorting task.
  • the position of each target bin is determined.
  • Step S405 generating a control signal of the indicating device according to the position of the target bin, so as to control the indicating device to indicate the target bin corresponding to the sorting task.
  • the indicating device may be a light indicating device, which can emit light to visually indicate the target slot corresponding to the sorting task for the operator.
  • the indicating device can be a laser indicating device, such as a laser array, which can send out laser signals to indicate the target slot selected by the sorting task.
  • control information of the indicating device can be generated according to the position of each target bin, so as to control the indicating device to simultaneously illuminate each target bin corresponding to the sorting task.
  • one sorting task is performed by only one operator, after determining the position of each target bin, it is also possible to generate each control of the indicating device according to the position of each target bin according to the set sequence.
  • the signal is used to control the indicating device to indicate the target slot corresponding to the sorting task in sequence, that is, the control indicating device indicates one target slot at a time.
  • FIG. 14 is a schematic structural diagram of the sorting workstation in the embodiment shown in FIG. 13 of the present disclosure.
  • the indicating device 60 is set at the sorting workstation above the bin 10, and the bin identification device can control the indicating device 60 to output light according to the location of the target grid. , to illuminate the area where the target bins are located, so that the operator 30 can sequentially sort the goods stored in each target bin based on the sorting task, so as to complete the corresponding sorting task.
  • Step S406 obtaining the first identification code corresponding to the target bin, so as to obtain the bin identification information and material box identification information corresponding to the target bin.
  • Step S407 verifying the target slot according to the slot identification information and material box identification information corresponding to the target slot.
  • the first identification code corresponding to the target bin can be identified by a recognizer, such as a recognizer installed at a sorting workstation, or a recognizer held by an operator, and the The first identification code corresponding to the target bin is sent to the bin identification device, and the bin identification device determines bin identification information and bin identification information corresponding to the target bin based on the identified first identification code of the target bin. Furthermore, based on the pre-stored bin identification information of the bin and the slot identification information of the target slot of the bin, the obtained bin identification information and slot identification information of the target slot are verified respectively. , to judge whether the target bin is accurate.
  • a recognizer such as a recognizer installed at a sorting workstation, or a recognizer held by an operator
  • the bin identification device determines bin identification information and bin identification information corresponding to the target bin based on the identified first identification code of the target bin. Furthermore, based on the pre-stored bin identification information of the bin and the slot identification information of the target slot of the bin, the obtained bin identification information and slot
  • the operator or the robotic arm will be prompted to sort the goods in the target bin; if the bin identification information of the target bin or the bin identification information is inconsistent, then An abnormal prompt message is generated to prompt the operator to check the material box and the first identification code set on the grid of the material box to determine the cause of the abnormality.
  • the orientation of the material box is determined, and then based on the number of grid openings of the material box and the orientation of the material box, the position of each grid opening of the material box is determined, Then automatically determine the position of the target slot corresponding to the sorting task, and indicate the target slot corresponding to the sorting task through the control indicating device, so that the operator or the mechanical arm can quickly and intuitively locate the target slot corresponding to the sorting task, The efficiency of sorting is improved.
  • the target bin can also be verified based on the first identification code set on the target bin, so as to avoid sorting wrong goods and causing user The loss improves the accuracy of sorting task processing.
  • FIG. 15 is a schematic structural diagram of a bin identification device provided by an embodiment of the present disclosure. As shown in FIG. 15 , the device includes: an identification module 1510 , a position determination module 1520 and an instruction generation module 1530 .
  • the identification module 1510 is used to identify the second identification code set on the setting surface of the material box, the material box is the material box 10 provided in any of the above-mentioned embodiments, and the setting surface is provided with Any side of the second identification code; a position determining module 1520, configured to determine the position of each bin of the bin according to the recognition result; an instruction generating module 1530, configured to generate a sorting instruction according to the position of each bin.
  • the location determining module 1520 is specifically used for:
  • the first attribute is used to describe the number of grid openings corresponding to the material box; according to the recognition result, determine the current pose of the material box; according to the The current pose of the material box and the first attribute determine the position of each slot of the material box.
  • the location determining module 1520 is specifically used for:
  • the second attribute is used to describe the storage unit corresponding to each grid of the material box; when the orientation information of the material box in the recognition result is the first orientation information, based on the first correspondence, determine the position of each storage unit of the bin; or, when the orientation information of the bin in the recognition result is the second orientation information, based on the second correspondence, determine The position of each storage unit of the material box; according to the second attribute and the position of each storage unit, determine the position of each grid opening of the material box; wherein, the first correspondence is used to describe the The position of each storage unit of the material box when the box is in the first orientation or the orientation information is the first orientation information, and the second correspondence is used to describe that the material box is in the second orientation or the orientation information is the second orientation information. The location of each storage unit of the bin when facing the message.
  • the device also includes:
  • a target bin determination module configured to determine one or more target bins according to the sorting task and the storage information of each bin of the bin, wherein the storage information of the bin includes Goods stored and their quantities.
  • the device also includes:
  • the target grid verification module is used to obtain the first identification code corresponding to the target grid, so as to obtain the grid identification information and material box identification information corresponding to the target grid; The identification information and the material box identification information are used to verify the target slot.
  • the bin identification device provided in the embodiments of the present disclosure can execute the bin identification method provided in any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.
  • Fig. 16 is a schematic structural diagram of a bin identification device provided by an embodiment of the present disclosure. As shown in Fig. 16, the bin identification device includes: a memory 1610, a processor 1620 and a computer program.
  • the computer program is stored in the memory 1610 and is configured to be executed by the processor 1620 to implement the bin identification method provided in any one of the embodiments corresponding to FIG. 10 , FIG. 11 and FIG. 13 of the present disclosure.
  • the memory 1610 and the processor 1620 are connected through a bus 1630 .
  • FIG. 17 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure. As shown in FIG. 17 , the storage system includes: a material box 10 and a material box identification device 40 .
  • the bin identification device 40 is the bin identification device provided in the embodiment shown in FIG. 14 of the present disclosure.
  • Multiple material boxes 10 can be stored or processed in the storage system, and three material boxes 10 are taken as an example in FIG. 17 for illustration.
  • the material box 10 can be stored on devices such as an operation table and a shelf.
  • the storage system further includes devices such as robots, conveying lines, storage shelves, operation tables, unloaders, and elevators.
  • 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 any of the embodiments corresponding to FIG. 10 , FIG. 11 and FIG. 13 of the present disclosure. bin identification method.
  • the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device and the like.
  • the present disclosure also provides a program product including an executable computer program stored in a readable storage medium. At least one processor of the container identification device or the storage system can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the container identification device implements the container identification method provided by the above-mentioned various embodiments.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods, for example, multiple modules can be combined or integrated. to 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 modules may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present disclosure may be integrated into one processing unit, each module may exist separately physically, or two or more modules may be integrated into one unit.
  • the units formed by the above modules can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium.
  • the above-mentioned software function modules are stored in a storage medium, and include several instructions to enable a computer device (which may be a personal computer, server, or network device, etc.) or a processor (English: processor) to execute the functions described in various embodiments of the present disclosure. part of the method.
  • processor may be a central processing unit (Central Processing Unit, referred to as CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as DSP), application specific integrated circuits (Application Specific Integrated Circuit, referred to as ASIC) and so on.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • 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 conjunction with the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
  • the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the buses in the drawings of the present disclosure are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable In addition to programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM programmable read-only memory
  • ROM read-only memory
  • magnetic memory magnetic memory
  • flash memory magnetic disk or optical disk.
  • a storage media may be any available media that can be accessed by a general purpose or special purpose computer.
  • An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
  • the storage medium may also be a component of the processor.
  • the processor and the storage medium may be located in Application Specific Integrated Circuits (ASIC for short).
  • ASIC Application Specific Integrated Circuits
  • the processor and the storage medium can also exist in the electronic device or the main control device as discrete components.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the program executes the steps including the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

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Abstract

一种料箱（10）、料箱（10）识别方法、装置、设备、仓储系统及介质，该料箱（10）包括底板（13）、侧板（14）以及贴在侧板（14）上的料箱标识码，底板（13）和侧板（14）形成格口（11）；料箱标识码包括第一标识码（210）和第二标识码（220），第一标识码（210）用于标识料箱（10）的格口（11），第二标识码（220）用于标识料箱（10）的朝向；格口（11）为料箱（10）中用于存放货物的独立空间；通过在料箱（10）上设置第一标识码（210）和第二标识码（220），简化了料箱（10）朝向和格口（11）识别的步骤，提高了料箱（10）分拣的效率。

Description

料箱、料箱识别方法、装置、设备、仓储系统及介质
本申请要求于2021年12月21日提交中国专利局、申请号为202111576202.7、申请名称为“料箱、料箱识别方法、装置、设备、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，尤其涉及一种料箱、料箱识别方法、装置、设备、仓储系统及介质。
背景技术
基于机器人的仓储系统采用智能操作系统，通过系统指令实现货物的自动取出和存放，同时可以24小时不间断运行，代替了人工管理和操作，提高了仓储的效率，受到了广泛地应用和青睐。
仓储系统采用的料箱，根据需求可以划分为多个格口，从而不同的格口可以存放不同的货物，以提高仓储系统的空间利用率和仓储量。当料箱通过输送线运输至工作台或操作台时，操作人员往往无法确定格口的位置，导致分拣任务执行效率低下。
发明内容
本公开提供一种料箱、料箱识别方法、装置、设备、仓储系统及介质，通过识别料箱上设置的料箱标识码，可以快速确定料箱的各个格口的位置，从而提高了分拣的效率。
第一方面，本公开实施例提供了一种料箱，该料箱包括底板、侧板以及贴在所述侧板上的料箱标识码，所述底板和所述侧板形成格口；所述料箱标识码包括第一标识码和第二标识码，所述第一标识码用于标识所述料箱的格口，所述第二标识码用于标识所述料箱的朝向；其中，所述格口为所述料箱中用于存放货物的独立空间，所述格口包括一个或多个存储单元，所述存储单元为所述料箱可划分的用于存放货物的最小单元。
在一些实施例中，所述底板和所述侧板形成至少2个格口，标识所述至少2个格口中的每个格口的第一标识码位于所述侧板上。
在一些实施例中，标识所述至少2个格口中的每个格口的第一标识码的数量至少为1个。
在一些实施例中，所述第一标识码还用于标识所述料箱。
在一些实施例中，所述第二标识码还用于标识所述料箱。
在一些实施例中，所述第一标识码的数量为所述料箱中存储单元的数量。
在一些实施例中，所述料箱上设置有用于进行取放货的料箱开口，每个格口的至少一条第一边与所述料箱开口的边的至少部分重合，所述第一标识码设置于所述料箱开口的至 少两条边上，所述第一标识码映射于其位于的所述第一边所属的格口。
在一些实施例中，所述第一标识码设置于所述料箱开口相对的两条第二边上，其中，每个格口均有一条边与一个所述第二边相交。
在一些实施例中，由所述底板和所述侧板组成内腔和料箱开口；所述第一标识码包括第一部分、第二部分和第三部分；所述第一标识码的第一部分设置在所述侧板背离所述内腔的一面，所述第二部分设置在所述侧板的顶部，所述第三部分设置在所述侧板朝向所述内腔的一面。
在一些实施例中，所述第一部分和所述第三部分上设置有文字编码；当所述第一标识码展开时，所述第一标识码的所述第一部分与所述第三部分设置的所述文字编码关于所述第一标识码的中心中心对称。
在一些实施例中，所述料箱至少两个相对的侧面设置有分格口，当隔板插入相对设置的分格口时，可对所述料箱的存放空间进行分隔，以得到多个所述格口。
在一些实施例中，所述料箱的第一侧面和第二侧面设置有第一数量的分格口，所述料箱的第三侧面和第四侧面设置有第二数量的分格口，所述第一侧面与所述第二侧面相对，所述第三侧面与所述第四侧面相对，所述第一数量小于或等于所述第二数量。
在一些实施例中，所述第二标识码设置于所述料箱的至少两个侧面。
在一些实施例中，料箱的每个侧面设置有一个所述第二标识码，所述第一侧面和所述第二侧面上的所述第二标识码相对设置；所述第三侧面和所述第四侧面上的所述第二标识码的设置位置关于所述料箱的中心点中心对称。
在一些实施例中，所述料箱相对的两个侧面上设置的所述第二标识码对应的所述料箱的朝向相反。
在一些实施例中，所述料箱还包括第三标识码，所述第三标识码包括预设标识图案，机器人可通过识别所述第三标识码的预设标识图案确定机器人与设置所述第三标识码的料箱的位姿关系。
第二方面，本公开实施例还提供一种料箱识别方法，该方法包括：
获取料箱设定面上设置的第二标识码的识别结果，其中，所述料箱为本公开第一方面对应的任一实施例提供的料箱，所述设定面为所述料箱设置有第二标识码的任意一面；根据识别结果，确定所述料箱的各个格口的位置；根据各个格口的位置，生成分拣指示。
可选的，根据识别结果，确定所述料箱的各个格口的位置，包括：
获取所述料箱的第一属性，其中，所述第一属性用于描述所述料箱对应的格口的数量；根据所述识别结果，确定所述料箱的当前位姿；根据所述料箱的当前位姿以及所述第一属性，确定所述料箱的各个格口的位置。
可选的，根据识别结果，确定所述料箱的各个格口的位置，包括：
获取所述料箱的第二属性，其中，所述第二属性用于描述所述料箱的各个格口对应的存储单元；当所述识别结果中所述料箱的朝向信息为第一朝向信息时，基于第一对应关系， 确定所述料箱的各个存储单元的位置；或，当所述识别结果中所述料箱的朝向信息为第二朝向信息时，基于第二对应关系，确定所述料箱的各个存储单元的位置；根据所述第二属性以及各个存储单元的位置，确定所述料箱的各个格口的位置；其中，所述第一对应关系用于描述所述料箱在第一朝向下或朝向信息为第一朝向信息时所述料箱的各个存储单元的位置，所述第二对应关系用于描述所述料箱在第二朝向下或朝向信息为第二朝向信息时所述料箱的各个存储单元的位置。
可选的，所述方法还包括：
根据所述分拣任务以及所述料箱的各个格口的存放信息，确定一个或多个目标格口，其中，所述格口的存放信息包括所述格口内存放的货物及其数量。
可选的，所述方法还包括：
获取所述目标格口对应的第一标识码，以得到所述目标格口对应的格口标识信息和料箱识别信息；根据所述目标格口对应的格口标识信息和料箱识别信息，对所述目标格口进行验证。
第三方面，本公开实施例还提供一种料箱识别装置，该装置包括：
识别模块，用于识别所述料箱设定面设置的第二标识码，所述料箱为本公开第一方面对应的任一实施例提供的料箱，所述设定面为所述料箱设置有第二标识码的任意一面；位置确定模块，用于根据识别结果，确定所述料箱的各个格口的位置；指令生成模块，用于根据各个格口的位置，生成分拣指示。
第四方面，本公开实施例还提供一种料箱识别设备，包括：存储器和至少一个处理器；所述存储器存储计算机执行指令；所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如本公开第二方面对应的任一实施例提供的料箱识别方法。
第五方面，本公开实施例还提供一种仓储系统，包括本公开第一方面对应的任一实施例提供的料箱以及本公开第四方面对应的实施例提供的料箱识别设备。
第六方面，本公开实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，当处理器执行所述计算机执行指令时，实现如本公开第二方面对应的任一实施例提供的料箱识别方法。
第七方面，本公开实施例还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如本公开第二方面对应的任一实施例提供的料箱识别方法。
本公开实施例提供的料箱、料箱识别方法、装置、设备、仓储系统及介质，在料箱上设置包括第一标识码和第二标识码的料箱标识码，该第一标识码可用于标识料箱的格口，第二标识码则用于标识该料箱的朝向，从而在分拣时，可以基于该第一标识码和第二标识码快速确定料箱的朝向以及料箱各个格口的位置，以便于对设定的格口内存放的货品进行分拣，简化了操作人员识别格口的流程，提高了分拣的处理效率。
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料箱识别方法的一种应用场景图；
图2为本公开一个实施例提供的料箱的结构示意图；
图3为本公开图2所示实施例中标识码的示意图；
图4为本公开另一个实施例提供的料箱的结构示意图；
图5为本公开另一个实施例提供的料箱的结构示意图；
图6为本公开图5所示实施例中提供的第一标识码展开时的示意图；
图7为本公开另一个实施例提供的料箱的结构示意图；
图8为本公开图7所示实施例提供的料箱的标识码的设置位置的示意图；
图9为本公开另一个实施例提供的料箱的结构示意图；
图10为本公开一个实施例提供的料箱识别方法的流程图；
图11为本公开图10所示实施例中步骤S302的流程图；
图12为本公开图11所示实施例中料箱与识别器相对位置的示意图；
图13为本公开另一个实施例提供的料箱识别方法的流程图；
图14为本公开图13所示实施例中分拣工作站的结构示意图；
图15为本公开一个实施例提供的料箱识别装置的结构示意图；
图16为本公开一个实施例提供的料箱识别设备的结构示意图；
图17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。
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料箱识别方法的一种应用场景图，如图1所示，本公开实施例提供的料箱识别方法可以由料箱识别设备执行。为了提高料箱存放空间的利用率，可以根据需求将料箱10的存放空间划分为多个格口11，图1中以4个格口为例，每个格口 11为一个独立的物理空间，从而使得相同或不同SKU(Stock Keeping Unit，库存量单位)，或者相同或不同类型的货物被放置于料箱10的不同格口内11。
当装有多种SKU的料箱10被搬运至操作台20进行分拣时，由于在料箱10的搬运过程中会改变料箱10的朝向，从而使得操作人员30无法得知操作台20上的料箱10的朝向，进而无法确定各个格口11内存放的货物，从而操作人员需要通过多次扫描格口11内货物的方式，识别所需分拣的格口11，识别料箱10的格口花费了较多的时间，导致分拣任务执行的效率低下，无法满足客户需求。
为了提高料箱10格口11的识别效率，本公开提供了一种设置有第一标识码和第二标识码的料箱及其识别方法，通过对第二标识码的识别，快速确定料箱的朝向，通过对第一标识码的识别对格口进行验证，提高了格口识别的效率和准确性，进而提高了分拣任务的执行效率。
图2为本公开一个实施例提供的料箱的结构示意图，如图2所示，料箱10包括底板13、侧板14以及贴在侧板14上的料箱标识码，底板和侧板形成格口11，料箱标识码包括第一标识码210和第二标识码220。
其中，格口11为料箱10中用于存放货物的独立空间，格口11可以包括一个或多个存储单元，存储单元为料箱10可划分的用于存放货物的最小单元。第一标识码210用于识别料箱10的格口11，第二标识码220则用于识别料箱10的朝向。
具体的，第一标识码210包括对应的格口11的格口标识信息，以识别该格口11。第二标识码220包括料箱10的朝向信息，以识别料箱10的朝向。
在一些实施例中，底板13和侧板14形成至少2个格口11，如2个、4个、8个等，图2中以形成2个格口为例。
在一些实施例中，用于标识至少2个格口中的每个格口11的第一标识码210的数量至少为1个，如可以为1个、2个、4个等。
在一些实施例中，一个格口11可以对应至少一个第一标识码210，即一个格口11可以对应一个或多个第一标识码210，以用于识别该格口11。
在一些实施例中，第一标识码210还可以用于识别料箱10。
在一些实施例中，第二标识码220还可以用于识别料箱10。
在一些实施例中，第一标识码210可以包括料箱10的料箱识别信息以及对应的格口11的格口标识信息，第二标识码220可以包括料箱10的料箱识别信息以及料箱10的朝向信息，料箱识别信息可以为料箱10的唯一标识码，以用于识别料箱10。
在一些实施例中，第一标识码210和第二标识码220可以由一维码、二维码、条形码、编码、文字、图案等中的一项或多项组成。
示例性的，第一标识码210和第二标识码220可以均由一维码和编码组成。
示例性的，图3为本公开图2所示实施例中标识码的示意图，该标识码可以为上述第 一标识码210或第二标识码220，如图3所示，该标识码包括条形码符号区域A1和ASCⅡ字符串区域A2，条形码符号区域A1设置有对应的条形码，ASCⅡ字符串区域A2设置有对应的编码。
在一些实施例中，第一标识码210和第二标识码220的编码可以采用code 128编码规则进行编码。
在一些实施例中，第一标识码210可以依次由预设控制字符、料箱识别信息和格口标识信息三部分组成。第二标识码220可以依次由预设控制字符、料箱识别信息和朝向信息三部分组成。
示例性的，预设控制字符可以为LX，用于表征料箱；料箱识别信息可以采用6位数字标识，格口标识信息可以采用一位字母表示，如采用A～H八个字母表示，分别用于标识格口A至格口H。朝向信息也可以采用一位字母表示，如Q和R，Q与R表示的料箱两种不同的朝向，且两种朝向相反。如第一个料箱A格口对应的第一标识码210可以为LX000001A，第3个料箱其中一个面上设置的第二标识码220的编码可以为LX000003Q。
在一些实施例中，第一标识码210的数量为料箱中存储单元的数量，从而使得无论采用何种分割方式对料箱的存放空间进行划分，均可以有至少一个第一标识码210与一个格口11对应，以基于各个第一标识码210识别料箱10的各个格口11。
在一些实施例中，第二标识码220可以设置于料箱10的至少两个侧面上。
示例性的，第二标识码220可以设置在料箱10相对的两个侧面上，或者设置在料箱10相邻的两个侧面上，或者设置在料箱10的3个侧面上，或者料箱10的各个侧面上均设置有第二标识码220。
在一些实施例中，设置第二标识码220的侧面上第二标识码220的数量可以为1个或多个。
在一些实施例中，料箱10相对的侧面上设置的第二标识码220对应的料箱10的朝向相反。
在一些实施例中，料箱10的第一标识码210可以与存储单元一一对应。
示例性的，存储单元的数量可以为4个、8个、12个或者其他数量，具体可以根据料箱10的尺寸、仓储系统内存放的货物的尺寸以及所处理的任务需求等因素确定。
本公开所提及的存储单元为可以通过隔板将料箱分隔成的最小的存放空间。
在一些实施例中，料箱10的格口11的数量和尺寸可以根据需求进行调整。
在一些实施例中，料箱10的每个格口11的尺寸相同。
示例性的，料箱10的每个格口11可以由两个存储单元组成。
在一些实施例中，料箱10的每个格口11的尺寸可以不同。
示例性的，料箱10的格口A可以由两个存储单元组成，格口B则可以由六个存储单元组成。
在本实施例中，在料箱上设置包括第一标识码和第二标识码的料箱标识码，该第一标 识码可用于标识料箱的格口，第二标识码则用于标识该料箱的朝向，从而在分拣时，可以基于该第一标识码和第二标识码快速确定料箱的朝向以及料箱各个格口的位置，以便于对设定的格口内存放的货品进行分拣，简化了操作人员识别格口的流程，提高了分拣的处理效率。
图4为本公开另一个实施例提供的料箱的结构示意图，参见图2和图4，料箱10上设置有用于进行取放货的料箱开口12，每个格口11的至少一条第一边与料箱开口12的边的至少部分重合，图4中以4个格口为例。
具体的，第一标识码210可以设置在格口11的第一边上，以用于识别所设置的格口11。
具体的，第一标识码210可以设置于料箱开口12的至少两条边上，第一标识码210映射于其位于的第一边所属的格口11。图4中以第一标识码210设置于料箱开口12相对的两条边上为例，每个第一标识码210映射一个格口11。
在一些实施例中，第一标识码210还可以设置在料箱开口12相邻的两条边上。
在一些实施例中，可以多个第一标识码210映射同一个格口11。
示例性的，以料箱开口12为长方形为例，料箱开口12的两组长边上分别均匀设置有4个第一标识码210，若料箱12被划分为图4中所示的“十”字形的4个格口11，则每个格口11的第一边上设置有2个第一标识码210，该2个第一标识码210与其所设置的第一边所属的格口对应。若料箱10仅包括一个格口，即未对料箱的存放空间进行划分，则料箱开口12上设置的所有的第一标识码210均映射于该格口。
在一些实施例中，第一标识码210可以设置于料箱开口12相对的两条第二边121上，每个格口11均有一条第一边与一个第二边121相交。
具体的，无论采用何种方式对料箱进行存放空间分割，得到的每个格口均有至少一条第一边与其中一条第二边121相交。
在本实施例中，通过将第一标识码210设置于对应的格口11与料箱开口12相交的第一边上，提高了第一标识码210扫描的便捷性。
图5为本公开另一个实施例提供的料箱的结构示意图，参见图2和图5，由料箱10的底板13和侧板14组成内腔和料箱开口12，货物可通过料箱开口12存放于内腔中，或者通过料箱开口12将内腔中的货物取出。第一标识码210可以对折设置在料箱开口12的边上，以使得操作人员从各个角度均可识别料箱10上设置的第一标识码210。
具体的，第一标识码210设置在相对的两个侧板14上。
具体的，第一标识码210可以包括第一部分211、第二部分212和第三部分213，第一标识码210的第一部分211设置在侧板14背离内腔的一面，第二部分212设置在侧板14的顶部，第三部分213则设置在侧板14朝向内腔的一侧。
在一些实施例中，同一第一标识码210的第一部分211、第二部分212和第三部分213是连续的。
在一些实施例中，同一第一标识码210的第一部分211、第二部分212和第三部分213之间可以存在空隙。
在一些实施例中，同一第一标识码210的第一部分211与第三部分213相对设置，且尺寸相同。
在一些实施例中，第一部分211、第二部分212和第三部分213上均包括可识别的标识码，如一维码，从而使得操作人员在各个位置均可便捷地扫描第一标识码，以识别格口11。
在一些实施例中，第一部分211和第三部分213上设置有文字编码；当第一标识码210展开时，第一标识码210的第一部分211与第三部分212设置的文字编码关于第一标识码210的中心中心对称。从而使得当操作人员从设置有第一标识码210的侧板14的两侧查看其上的第一标识码时，所看到的第一标识码210上的文字编码的方向均符合其阅读习惯，从而可以快速地获知第一标识码210上的文字编码。
在一些实施例中，第一标识码210对应的文字编码中的格口标识信息可以沿顺时针或逆时针方向顺序编码。
示例性的，图6为本公开图5所示实施例中提供的第一标识码展开时的示意图，如图6所示，第一标识码210的文字编码为“LX000001A”，分别设置在第一部分211和第三部分213，且第一部分211和第三部分213上的文字编码的朝向不同，关于第一标识码的中心呈中心对称图形，第一标识码210的条形码设置在第二部分212。
在一些实施例中，第一标识码210可以折叠设置于料箱开口12的边上，以包裹其位于的边，从而使得第一标识码210的第二部分212被折叠为三个面，以便于操作人员从各个角度进行第一标识码的第二部分212上的条形码的识别。
图7为本公开另一个实施例提供的料箱的结构示意图，参见图5和图7，料箱10的相对的侧面(或侧板14)上设置有分格口141(采用虚线方框表示)，当隔板142插入相对设置的分格口141时，可对料箱10的存放空间进行分格，从而得到多个格口11。
在一些实施例中，可以仅在一组相对的侧面上设置分格口141，以从该相对的侧面对应的方向对料箱10的存放空间进行分割，如分割为3个独立空间即3个格口。
具体的，分格口141的数量可以决定格口11的最大数量，即存储单元的数量，插入隔板142的位置决定了料箱的格口11的数量，即格口的数量可以通过插入隔板142的位置和数量的不同，从1至最大数量之间调节变更。
在一些实施例中，可以在料箱10的各个侧面上均设置分格口141，且相对的两个侧面上的分格口141相对设置，以从两个方向对料箱10的存放空间进行分割，以得到更多地存储单元。图7中以各个侧面上均设置分格口141为例。
在一些实施例中，相对的第一侧面和第二侧面上设置的分格口141的数量小于或等于相对的第三侧面和第四侧面上设置的分格口141的数量。上述两条第二边121分别为第三侧面与料箱开口12相交的边以及第四侧面与料箱开口12相交的边。
在一些实施例中，料箱10的第一侧面和第二侧面设置有第一数量的分格口141，料箱10的第三侧面和第四侧面设置有第二数量的分格口141，第一侧面与第二侧面相对，第三侧面与第四侧面相对，第一数量小于或等于第二数量。
示例性的，第一侧面和第二侧面上可以分别设置1个分格口141，第三侧面和第四侧面上可以分别设置3个分格口141，从而当隔板142插入各个相对设置的分格口141时，可以将料箱10分割为8个格口11。
在一些实施例中，每个分格口141由两个通孔组成，每个通孔可以为长条形，如矩形或者圆角矩形等，以便于从两个不同的方向对料箱10的存放空间进行分割。
在一些实施例中，料箱10通常为长方体形，即料箱开口12为长方形，上述第二边121可以为料箱开口12的长边。第一侧面和第二侧面为料箱开口12的短边所在的侧面，第三侧面和第四侧面则为料箱开口12的长边所在的侧面。
在一些实施例中，料箱10的每个侧面(或侧板14)上均设置有一个第二标识码220，第一侧面和第二侧面上的第二标识码220相对设置，第三侧面和第四侧面上的第二标识码220的设置位置关于料箱10的中心点中心对称。由于料箱10通常为长方体形，采用上述设置方式，使得操作人员或者机械臂在第三侧面的第二标识码220粘贴完毕之后，无需移动或调整位置，直接将料箱10旋转180°，便可以在原位置处进行第四侧面的第二标识码220的粘贴，提高了第二标识码220粘贴的便捷程度和效率。
示例性的，图8为本公开图7所示实施例提供的料箱的标识码的设置位置的示意图，如图8所示，料箱10最多可以划分的格口的数量为8个，也就是说划分为8个时，每个格口为可划分的最小的独立空间，即存储单元的数量为8个，分别采用字母A～H表示，第一侧面S1和第二侧面S2上设置的第二标识码220的设置中心分别为第一侧面S1和第二侧面S2的中心，第三侧面S3和第四侧面S4上设置的第二标识码220的设置位置关于料箱10的中心点O中心对称，第三侧面S3上设置的第二标识码220的设置位置的高度可以与第三侧面S3的中心位于同一水平线上。图8中采用Q或R标识第二标识码220，其中，Q和R对应的第二标识码220对应的料箱10的朝向相反，Q可以表示料箱10的朝向为第一朝向，如正向，R可以表示料箱10的朝向为第二朝向，如反向，第一朝向与第二朝向对应的朝向相反。
图9为本公开另一个实施例提供的料箱的结构示意图，如图9所示，料箱10还包括第三标识码230，第三标识码230可以设置在料箱10的任意一个或多个侧面，第三标识码230包括预设标识图案，使得机器人可以通过识别该第三标识码230上的预设标识图案，确定机器人与设置第三标识码230的料箱10的位姿关系，进而实现机器人与料箱10的对 准，以便于安全地进行料箱10的取放货操作。
在一些实施例中，预设标识图案可以为二维码。
在一些实施例中，第三标识码230可以设置在相对的两个侧面上，且第三标识码230所设置的其中一个侧面为料箱10被放置于货架上，朝向机器人所在的一端的一个侧面如上述第一侧面和第二侧面。
在一些实施例中，各个标识码，第一标识码210、第二标识码220和第三标识码230可以尽可能居中设置，以便于扫描和识别。
图10为本公开一个实施例提供的料箱识别方法的流程图，该料箱识别方法可以由料箱识别设备执行，如图10所示，本实施例提供的料箱识别方法包括以下步骤：
步骤S301，获取料箱设定面上设置的第二标识码的识别结果。
其中，料箱为上述任意实施例提供的料箱10，该设定面为料箱设置有第二标识码的任意一面，如任意一个侧面。料箱的四个侧面分别命名为第一侧面、第二侧面、第三侧面和第四侧面，其中，第一侧面和第二侧面相对，第三侧面和第四侧面相对。
在一些实施例中，料箱可以为长方体形，即上述料箱开口包括长边和短边，设定面可以为料箱的短边所在的其中一个侧面，或者设定面可以为料箱的长边所在的其中一个侧面。
具体的，可以由识别器识别料箱设定面上设置的第二标识码的识别结果，进而将该识别结果上传至料箱识别设备。
在一些实施例中，料箱可以通过输送线输送至操作台，当料箱被运输至识别器的识别区域时，是由识别器识别输送线上的料箱的设定面上的第二标识码，从而得到识别结果。
步骤S302，根据识别结果，确定所述料箱的各个格口的位置。
具体的，料箱识别设备可以基于该识别结果确定料箱的朝向，进而基于料箱的朝向确定料箱的各个格口的位置。
在一些实施例中，每个料箱的格口的格口标识信息按照一定顺序，如逆时针或顺时针，依次进行编码，当料箱的朝向确定之后，可以根据料箱的朝向以及料箱被划分的格口的数量，确定料箱的各个格口的位置。
示例性的，以料箱开口为长方形为例，在格口划分时，可以沿长边将料箱四等分，沿短边将料箱二等分，从而得到8个格口，共两排，每排四个，每个格口对应一个格口编码，如沿逆时针方向各个格口的编码依次为A～H，由于料箱开口存在一个长边一个短边。假设料箱的运输方向为长边所在的方向，两个短边所在的侧面分别为第一侧面和第二侧面，则在运输时，如通过机器人运输，或者通过机器人和输送线运输，料箱的第一侧面可能会沿运输方向位于第二侧面的前方，或者第二侧面沿运输方向位于第二侧面的前方，从而料箱存在两个相反的朝向。当运输方向为短边所在的方式时，料箱也会存在两个相反的朝向，因此，在料箱的朝向确定之后，便可以基于朝向确定各个格口的位置。
当料箱为正方体形，即料箱开口为正方形时，可以获取料箱相邻的两个侧面或设定面 上设置的第二标识码的识别结果，进而基于该相邻的两个侧面或设定面上设置的第二标识码的识别结果，确定料箱的各个格口的位置，具体为基于该相邻的两个侧面或设定面上设置的第二标识码的识别结果，确定料箱的朝向；进而基于料箱的朝向确定料箱的各个格口的位置。
可选的，图11为本公开图10所示实施例中步骤S302的流程图，如图11所示，步骤S302可以包括以下步骤：
步骤S3021，获取所述料箱的第二属性。
其中，所述第二属性用于描述所述料箱的各个格口对应的存储单元。
在一些实施例中，在进行料箱的格口划分时，可以将料箱的存放空间等分为多个格口，即所划分的各个格口的空间尺寸相同，对应的存储单元的数量也相同。
在一些实施例中，在进行料箱的格口划分时，可以进行不等分，即可以将料箱的格口划分为空间尺寸不等的独立空间，即不同的格口对应的存储单元的数量可以不同。
示例性的，以料箱包括4个存储单元为例，若料箱的存放空间被划分为2个格口，则可以一个格口对应一个存储单元，另一个格口则对应剩余的3个存储单元。
具体的，在将料箱划分为多个格口之后，可以根据各个格口对应的存储单元，设置料箱的第二属性。
步骤S3022，当所述识别结果中所述料箱的朝向信息为第一朝向信息时，基于第一对应关系，确定所述料箱的各个存储单元的位置。
其中，所述第一对应关系用于描述所述料箱在第一朝向下或朝向信息为第一朝向信息时所述料箱的各个存储单元的位置。
步骤S3023，当所述识别结果中所述料箱的朝向信息为第二朝向信息时，基于第二对应关系，确定所述料箱的各个存储单元的位置。
其中，所述第二对应关系用于描述所述料箱在第二朝向下或朝向信息为第二朝向信息时所述料箱的各个存储单元的位置。
在一些实施例中，朝向信息为第一朝向信息时，料箱的朝向为第一朝向，如料箱的第一侧面沿运输方向位于第二侧面的前方，朝向信息为第二朝向信息时，料箱的朝向为第二朝向，如第二侧面沿运输方向位于第一侧面的前方。
在一些实施例中，识别器设置的位置固定，料箱朝向识别器的设定面上设置的第二标识码的朝向信息对应的朝向，即为料箱的朝向，即设定面上设置的第二标识码的朝向信息对应的朝向为第一朝向时，料箱的朝向为第一朝向，设定面上设置的的第二标识码的朝向信息对应的朝向为第二朝向时，则料箱的朝向为第二朝向。
示例性的，图12为本公开图11所示实施例中料箱与识别器相对位置的示意图，如图12所示，当料箱10被运输至识别器50所在的区域时，识别器50识别料箱10与其相对的侧面(即设定面)上的第二标识码220，从而基于设定面的第二标识码220上的朝向信息 对应的朝向确定料箱10的朝向。
具体的，当确定料箱的朝向之后，可以获取该朝向对应的对应关系，进而基于该朝向对应的对应关系，确定料箱的各个存储单元的位置。
步骤S3024，根据所述料箱的第二属性以及各个存储单元的位置，确定所述料箱的各个格口的位置。
具体的，在确定料箱的各个格口对应的存储单元以及料箱各个存储单元的位置之后，便可以确定料箱各个格口的位置或者各个格口所处的区域。
步骤S303，根据各个格口的位置，生成分拣指示。
具体的，在确定料箱的各个格口的位置之后，可以基于各个格口的位置生成分拣指示，以使机械臂或操作人员得知各个格口的位置，以便于进行相应格口内货物的分拣。
进一步地，在生成该分拣指示之后，还可以显示各个格口的位置，以便于操作人员快速、直观地定位所需分拣的格口。
在一些实施例中，分拣指示可以为灯光指示，可以根据各个格口的位置以及分拣任务对应的各个格口，控制灯光照射分拣任务对应的各个格口，以便于操作人员直观确定所需分拣单的各个格口。
本实施例提供的料箱识别方法，通过对料箱上设置的第二标识码的识别，确定料箱的各个格口的位置，进而基于各个格口的位置生成分拣指示，以辅助操作人员或机械臂快速定位选定的格口，进而执行相应的分拣任务，提高了分拣的效率。
图13为本公开另一个实施例提供的料箱识别方法的流程图，本实施例是在图10所示实施例的基础上，对步骤S302和步骤S303进行进一步细化，以及在步骤S303之后增加目标格口验证的相关步骤，如图13所示，本实施例提供的料箱识别方法可以包括以下步骤：
步骤S401，获取料箱设定面上设置的第二标识码的识别结果以及所述料箱的第一属性。
其中，所述第一属性用于描述所述料箱对应的格口的数量。
具体的，在为料箱划分格口时，通常将料箱划分为空间大小相同的多个格口。
在一些实施例中，每个数量的格口对应的划分方式可以为唯一固定的。在得到料箱对应的格口的数量，即料箱的第二属性之后，便可以确定各个格口对应的存储单元。
示例性的，以料箱开口为长方形为例，以料箱对应8个存储单元，如存储单元A～H为例，在将料箱划分为2个格口时，如仅可以在与料箱长边的中点对应的分格口插入隔板，以将料箱的存放空间等分为2个格口，一个格口对应存储单元A、B、G、H，另一个格口则对应存储单元C、D、E、F。而在将料箱划分为4个格口时，则仅可以采用料箱开口所在的长方形的各边的中点对应的分格口插入隔板，以将料箱的存放空间等分为4个格口，每个格口对应2个存储单元。
步骤S402，根据所述识别结果，确定所述料箱的当前位姿。
具体的，可以根据识别结果确定设定面上第二标识码对应的朝向，即确定料箱的朝向。
步骤S403，根据所述料箱的当前位姿以及所述料箱的第一属性，确定所述料箱的各个格口的位置。
具体的，由于料箱的格口数量可以对应唯一一种料箱划分方式，则可以基于料箱的朝向以及料箱的格口数量，确定料箱各个格口的位置或者所处的区域。
步骤S404，根据各个格口的位置以及分拣任务对应的目标格口，确定所述目标格口的位置。
在一些实施例中，分拣任务可以指示所需分拣的格口，即目标格口，以及各个目标格口中存放的货物的分拣数量。
其中，所述分拣任务对应的目标格口为所述料箱的一个或多个格口。
在一些实施例中，可以根据所述分拣任务以及所述料箱的各个格口的存放信息，确定所述分拣任务对应的一个或多个目标格口。
其中，所述格口的存放信息包括所述格口内存放的货物及其数量。
具体的，分拣任务的任务需求可以仅包括所需分拣的货物的类型以及每种类型的货物的分拣数量，则可以基于分拣任务的任务需求以及料箱的各个格口的存放信息，为分拣任务分配尽可能少的格口，作为分拣任务的目标格口，以在满足分拣任务的任务需求的同时，提高分拣效率。
进而，基于分拣任务对应的各个目标格口的格口标识信息以及所确定的各个格口的位置，确定各个目标格口的位置。
步骤S405，根据所述目标格口的位置，生成指示装置的控制信号，以控制所述指示装置指示所述分拣任务对应的目标格口。
在一些实施例中，指示装置可以为灯光指示装置，可以发出灯光，以直观指示操作人员分拣任务对应的目标格口。
在一些实施例中，指示装置可以为激光指示装置，如激光阵列，可以发出激光信号，以指示分拣任务选择的目标格口。
具体的，可以根据各个目标格口的位置，生成指示装置的控制信息，从而控制指示装置同时照亮分拣任务对应的各个目标格口。
在一些实施例中，一个分拣任务仅由一个操作人员执行，则在确定各个目标格口的位置之后，还可以按照设定顺序，依次根据各个目标格口的位置，生成指示装置的各个控制信号，以控制指示装置依次指示分拣任务对应的目标格口，即控制指示装置一次指示一个目标格口。
示例性的，图14为本公开图13所示实施例中分拣工作站的结构示意图，如图14所示，当料箱10被运输至分拣工作站300时，操作人员30可以通过手持识别器对料箱10上设置的各个标识码进行识别和验证；指示装置60设置在分拣工作站，位于料箱10的上方，料箱识别设备可以根据目标格口所在的位置，控制指示装置60输出灯光，以照亮目 标格口所在的区域，从而操作人员30可以基于分拣任务依次对各个目标格口内存放的货物进行分拣，以完成对应的分拣任务。
步骤S406，获取所述目标格口对应的第一标识码，以得到所述目标格口对应的格口标识信息和料箱识别信息。
步骤S407，根据所述目标格口对应的格口标识信息和料箱识别信息，对所述目标格口进行验证。
具体的，在对目标格口内的货物分拣之前，可以通过识别器，如设置在分拣工作站的识别器，或者操作人员手持的识别器，识别目标格口对应的第一标识码，并将目标格口对应的第一标识码发送至料箱识别设备，料箱识别设备基于所识别的目标格口的第一标识码，确定目标格口对应的格口标识信息和料箱识别信息。进而，基于预先存储的该料箱的料箱识别信息，以及该料箱的该目标格口的格口标识信息，分别对所得到的目标格口的料箱识别信息和格口标识信息进行验证，以判断目标格口是否准确，若目标格口准确无误，则提示操作人员或机械臂进行目标格口内货物的分拣；若目标格口的料箱识别信息不符或格口标识信息不符，则生成异常提示信息，以提示操作人员对料箱以及料箱格口上设置的第一标识码进行检查，以确定异常原因。
在本实施例中，通过对料箱上设置的第二标识码的识别，确定料箱的朝向，进而基于料箱的格口的数量以及料箱的朝向，确定料箱各个格口的位置，进而自动确定分拣任务对应的目标格口的位置，并通过控制指示装置指示分拣任务对应的目标格口，使得操作人员或机械臂得以快速、直观地定位分拣任务对应的目标格口，提高了分拣的效率，同时，在执行目标格口的分拣任务之前，还可以基于目标格口上设置的第一标识码，对目标格口进行验证，以免分拣错误的货物，而造成用户的损失，提高了分拣任务处理的准确性。
图15为本公开一个实施例提供的料箱识别装置的结构示意图，如图15所述，所述装置包括：识别模块1510、位置确定模块1520和指令生成模块1530。
其中，识别模块1510，用于识别所述料箱设定面设置的第二标识码，所述料箱为上述任意实施例提供的料箱10，所述设定面为所述料箱设置有第二标识码的任意一面；位置确定模块1520，用于根据识别结果，确定所述料箱的各个格口的位置；指令生成模块1530，用于根据各个格口的位置，生成分拣指示。
可选的，位置确定模块1520，具体用于：
获取所述料箱的第一属性，其中，所述第一属性用于描述所述料箱对应的格口的数量；根据所述识别结果，确定所述料箱的当前位姿；根据所述料箱的当前位姿以及所述第一属性，确定所述料箱的各个格口的位置。
可选的，位置确定模块1520，具体用于：
获取所述料箱的第二属性，其中，所述第二属性用于描述所述料箱的各个格口对应的存储单元；当所述识别结果中所述料箱的朝向信息为第一朝向信息时，基于第一对应关系， 确定所述料箱的各个存储单元的位置；或，当所述识别结果中所述料箱的朝向信息为第二朝向信息时，基于第二对应关系，确定所述料箱的各个存储单元的位置；根据所述第二属性以及各个存储单元的位置，确定所述料箱的各个格口的位置；其中，所述第一对应关系用于描述所述料箱在第一朝向下或朝向信息为第一朝向信息时所述料箱的各个存储单元的位置，所述第二对应关系用于描述所述料箱在第二朝向下或朝向信息为第二朝向信息时所述料箱的各个存储单元的位置。
可选的，所述装置还包括：
目标格口确定模块，用于根据所述分拣任务以及所述料箱的各个格口的存放信息，确定一个或多个目标格口，其中，所述格口的存放信息包括所述格口内存放的货物及其数量。
可选的，所述装置还包括：
目标格口验证模块，用于获取所述目标格口对应的第一标识码，以得到所述目标格口对应的格口标识信息和料箱识别信息；根据所述目标格口对应的格口标识信息和料箱识别信息，对所述目标格口进行验证。
本公开实施例所提供的料箱识别装置可执行本公开任意实施例所提供的料箱识别方法，具备执行方法相应的功能模块和有益效果。
图16为本公开一个实施例提供的料箱识别设备的结构示意图，如图16所示，该料箱识别设备包括：存储器1610，处理器1620以及计算机程序。
其中，计算机程序存储在存储器1610中，并被配置为由处理器1620执行以实现本公开图10、图11和图13所对应的实施例中任一实施例提供的料箱识别方法。
其中，存储器1610和处理器1620通过总线1630连接。
相关说明可以对应参见图10、图11和图13的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
图17为本公开一个实施例提供的仓储系统的结构示意图，如图17所示，该仓储系统包括：料箱10以及料箱识别设备40。
其中，料箱识别设备40为本公开图14所示实施例提供的料箱识别设备。
仓储系统中可以存放或处理多个料箱10，图17中以3个料箱10为例进行说明。料箱10可以存放在操作台、货架等装置上。
在一些实施例中，仓储系统还包括机器人、输送线、存储货架、操作台、卸料机、提升机等装置。
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开图10、图11和图13所对应的实施例中任一实施例提供的料箱识别方法。
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。
本公开还提供一种程序产品，该程序产品包括可执行计算机程序，该可执行计算机程序存储在可读存储介质中。料箱识别设备或仓储系统的至少一个处理器可以从可读存储介质读取该计算机程序，至少一个处理器执行该计算机程序使得料箱识别装置实施上述各种实施方式提供的料箱识别方法。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，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。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块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模块来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本公开各个实施例所述方法的部分步骤。
应理解，上述处理器可以是中央处理单元(Central Processing Unit，简称CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)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。结合本公开所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(Industry Standard Architecture，简称ISA)总线、外部设备互连(Peripheral Component，简称PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本公开附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁 存储器，快闪存储器，磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。
一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(Application Specific Integrated Circuits，简称ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (27)

  1. 一种料箱，其特征在于，所述料箱包括：
    底板；
    侧板，其中，所述底板和所述侧板形成格口；以及，
    贴在所述侧板上的料箱标识码，所述料箱标识码包括第一标识码和第二标识码，所述第一标识码用于标识所述料箱的格口，所述第二标识码用于标识所述料箱的朝向；
    其中，所述格口为所述料箱中用于存放货物的独立空间，所述格口包括一个或多个存储单元，所述存储单元为所述料箱可划分的用于存放货物的最小单元。
  2. 根据权利要求1所述的料箱，其特征在于，所述底板和所述侧板形成至少2个格口，标识所述至少2个格口中的每个格口的第一标识码位于所述侧板上。
  3. 根据权利要求2所述的料箱，其特征在于，标识所述至少2个格口中的每个格口的第一标识码的数量至少为1个。
  4. 根据权利要求1所述的料箱，其特征在于，所述第一标识码还用于标识所述料箱。
  5. 根据权利要求1所述的料箱，其特征在于，所述第二标识码还用于标识所述料箱。
  6. 根据权利要求1所述的料箱，其特征在于，所述第一标识码的数量为所述料箱中存储单元的数量。
  7. 根据权利要求1所述的料箱，其特征在于，所述料箱上设置有用于进行取放货的料箱开口，每个格口的至少一条第一边与所述料箱开口的边的至少部分重合，所述第一标识码设置于所述料箱开口的至少两条边上，所述第一标识码映射于其位于的所述第一边所属的格口。
  8. 根据权利要求7所述的料箱，其特征在于，所述第一标识码设置于所述料箱开口相对的两条第二边上，其中，每个格口均有一条边与一个所述第二边相交。
  9. 根据权利要求1所述的料箱，其特征在于，由所述底板和所述侧板组成内腔和料箱开口；
    所述第一标识码包括第一部分、第二部分和第三部分；
    所述第一标识码的第一部分设置在所述侧板背离所述内腔的一面，所述第二部分设置在所述侧板的顶部，所述第三部分设置在所述侧板朝向所述内腔的一面。
  10. 根据权利要求9所述的料箱，其特征在于，所述第一部分和所述第三 部分上设置有文字编码；
    当所述第一标识码展开时，所述第一标识码的所述第一部分与所述第三部分设置的所述文字编码关于所述第一标识码的中心中心对称。
  11. 根据权利要求1所述的料箱，其特征在于，所述料箱至少两个相对的侧面设置有分格口，当隔板插入相对设置的分格口时，可对所述料箱的存放空间进行分隔，以得到多个所述格口。
  12. 根据权利要求11所述的料箱，其特征在于，所述料箱的第一侧面和第二侧面设置有第一数量的分格口，所述料箱的第三侧面和第四侧面设置有第二数量的分格口，所述第一侧面与所述第二侧面相对，所述第三侧面与所述第四侧面相对，所述第一数量小于或等于所述第二数量。
  13. 根据权利要求1-12任一项所述的料箱，其特征在于，所述第二标识码设置于所述料箱的至少两个侧面。
  14. 根据权利要求13所述的料箱，其特征在于，所述料箱的每个侧面设置有一个所述第二标识码，所述第一侧面和所述第二侧面上的所述第二标识码相对设置；
    所述第三侧面和所述第四侧面上的所述第二标识码的设置位置关于所述料箱的中心点中心对称。
  15. 根据权利要求13所述的料箱，其特征在于，所述料箱相对的两个侧面上设置的所述第二标识码对应的所述料箱的朝向相反。
  16. 根据权利要求1-12任一项所述的料箱，其特征在于，还包括第三标识码，所述第三标识码包括预设标识图案，机器人可通过识别所述第三标识码的预设标识图案确定机器人与设置所述第三标识码的料箱的位姿关系。
  17. 一种料箱识别方法，其特征在于，所述方法包括：
    获取料箱设定面上设置的第二标识码的识别结果，其中，所述料箱为权利要求1至16任一项所述的料箱，所述设定面为所述料箱设置有第二标识码的任意一面；
    根据识别结果，确定所述料箱的各个格口的位置；
    根据各个格口的位置，生成分拣指示。
  18. 根据权利要求17所述的方法，其特征在于，根据识别结果，确定所述料箱的各个格口的位置，包括：
    获取所述料箱的第一属性，其中，所述第一属性用于描述所述料箱对应的格口的数量；
    根据所述识别结果，确定所述料箱的当前位姿；
    根据所述料箱的当前位姿以及所述料箱的第一属性，确定所述料箱的各个格口的位置。
  19. 根据权利要求17所述的方法，其特征在于，根据识别结果，确定所述料箱的各个格口的位置，包括：
    获取所述料箱的第二属性，其中，所述第二属性用于描述所述料箱的各个格口对应的存储单元；
    当所述识别结果中所述料箱的朝向信息为第一朝向信息时，基于第一对应关系，确定所述料箱的各个存储单元的位置；或，
    当所述识别结果中所述料箱的朝向信息为第二朝向信息时，基于第二对应关系，确定所述料箱的各个存储单元的位置；
    根据所述料箱的第二属性以及各个存储单元的位置，确定所述料箱的各个格口的位置；
    其中，所述第一对应关系用于描述所述料箱在第一朝向下或朝向信息为第一朝向信息时所述料箱的各个存储单元的位置，所述第二对应关系用于描述所述料箱在第二朝向下或朝向信息为第二朝向信息时所述料箱的各个存储单元的位置。
  20. 根据权利要求17-19任一项所述的方法，其特征在于，在根据各个格口的位置，生成分拣指示，包括：
    根据各个格口的位置以及分拣任务对应的目标格口，确定所述目标格口的位置，其中，所述分拣任务对应的目标格口为所述料箱的一个或多个格口；
    根据所述目标格口的位置，生成指示装置的控制信号，以控制所述指示装置指示所述分拣任务对应的目标格口。
  21. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    根据所述分拣任务以及所述料箱的各个格口的存放信息，确定一个或多个目标格口，其中，所述格口的存放信息包括所述格口内存放的货物及其数量。
  22. 根据权利要求20所述的方法，其特征在于，所述方法还包括：
    获取所述目标格口对应的第一标识码，以得到所述目标格口对应的格口标识信息和料箱识别信息；
    根据所述目标格口对应的格口标识信息和料箱识别信息，对所述目标格口进行验证。
  23. 一种料箱识别装置，其特征在于，所述装置包括：
    识别模块，用于识别所述料箱设定面设置的第二标识码，所述料箱为权利要求1-16任一项所述的料箱，所述设定面为所述料箱设置有第二标识码的任意一面；
    位置确定模块，用于根据识别结果，确定所述料箱的各个格口的位置；
    指令生成模块，用于根据各个格口的位置，生成分拣指示。
  24. 一种料箱识别设备，其特征在于，包括：
    存储器和至少一个处理器；
    所述存储器存储计算机执行指令；
    所述至少一个处理器执行所述存储器存储的计算机执行指令，使得所述至少一个处理器执行如权利要求17-22任一项所述的料箱识别方法。
  25. 一种仓储系统，其特征在于，包括：权利要求1-16任一项所述的料箱以及权利要求24所述的料箱识别设备。
  26. 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，当处理器执行所述计算机执行指令时，实现如权利要求17-22任一项所述的料箱识别方法。
  27. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求17-22任一项所述的料箱识别方法。
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