WO2023143048A1 - Material box stocktaking method and apparatus, dispatching device, robot, and warehousing system - Google Patents

Abstract

A material box stocktaking method and apparatus, a dispatching device, a robot, and a warehousing system. The material box stocktaking method comprises: generating a stocktaking instruction for a stocktaking region, and sending the stocktaking instruction to a stocktaking robot (130), the stocktaking instruction being used for controlling the stocktaking robot to perform stocktaking on the stocktaking region so as to obtain stocktaking data corresponding to the stocktaking region, the stocktaking region comprising a plurality of storage locations, and the stocktaking data comprising a material box identification code queue; receiving the stocktaking data; and determining, according to the stocktaking data and inventory data of the stocktaking region, whether a storage location to be checked is present in the stocktaking region. Therefore, batch stocktaking is achieved, and exception judgment of each stocktaking region is performed on the basis of the stocktaking data, so that the efficiency of stocktaking is improved.

Description

Material box inventory method, device, dispatching equipment, robot and storage system

This application claims the priority of the Chinese patent application submitted to the China Patent Office on January 29, 2022, with the application number 202210111556.2, and the title of the application is "Material Box Inventory Method, Device, Scheduling Equipment, Robot and Storage System", the entire content of which Incorporated in this application by reference.

technical field

The present disclosure relates to the technical field of warehousing systems, in particular to a material box inventory method, device, dispatching equipment, robot and warehousing system.

Background technique

The robot-based warehousing system uses an intelligent operating system to automatically take out and store items 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.

In the daily operation of the storage system, it is necessary to take inventory of the materials stored in each location of the storage shelf, such as regular inventory or random inventory, so as to review the situation of the materials stored in each location.

The traditional inventory method is mostly a single-point inventory. Based on the inventory in units of storage locations, the robot transports the material boxes stored on the storage location to the operation platform, so that the transported material boxes and the memory of the material boxes are checked at the operation platform. The materials put in will be counted. The inventory counting method mentioned above has low inventory efficiency and cannot be applied to warehouses with large storage volumes.

Contents of the invention

The present disclosure provides a material box inventory method, device, dispatching equipment, robot and storage system, which realizes the inventory method of batch inventory taking the inventory area as a unit, and greatly improves the efficiency of material box inventory.

In the first aspect, the embodiment of the present disclosure provides a bin inventory method, which is applied to a dispatching device. The method includes: generating an inventory instruction in an inventory area, and sending the inventory instruction to an inventory robot, and the inventory instruction is used for Controlling the inventory robot to perform an inventory of the inventory area to obtain inventory data corresponding to the inventory area, wherein the inventory area includes a plurality of warehouse locations, and the inventory data includes a queue of bin identification codes; receiving the Inventory data: According to the inventory data and the inventory data in the inventory area, it is judged whether there is a stock location to be checked in the inventory area.

Optionally, the queue of bin identification codes is obtained by deduplicating all bin identification codes collected by the inventory robot in the inventory area.

Optionally, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes: when each material box corresponding to the inventory area in the inventory data When all the identification codes exist in the bin identification code queue, it is determined that the storage location to be checked does not exist in the inventory area.

Optionally, judging whether there is a location to be checked in the inventory area according to the inventory data and the inventory data corresponding to the inventory area includes: according to the inventory data and the inventory corresponding to the inventory area data, judging whether there is a missing material box identification code in the inventory data of the inventory area; if there is a missing material box identification code in the inventory data of the inventory area, then it is determined that the warehouse location to be checked exists in the inventory area; wherein , the missing bin ID does not exist in the bin ID queue.

Optionally, the location to be checked includes: in the inventory data, a location corresponding to the missing container identification code.

Optionally, the location to be checked includes: in the inventory data, a location within a preset range near the location corresponding to the missing container identification code.

Optionally, determining whether there is a location to be checked in the inventory area according to the inventory data and the inventory data in the inventory area includes: judging according to the inventory data and the inventory data corresponding to the inventory area Whether there is a misplaced material box identification code in the material box identification code queue of the inventory area; if there is a misplaced material box identification code in the material box identification code queue, then it is determined that the warehouse location to be checked exists in the inventory area ; Wherein, the misplaced bin identification code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the misplaced bin identification code is in the corresponding library in the inventory data The distance between the location and the inventory area exceeds a first preset distance; the storage location to be checked includes the storage location or unit corresponding to the misplaced bin identification code in the inventory data.

Optionally, the inventory instruction is used to control the inventory robot to perform inventory in units of inventory units in the inventory area, and the inventory unit includes a plurality of storage locations; the bin identification code queue consists of a plurality of bins The set of identification codes is composed of a set of identification codes corresponding to the inventory units.

Optionally, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin identification device moves to the corresponding inventory unit When it is opened at the preset position, the set of material box identification codes is composed of the material box identification codes collected each time it is opened.

Optionally, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the difference between the collection time points is less than the preset value, the two material box identification codes are classified into the same material box identification code set.

Optionally, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. When the distance between the positions of the bin identification device is less than the preset distance, the two bin identification codes are classified into the same bin identification code set.

Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

Optionally, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a location to be checked in the inventory area includes: for each inventory unit in the inventory area, when the The bin identification code corresponding to the inventory unit in the inventory data exists in the bin identification set corresponding to the inventory unit, then it is determined that the warehouse location to be checked does not exist in the inventory unit; if the inventory area If there is no storage location to be checked in each inventory unit, it is determined that there is no storage location to be checked in the inventory area.

Optionally, judging whether there is a location to be checked in the inventory area according to the inventory data and the inventory data corresponding to the inventory area includes: according to the inventory data and the inventory corresponding to the inventory area data, judging whether there is a first unit in each inventory unit in the inventory area; if there is a first unit in each inventory unit in the inventory area, it is determined that there is a storage location to be checked in the inventory area; wherein, the first unit It is an inventory unit with a missing bin identification code in the corresponding inventory data, the missing bin identification code does not exist in the bin identification code set corresponding to the first unit, and the storage location to be checked includes the first Each storage location corresponding to a unit.

Optionally, judging whether there is a location to be checked in the inventory area according to the inventory data and the inventory data corresponding to the inventory area includes: according to the inventory data and the inventory corresponding to the inventory area data, judging whether there is a second unit in each inventory unit in the inventory area; if there is the second unit in each inventory unit in the inventory area, then determine that there is a storage location to be checked in the inventory area; wherein, the The second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced The distance between the storage location corresponding to the bin identification code in the inventory data and the second unit exceeds a second preset distance, and the storage location to be checked includes each storage location corresponding to the second unit.

Optionally, the inventory data comes from at least two inventory robots, and at least one of the inventory sequence and the inventory path of the at least two inventory robots in the inventory area is different.

Optionally, the bin identification device is an electronic label identification device or an image identification device.

In the second aspect, the embodiment of the present disclosure also provides a method for inventorying bins, the method is applied to an inventory robot, and the method includes: receiving an inventory instruction in an inventory area, and the inventory instruction is used to control the inventory robot to performing an inventory in the inventory area; performing an inventory in the inventory area based on the inventory instruction, and generating inventory data corresponding to the inventory area; sending the inventory data; wherein the inventory area includes a plurality of locations, the The inventory data includes a queue of bin identification codes, and the inventory data is used for comparison with the inventory data in the inventory area to determine whether there is a storage location to be checked in the inventory area.

Optionally, performing an inventory on the inventory area based on the inventory instruction, and generating inventory data corresponding to the inventory area includes: performing an inventory on the inventory area based on the inventory instruction; performing an inventory on the inventory area. All collected bin identification codes are deduplicated to obtain the inventory data corresponding to the inventory area.

Optionally, performing an inventory on the inventory area based on the inventory instruction, and generating the inventory data corresponding to the inventory area includes: controlling the bin identification device of the inventory robot based on the inventory instruction, taking inventory units as units Collecting the material box identification codes of the material boxes placed in each inventory unit in the inventory area; according to the collected material box identification codes, obtaining the set of material box identification codes corresponding to each of the inventory units; based on each inventory unit in the inventory area The corresponding set of material box identification codes generates the inventory data corresponding to the inventory area; wherein, the inventory unit includes one or more storage locations, and the set of material box identification codes corresponds to the inventory unit one by one.

Optionally, based on the inventory instruction, the bin identification device of the inventory robot is controlled to collect the bin identification codes of the bins placed in each inventory unit in the inventory area in units of inventory units, including: for each inventory The unit, when moving to the preset position of the inventory unit based on the inventory instruction, turns on the bin identification device of the inventory robot to collect the bin identification codes of the bins placed in the inventory unit.

Optionally, according to the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: if the difference between the collection time points corresponding to two adjacent bin identification codes collected is less than the preset value, the two material box identification codes are classified into the same material box identification code set.

Optionally, according to the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: if the collected bin identification codes correspond to the positions of the bin identification devices If the distance is less than the preset distance, then the two material box identification codes are classified into the same material box identification code set.

Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

Optionally, the method further includes: if the strength value of the collected bin identification code is lower than a preset strength, deleting the bin identification code from the corresponding bin identification code set.

Optionally, the method further includes: determining the location corresponding to the collected bin identification code; if the location corresponding to the collected bin identification code exceeds the scope of the corresponding inventory unit, then collect the corresponding bin identification code Delete the bin ID in the .

In the third aspect, the embodiment of the present disclosure also provides a material box inventory device, which is applied to a scheduling device, and the device includes: an instruction sending module, configured to generate an inventory instruction for an inventory area, and transmit the inventory instruction sent to an inventory robot, the inventory instruction is used to control the inventory robot to carry out an inventory of the inventory area, so as to obtain the inventory data corresponding to the inventory area, the inventory area includes a plurality of warehouse locations, wherein the inventory The data includes the bin identification code queue; the inventory data receiving module is used to receive the inventory data; the abnormality determination module is used to judge whether the inventory area exists to be checked according to the inventory data and the inventory data of the inventory area location.

In the fourth aspect, the embodiment of the present disclosure also provides a bin inventory device, the device is applied to an inventory robot, and the device includes: an instruction receiving module, configured to receive an inventory instruction in an inventory area, and the inventory instruction is used for Controlling the inventory robot to perform an inventory of the inventory area; an inventory data generation module, configured to perform an inventory of the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area; an inventory data sending module for Sending the inventory data; the inventory area includes a plurality of warehouse locations, the inventory data includes a queue of bin identification codes, and the inventory data is used for comparison with the inventory data in the inventory area to determine the inventory Whether there is a warehouse location to be checked in the area.

In a fifth aspect, an embodiment of the present disclosure further provides a scheduling device, including: a memory and at least one processor; the memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, so that the At least one processor executes the bin inventory method provided in any embodiment corresponding to the first aspect of the present disclosure.

In a sixth aspect, an embodiment of the present disclosure also provides an inventory robot, including: a memory and at least one processor; the memory stores computer-executable instructions; at least one processor executes the computer-executable instructions stored in the memory, so that the At least one processor executes the bin inventory method provided in any embodiment corresponding to the second aspect of the present disclosure.

In a seventh aspect, an embodiment of the present disclosure further provides a storage system, including a storage shelf, a scheduling device provided in an embodiment corresponding to the fifth aspect of the present disclosure, and an inventory robot provided in an embodiment corresponding to the sixth aspect of the present disclosure.

In the eighth aspect, the embodiments of the present disclosure further provide a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the processor executes the computer-executable instructions, any implementation of the present disclosure can be realized. The box inventory method provided by the example.

In a ninth aspect, 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 inventory method provided in any embodiment of the present disclosure is implemented.

The material box inventory method, device, dispatching equipment, robot, and storage system provided by the embodiments of the present disclosure control the inventory robot to perform an inventory of the inventory area based on the inventory instruction of the inventory area, and obtain the inventory data of the inventory area. The inventory data includes all A queue of material box identification codes composed of material box identification codes of material boxes stored in multiple storage locations for inventory; when the inventory is completed, based on the inventory data of the inventory area and the pre-stored location data of the inventory area, it is judged Whether there is a storage location to be checked in the inventory area that needs further inspection, thereby realizing batch inventory based on the area and improving the efficiency of the inventory. The outbound task is carried out smoothly and without error, which improves the operating efficiency of the outbound task.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is an application scene diagram of a bin inventory method provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of a bin inventory method provided by an embodiment of the present disclosure;

FIG. 3A is a schematic diagram of the beam of the bin identification device in the embodiment shown in FIG. 2 of the present disclosure;

FIG. 3B is a schematic diagram of the inventory robot in the embodiment shown in FIG. 2 of the present disclosure using a single storage location mode;

FIG. 3C is a schematic diagram of the inventory robot in the embodiment shown in FIG. 2 of the present disclosure adopting multi-storey inventory;

FIG. 3D is a schematic diagram of cross-counting of two inventory robots in the embodiment shown in FIG. 2 of the present disclosure;

FIG. 3E is a schematic diagram of storage shelf inventory in the embodiment shown in FIG. 2 of the present disclosure;

FIG. 3F is a schematic diagram of determining the range to be inspected in the embodiment shown in FIG. 2 of the present disclosure;

FIG. 3G is a schematic diagram of batch inventory of multi-deep shelves provided by an embodiment of the present disclosure;

Fig. 3H is a schematic diagram of a cross inventory of multi-deep shelves provided by an embodiment of the present disclosure;

Fig. 4 is a flowchart of the steps of determining the unit to be inspected provided by an embodiment of the present disclosure;

FIG. 5 is a flowchart of the steps of determining the unit to be inspected provided by another embodiment of the present disclosure;

Fig. 6 is a flow chart of the steps of determining the unit to be inspected provided by another embodiment of the present disclosure;

FIG. 7 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure;

FIG. 8 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure;

FIG. 9 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure;

FIG. 10 is a schematic structural diagram of a scheduling device provided by an embodiment of the present disclosure;

FIG. 11 is a schematic structural diagram of an inventory robot provided by an embodiment of the present disclosure;

Fig. 12 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.

By means of the above-mentioned drawings, certain embodiments of the present disclosure have been shown and will be described in more detail hereinafter. These drawings and written description are not intended to limit the scope of the disclosed concept in any way, but to illustrate the disclosed concept for those skilled in the art by referring to specific embodiments.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. In one embodiment, the following embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

The application scenarios of the embodiments of the present disclosure are explained below:

Figure 1 is an application scene diagram of the material box inventory method provided by the embodiment of the present disclosure. As shown in Figure 1, the storage system often has the wrong material box stored on the storage shelf, such as the storage location corresponding to the material box In case of confusion, especially for a storage system with a human-machine mix (that is, a storage system in which operators and robots work together), due to manual intervention, it is more likely to cause errors in the storage boxes stored on the storage shelves 110 of the storage system. , if the storage location corresponding to the material box is out of order, it is necessary to take inventory of the material boxes stored on each storage shelf 110 of the storage system during the interval between pick-and-place operations.

In one embodiment, the storage rack 110 includes multiple layers and multiple rows of locations. In FIG. 1 , the storage rack 110 includes 2 layers and 6 rows as an example, and each location can store one or more material boxes.

In one embodiment, based on the dispatching equipment or the inventory data stored in the storage system 120, the operator can take inventory of the material boxes stored on each location of the storage shelf 110 in turn. The manual inventory method is inefficient and accurate. Can't be sure.

In one embodiment, the robot 130 may perform inventory counting of the bins stored on the warehouse location. Specifically: the robot 130 walks to each warehouse location in turn, identifies the bin identification code of the bin stored on the bin, and sends it to the dispatching device or storage system 120, and the dispatching device or storage system 120 judges the received bin identification code. Whether the code is consistent with the material box identification code of the warehouse location recorded in the pre-stored inventory data. If not, the material box stored on the warehouse location is wrong, and the material box needs to be adjusted to prevent the subsequent material box from being released. An error occurred in the library task.

The above-mentioned robot-based inventory method takes inventory as a unit. For a storage system with a large inventory, such as a storage system that stores building blocks, toys, and auto parts, a single warehouse inventory with a warehouse as a unit is adopted. , Inventory efficiency is low, time-consuming, unable to meet demand. And the long-term inventory task will affect other tasks of the storage system, thereby reducing the operating efficiency of other tasks.

In order to improve the efficiency of material box inventory, the disclosed embodiment provides a material box inventory method. The main concept of the method is: to carry out batch inventory with the inventory area including multiple storage locations as a unit, and after the inventory is completed, just pass the inventory The comparison between the data and the location data can determine whether there is a location that needs to be checked in the inventory area, which reduces the time for the inventory robot to perform the inventory task, improves the inventory efficiency, and thus reduces the impact of the inventory task on the operation efficiency of other tasks .

Fig. 2 is a flow chart of a material box inventory method provided by an embodiment of the present disclosure. As shown in Fig. 2, the material box inventory method can be executed by a scheduling device or a storage system, and the scheduling device is mainly used for robot scheduling or control, such as To assign inventory tasks, pick-and-place tasks, etc. to the robot, the bin inventory method provided in this embodiment includes the following steps:

Step S201, generating an inventory instruction for the inventory area, and sending the inventory instruction to the inventory robot, the inventory instruction is used to control the inventory robot to perform an inventory of the inventory area, so as to obtain the inventory data corresponding to the inventory area .

Wherein, the inventory area includes a plurality of warehouse locations, and the inventory data includes a queue of bin identification codes. When the inventory robot takes inventory of the corresponding inventory area, it can take an inventory unit as a unit, and the inventory unit can be one warehouse location or multiple warehouse locations. The queue of material box identification codes may be composed of material box identification codes of material boxes stored in multiple inventory locations or multiple inventory units. When no material box is stored in each inventory location or inventory unit counted by the inventory robot, the queue of the material box identification code in the inventory data of the inventory robot is an empty queue. The inventory location is the location that needs to be counted in the inventory area, and the inventory unit is the unit that needs to be counted in the inventory area.

In an embodiment, an inventory area corresponding to an inventory robot may generate a queue of bin identification codes. Or multiple inventory areas corresponding to an inventory robot inventory can generate a queue of bin identification codes.

The bin identification code queue is a collection of bin identification codes collected by the inventory robot at the inventory area based on the inventory instruction.

Step S202, receiving the inventory data.

In one embodiment, after the stocktaking robot completes the corresponding stocktaking task, it uploads the generated stocktaking data to the storage system or the dispatching device or the storage system.

In an embodiment, the inventory data may further include a robot ID of the inventory robot or an area ID of the inventory area, so as to determine the inventory area corresponding to each inventory data based on the robot ID or the area ID of the inventory area.

Step S203, according to the inventory data and the inventory data in the inventory area, it is judged whether there is a stock location to be checked in the inventory area.

Among them, the storage location to be checked is a storage location in the inventory area where there may be abnormal storage of material boxes.

In one embodiment, each inventory area may include multiple storage locations. The inventory data may include the bin identification codes of each bin collected or recognized or read by the inventory robot. The material box identification code is an identification code used to identify the material box, which may be a two-dimensional code, a barcode, a code, an electronic label, and the like.

In one embodiment, the material box identification code can be set on one or more set sides of the material box, such as two opposite sides, and one or more material box identification codes can be set on each set side, so that Use the inventory robot to collect the bin identification code. Inventory robots can be mobile devices such as drones and automatic guided vehicles.

In one embodiment, the stocktaking area may include at least one storage shelf, and each storage shelf may include multiple rows and columns of storage locations, and each storage location may store a material box.

In an embodiment, the stocktaking area may include one or more rows, one or more columns in a storage shelf, and may also include a certain part of a storage shelf.

In an embodiment, the physical space corresponding to the inventory area may be a continuous or discontinuous space.

In one embodiment, the inventory robot performs inventory in units of inventory units in the inventory area. The inventory unit is determined according to the identification range of the bin identification device set on the inventory robot, and one inventory unit may include one or more warehouse locations. It should be understood that "taking inventory units as units of inventory" does not mean that the inventory area must be divided into multiple inventory units, but that the material box identification device performs the inventory in units of inventory units, that is, the material box identification device or inventory The robot can identify each inventory unit to collect the corresponding bin identification code (in some other embodiments, for example, the inventory robot walks at a very fast speed, and the bin identification device is always on, constantly passing by the bin identification device In this case, the bin identification code may be collected continuously, that is to say, the bin identification device and the inventory robot may not be able to identify the corresponding bin identification code collected by each inventory unit. code). When the inventory unit has multiple storage locations, each inventory unit can overlap with each other. For example, a certain location can belong to inventory unit A and inventory unit B at the same time, as long as the material box identification device, inventory robot or used to manage inventory It is enough that the information system (such as dispatching equipment) can recognize this overlap.

In one embodiment, when an inventory area is counted, it can be identified by using the single storage location mode. In the single storage location mode, the inventory unit is a single storage location, that is, the inventory robot takes the inventory location as the unit for each inventory of the inventory area. The warehouse location is used for inventory, and the inventory warehouse location is the warehouse location that needs to be counted in the inventory area. As described in detail in conjunction with the subsequent Figure 3B, the single storage location mode, that is, when collecting the material box identification code, if misreading and cross-reading are excluded, the inventory robot or the material box identification device set on the inventory robot can be used once. Reading usually only reads the bin identification code corresponding to one bin, or even if the bin ID corresponding to more than one bin is read at one time, it can also be read from the multiple bin IDs. Determine the material box identification code of the inventory location, that is, the material box identification code of the storage location to be counted.

In one embodiment, when an inventory area is counted, the multi-location mode can be used for identification. In the multi-location mode, the inventory unit is multiple locations, that is, the inventory robot takes multiple locations or inventory units as a unit Perform an inventory of each inventory unit in the inventory area. As described in detail in the subsequent Figure 3C, when collecting the material box identification code, even if misreading and cross-reading are ruled out, the one-time reading of the inventory robot or the material box identification device set on the inventory robot can also be read. Get the bin identification codes corresponding to more than one bin.

In one embodiment, when the inventory robot takes inventory of the storage shelves in the inventory area, it can adopt the method of fixed-point inventory, that is, walk to each set position point of the storage shelf that needs to be counted, so as to complete the inventory of all storage shelves in the storage shelf. inventory. The bin identification device of the inventory robot can be turned on when the inventory robot is within the preset range of the set position point or at the set position point, so as to collect the bin identification code. Wherein, the set location point can be determined by the storage system or the dispatching equipment, for example, each set location can be determined according to the distribution of each inventory unit in the inventory area, and one set location can correspond to one or more inventory units.

Exemplarily, taking the inventory area as a storage shelf as an example, the storage shelf includes 5 rows and 5 columns of storage locations, and the working range of the material box recognition device of the inventory robot is 1 row and 3 columns, then the set position points can be 2 , one of which is located at the location point corresponding to the second column location, and the other is located at the location point corresponding to the fourth column location point, the inventory robot can reciprocate at these two set location points, and control the bin identification device In a high-level way, the scanning of all locations on the storage shelf is realized.

In one embodiment, the stocktaking robot can carry out stocktaking in a continuous walking manner when performing stocktaking of the storage shelves in the stocktaking area, that is, at a constant or non-constant speed, walk through each warehouse location in the stocktaking area, and use The bin identification device takes inventory of these storage locations.

It should be understood that no matter whether it is a fixed-point inventory or a continuous walking method, the inventory mode of single storage location or multiple storage locations can be used.

In one embodiment, when the stocktaking robot performs stocktaking in the stocktaking area, it can use a relatively fast walking speed, and keep turning on the bin identification device. In this case, the material box identification device will continuously collect many material box identification codes. In one embodiment, due to the collection method of the bin identification device, the collected bin identification codes are not in strict order, that is, it cannot be determined that the bin identification code A collected first must correspond to the bin identification code. The storage location that the device passes first, and then the material box identification code B collected must correspond to the storage location that the material box identification device passes after. At this time, all the collected material box identification codes can be regarded as a whole, and after they are deduplicated, a material box identification code queue is formed, which is directly reported to the information system for managing inventory, and the information system uses the information provided by the present invention. The identification method described above is used to determine whether the inventory is successful. For example, for a shelf, use this method to form a queue of material box identification codes, after sending it to the information system, if the information system determines that the material box identification codes of the material boxes that need to be in the shelf are all in the material box identification code queue , it is determined that the inventory is successful; if the information system finds that one of the box identification codes of the boxes that need to be in the shelf is not in the box identification code queue, it is considered that the inventory is not successful, and some boxes are not in the storage location, and need to be checked The location or the location and the locations next to it. In this case, the container identification code queue will also include some container identification codes other than the container identification codes of the material boxes in the shelf (hereinafter referred to as "more read material box identification codes") , but the existence of these material box identification codes does not constitute inventory failure, because they are likely to be material box identification codes serially read from other warehouse locations. In one embodiment, if the information system finds that the location corresponding to a certain over-read bin identification code in the inventory data is very far away from the shelf being inventoried (for example, exceeding a certain threshold distance, the threshold The distance can be the range that the material box identification device may collect or superimpose a margin on this range), then it can be determined that this multi-read material box identification code cannot be read in series, so it can be determined that this The over-read bin ID comes from a bin that was misplaced on or near the shelf, and the over-read bin ID is recorded, because in the subsequent inventory, the ID of the bin is counted. When the code book should be in the storage location, it will be found that there is no box in the storage location. At this time, the recorded material box identification code can be used to directly locate the shelf where it may be located, and find this box in or near the shelf. a box. The above-mentioned inventory robot walks at a faster speed and takes inventory of the entire shelf or a whole row, a whole column or other part of the shelf as a whole, which is especially beneficial for large warehouses that pursue inventory efficiency. Warehouses are also particularly beneficial (the inventory of double-deep racks will be described in conjunction with Figure 3G). This inventory method is usually combined with the multi-location inventory mode to obtain higher efficiency.

In one embodiment, according to one or more of factors such as the location of the storage shelf and the type of materials stored in the storage shelf, each inventory area can be divided in units of storage shelves or other physical ranges, and each inventory The area ID of the area is used to identify the inventory area corresponding to each inventory data based on the area ID.

In one embodiment, for each storage shelf to be counted, according to the type of material stored in the storage shelf and the location of the storage shelf, a plurality of storage shelves to be counted are divided into one or more inventory areas, thereby reducing the time spent by the inventory robot. The walking distance when performing the inventory task in the corresponding inventory area.

In one embodiment, the type of material may be determined by one or more of factors such as size, characteristic, and price of the material.

In one embodiment, the material type can be related to the inventory method, such as including batch inventory type and non-batch inventory type, and the batch inventory type can be subdivided into two types: single storage location mode and multiple storage location mode. The types of materials stored in the material bins mentioned in the present disclosure are all types of batch inventory. When taking stock of a material box containing materials that are not counted in batches, the quantity of materials stored in the material box needs to be counted, and the material box inventory method mentioned in this disclosure is not applicable.

In one embodiment, the dispatching device or the storage system may generate inventory instructions for each inventory area according to the inventory requirements of each inventory area. Wherein, the inventory requirement of the inventory area may include each inventory location in the inventory area, and the inventory location may be part or all of the storage shelves in the inventory area. The counting instruction may include the position of the counting area, such as the counting start point and the counting end point, or may include the positions of each storage shelf corresponding to the counting area.

In one embodiment, the stocktaking instruction may also include the location of each stocktaking node, so that the stocktaking robot performs path planning based on the location of each stocktaking node.

In one embodiment, the inventory of each unit or storage location of each storage shelf in the inventory area may be performed by default.

In one embodiment, the inventory data of each inventory area includes a queue of bin identification codes, which are the bins collected by the inventory robot at multiple locations corresponding to the corresponding inventory area based on the inventory instruction. A collection of identifiers. Each material box identification code in the material box identification code queue can be sorted according to the collection sequence. In one embodiment, one inventory area corresponds to one bin ID queue.

In one embodiment, after the inventory data is received, deduplication processing may be performed on the bin identification queue in the inventory data.

In one embodiment, if two adjacent bin identification codes in the bin identification queue are the same, one of the two bin identification codes needs to be removed.

In one embodiment, the inventory robot can deduplicate the inventory data, and the bin identification code queue is obtained after deduplication of all bin identification codes collected by the inventory robot in the inventory area. For example, deduplication processing is performed on a plurality of identical material box identification codes that are consecutive in the queue of material box identification codes, so as to reduce the data volume of the inventory data.

In one embodiment, the stocktaking robot performs stocktaking in units of stocktaking units. For example, the stocktaking robot walks at a relatively fast speed, and the material box identification device is continuously turned on, so as to continuously collect material box identification codes for each storage location in the inventory area. At this time, the bin identification code queue can be obtained after collecting the bin identification codes for the entire inventory area or a part of the inventory area (for example, a row on the shelf), and deduplicating all collected bin identification codes. A combination of bin IDs. At this time, the entire queue of material box identification codes corresponds to the entire inventory area or a part of the inventory area, while the material box identification codes inside the queue of material box identification codes cannot accurately correspond to a certain warehouse location or inventory unit.

In one embodiment, the stocktaking robot performs stocktaking in units of stocktaking units. The inventory robot can identify that it is currently performing an inventory for a certain inventory unit, so the collected material box identification code will correspond to this inventory unit. The container identification code corresponding to a certain inventory unit is regarded as a set of container identification codes, and these sets of container identification codes are combined to form a queue of container identification codes.

In one embodiment, the bin identification device is intermittently turned on, and each time it is turned on, a collection unit is collected, and all bin identification codes collected during a single opening are classified into the same bin identification code set . In one embodiment, the bin identification device is intermittently or continuously turned on. When the difference between the collection time points corresponding to the two bin identification codes collected successively is less than a preset value, it can be considered that the two bin identification codes are codes come from the same inventory unit, so the two bin IDs are included in the same bin ID set. For example, it can be set that the two successively collected bin identification codes whose difference in collection time is less than 1 millisecond come from the same inventory unit. In one embodiment, when the inventory robot performs an inventory of the inventory area, the bin identification device is intermittently or continuously turned on, and when the two bin identification codes collected successively are collected, the corresponding geographic location of the bin identification device is If the difference is smaller than the preset value, it can be considered that the two material box identification codes come from the same inventory unit, so the two material box identification codes are classified into the same material box identification code set. For example, it can be set that if the two bin identification codes collected successively are collected, the inventory robot corresponds to the same geographical coordinate in the warehouse plane, and the mechanical arm installed with the bin identification device is at the same height, then it is considered that this Both bin IDs are from the same inventory unit.

In one embodiment, in order to improve inventory efficiency, the inventory robot only needs to identify the bin identification code of the material box during the inventory, and does not need to identify the location identification code of the location where the bin is stored, that is, the inventory data may not include the inventory. The logistics location identification code of the logistics location or inventory location.

In one embodiment, if there is an empty warehouse location in the inventory area, that is, a warehouse location where no material box is stored, the material box identification code corresponding to the warehouse location is empty or empty.

In one embodiment, if no material box is placed in each storage location in the inventory area, then the material box identification code queue corresponding to the inventory area is an empty queue or an empty code queue, that is, the material box identification code queue in the material box identification code queue The number of case IDs is 0.

In one embodiment, the set of bin identification codes can be obtained by the inventory robot identifying different storage rack locations, or by identifying multiple storage locations on different layers or columns of the same storage rack, or by It is obtained to identify multiple warehouse locations that are not continuous or discrete in physical space.

In one embodiment, when each inventory robot executes the inventory task corresponding to the inventory instruction, it can form the bin identification codes of the collected or identified bins into a bin identification code queue, and report it to the dispatching device or the storage system.

In one embodiment, after the stocktaking robot executes the corresponding stocktaking task based on the corresponding stocktaking instruction, it reports the obtained stocktaking data including the bin identification code queue to the dispatching device or the storage system.

In one embodiment, after the stocktaking robot completes stocktaking in multiple areas, it reports the bin identification code queues corresponding to the multiple areas to an information system for managing stocktaking, such as a scheduling device or a storage system.

In one embodiment, one stocktaking area may correspond to one stocktaking robot, or one stocktaking robot may perform stocktaking of one stocktaking area.

In one embodiment, one inventory area may correspond to multiple inventory robots, or multiple inventory robots may perform inventory in the same inventory area.

In one embodiment, the stocktaking robot may be any idle robot, or may be a robot specially used for stocktaking of bins.

In one embodiment, the dispatching device or the storage system can determine the inventory robot corresponding to each inventory area based on the proximity principle based on the location of each inventory robot, and then issue the inventory instructions of each inventory area to the corresponding inventory robot.

In one embodiment, after the inventory robot receives the inventory instruction, it moves to the inventory starting point of the corresponding inventory area based on the inventory instruction, and turns on the bin identification device, such as a code reader, an image sensor, etc., and the code reader can read electronic The label code reader, two-dimensional code or bar code reader, etc., sequentially identify the material box identification codes of the material boxes stored in each location in the inventory area, and obtain a material box identification code queue in the inventory area. In one embodiment, when the inventory counting area is completed, for example, when walking to the end point of the inventory counting, the bin identification code queue of the inventory area is uploaded to the dispatching device or the storage system.

Further, after the inventory robot receives the inventory instruction, it can perform path planning according to the location of the inventory area in the inventory instruction, or the location of each storage shelf that needs to be inventoried in the inventory area, or the location of each inventory node, based on the planned Walk the path to the inventory area and perform an inventory of the material boxes stored in each storage location in the inventory area.

In one embodiment, when the inventory robot performs an inventory of the corresponding inventory area based on the inventory instruction, it can walk along the planned route at a constant speed, and turn on the bin identification device during walking to collect the bin identification of each bin stored in the inventory area. code.

In one embodiment, as described in detail in conjunction with FIG. 3B and FIG. 3C , the identification range (or working range, scanning range or inventory accuracy) of the bin identification device of the inventory robot can be selected or adjusted according to requirements.

In one embodiment, the identification range of the bin identification device of the inventory robot may be the range corresponding to only one storage location, and the corresponding identification mode at this time is the single storage location mode.

In one embodiment, the identification range of the bin identification device of the inventory robot may be the range corresponding to multiple storage locations, and the corresponding identification mode at this time is the multi-storage location mode.

Exemplarily, taking the case identification device as an electronic label code reader as an example, the working range of the electronic label code reader can be adjusted by controlling the power of the electronic label code reader.

Further, according to the number of rows and columns of the warehouse location included in the storage shelf corresponding to the inventory area and the inventory time of the inventory area, the type of the material box identification device of the inventory robot that executes the inventory area can be determined, wherein the material box Types of identification devices include single-location type and multi-location type. The material box identification device of the single storage location type can only identify the material box identification code of the material box stored on one storage location in one scan, that is, the identification range of the material box identification device is a single storage location; the multi-location type material box identification device One scan can identify the material box identification codes of the material boxes stored in multiple storage locations, that is, the identification range of the material box identification device is multiple storage locations.

Further, the multi-location type material box identification device can be divided into the first type, the second type and the third type. The first type of material box identification device can identify the material stored on a column and multiple rows of storage locations in one scan. The material box identification code of the box, the second type of material box identification device can identify the material box identification code of the material box stored on the warehouse location with multiple columns and one row, and the third type of material box identification device can identify multiple rows in one scan The material box identification code of the material box stored on the warehouse location of multiple rows.

Referring to FIG. 3A , different types of bin identification devices output different beams or field of view ranges. Fig. 3A is a schematic diagram of the beam of the bin identification device in the embodiment shown in Fig. 2 of the present disclosure. As shown in Fig. 3A, the shape of the projection of the beam r1 on the vertical plane is elliptical, and the corresponding bin identification device The type is the first type, to identify a column with multiple rows of storage locations; the shape of the projection of the beam r2 on the vertical plane is an ellipse, and the type of the corresponding material box identification device is the second type, to identify multiple columns and a row of storage locations , the shape of the projection of the beam r3 on the vertical plane is circular, and the type of the corresponding bin identification device is the third type, to identify multiple columns, multiple rows and storage locations, and the shape of the projection of the beam r4 on the vertical plane is Circular or elliptical, the type of the corresponding bin identification device is a single storage location type to identify a single storage location. It should be understood that the beam r3 corresponding to the third type may also be elliptical.

In one embodiment, a bin identification device with a suitable beam (or field of view) can be selected to realize the various types of bin identification devices described above.

In one embodiment, the shape of the beam (or field of view) of the material box identification device can be adjusted by adjusting the peripheral devices of the material box identification device, so as to realize the above-mentioned various types of material box identification devices.

In one embodiment, the peripheral device may include a baffle to change the shape of the beam (or field of view) of the bin identification device.

Exemplarily, the peripheral device can limit the recognition range of the bin recognition device. For example, when the bin identification device is a camera, the peripheral device may be a baffle that limits the field of view. For another example, if the bin identification device is an electronic tag reader, the peripheral device may be a device that blocks and/or absorbs beams in a certain direction.

In one embodiment, the beam shape of the electronic tag reader can be adjusted by adjusting the internal structure of the antenna of the electronic tag reader.

In one embodiment, the recognition range of the beam of the electronic tag reader can be adjusted by adjusting the power of the electronic tag reader, so as to realize the corresponding recognition mode.

In one embodiment, by adjusting the distance between the bin identification device and the storage rack, the identification range of the electronic tag reader on the plane where the bin identification code set on the bin placed on the storage rack is located can be adjusted.

In one embodiment, each material box identification code set on the material box placed on the storage shelf is substantially in the same vertical plane, that is, if the material box identification codes set on the material box are not completely in the same vertical plane planes, and the vertical planes they are in are also relatively close to each other. At this time, by adjusting the distance between the material box identification device and the storage shelf, the identification range of the material box identification device on the vertical plane can be adjusted. The distance between the material box identification device and the storage shelf when the inventory robot takes stock of the storage shelf is recorded as the first distance. When the above-mentioned first distance increases within a certain range, the identification range of the bin identification device of the inventory robot increases accordingly. When the above-mentioned first distance increases within a certain range, the identification range of the bin identification device of the inventory robot will decrease accordingly.

In one embodiment, if the identification range of the material box identification device of the inventory robot is small, the material box identification device can only identify the material box identification code of the material box stored on one storage location in one scan, that is, the material box identification device. If the identification range is a single storage location, the first distance can be any value greater than or equal to the safety distance, such as 0.1m, 0.2m, 0.3m or other values. Among them, the safe distance is the distance that the inventory robot needs to keep from the storage shelf or the inventory object during the inventory.

In one embodiment, if the identification range of the material box identification device of the inventory robot is relatively large, the material box identification device can identify the material box identification codes of the material boxes stored on multiple storage locations in one scan, that is, the material box identification device. The identification range is multiple storage locations, such as multiple storage locations in one row, one storage location in multiple rows, or multiple storage locations in multiple rows, then the first distance can be a relatively long distance, such as 0.5m, 0.8m.

In one embodiment, the inventory robot can adjust the position and/or posture of the inventory robot, or adjust the position of the bin identification device provided on it, thereby adjusting the distance between the bin identification device and the storage shelf being counted ( i.e. the first distance above).

Referring to FIG. 3B , FIG. 3B is a schematic diagram of the inventory robot in the embodiment shown in FIG. 2 of the present disclosure using a single storage location mode. As shown in FIG. 3B , the scanning range of the inventory robot 320 is a single storage location. The height of the storage rack is 5m, and the number of storeys included is 15. The width of the aisle between two adjacent storage racks is 1m, which cannot allow two inventory robots to pass in parallel. The distance between the bin identification device 321 of the inventory robot 320 and the storage shelf 310 can be a relatively short distance, such as 0.1 m, so as to avoid the phenomenon that the identification fails due to a long distance. The dotted line in FIG. 3B is used to indicate the scanning range of the bin identification device 321 . The inventory robot 320 can first align the material box identification device 321 with the first row and first column location of the storage rack 310 , and walk along the direction of the row, thereby identifying each location of the first row of the storage rack 310 . After the identification of a row of warehouse locations is completed, the inventory robot 320 can raise the material box identification device 321 to align with the last column location of the second row of the storage rack 310, and walk along the direction of the row, thereby identifying the second row of the storage rack 310 each warehouse location. Similarly, by reciprocating and changing the height of the bin identification device 321 , all storage locations of the storage rack 310 are traversed to realize the inventory of the storage rack 310 and obtain the inventory data of the storage rack 310 .

In one embodiment, when the inventory robot 320 scans a certain row of shelves, it is in a continuous walking state. When the inventory robot 320 walks within the set range of the warehouse location required for inventory, the bin identification device 321 is turned on and leaves the set range. Then turn off the material box identification device 321 again, and turn on the material box identification device 321 again when walking to the set range of the storage location required for inventory.

In one embodiment, the inventory robot 320 may first identify or determine its current location, and then determine whether to walk within the set range of the storage location required for inventory based on the current location.

In one embodiment, the inventory robot 320 can automatically turn on and off the bin identification device 321 according to a certain period of time according to the walking speed and the size of the storage location, so that the bin identification device 321 can only walk to the storage location required for inventory. It is turned on only when it is within the setting range.

In one embodiment, the inventory robot 320 is in a discontinuous walking state when scanning a certain row of shelves, that is, it pauses when walking to the warehouse location required for inventory, that is, it stops before the warehouse location required for inventory, and reads or After identifying the bin identification codes of the bins stored in this warehouse location, start walking again until reaching the next warehouse location that needs to be counted, and so on, and carry out each warehouse location or each inventory warehouse that needs to be counted in the way of intermittent walking Identification or reading of the bin identification code of the bin stored on the position.

In one embodiment, the inventory robot 320 is in a walking state with fluctuating speed, that is, the inventory robot 320 walks at a relatively fast speed until it reaches the storage location required for inventory, then reduces the walking speed, and reads the information stored on the storage location. The material box identification code of the material box, and then walk again at a faster speed until it reaches the next warehouse location required for inventory.

In one embodiment, each material box on the storage shelf has a known and standardized size, and the material box identification code provided on each material box has a known and fixed position, that is, the material boxes stored on the storage shelf are all Standard bin or specification bin. At this time, the identification range of the material box identification device 321 may be relatively small so as to accurately capture the material box identification code. This can reduce the serial reading of the bin identification codes of the bins stored in adjacent storage locations, reduce the power consumption of the bin identification device 321 , and prolong the battery life of the inventory robot 320 .

In one embodiment, the bin identification device 321 is an electronic tag reader, and the bin identification code is an electronic tag such as RFID.

In one embodiment, the bin identification device 321 is a camera, and the bin identification code is a visual identification code such as a two-dimensional code.

In one embodiment, if the cross-reading of the material box identification device 321 is serious, the material box identification codes that are actually read on the warehouse location can be identified according to the material box identification codes read by the adjacent warehouse location and the adjacent warehouse locations of the warehouse location. Box ID.

In one embodiment, the bin identification codes of the bins stored in the warehouse location can be determined through the intersection of the bin identification codes read by the adjacent warehouse location and the adjacent warehouse locations of the warehouse location. For example, when an inventory robot walks in the direction of the roadway and conducts batch inventory of all locations in a row in single location mode, it reads the identification codes of the material boxes as A, B, and C at the current location, and reads A, B, D, read B, C, E, F at the next storage location behind their counterparts. Take the intersection of the current storage location and the container identification code read in the previous storage location to obtain A and B. Take the intersection of the current storage location and the material box identification code read in the next storage location to obtain B and C. Finally, take the intersection of these two intersection results again, and obtain B, which is the material box identification code of the material box stored in this location. If the cross-reading of the material box identification device 321 seriously causes the final intersection result to include more than one material box identification code, for example, the result of the final intersection is B, X, then it can be judged whether the material box B that should be placed on the warehouse location is It exists in the intersection result to determine whether the inventory is successful. This is because, by adopting the above method of intersection, it is still possible to remove the bin identification codes that are not related to the storage location in certain directions, leaving the bin identification codes that are most relevant to the storage location. Therefore, if the final intersection result still contains more than one material box identification code, it means that it is a material box identification code serially read in other directions. For example, in the above-mentioned embodiment, since the robot walks horizontally along the shelf, the above intersection is sufficient to exclude the bin identification codes read in the transverse direction of the shelf, so it can be judged that the robot is in the vertical direction or in the depth direction of the shelf. The ID code of the bin read by serial. It can be understood that according to this idea, it is easy for technicians to design an appropriate algorithm to solve the problem of cross-reading for the inventory of the bin identification device 321 with a common identification range, so as to identify the bin identification code of the bin stored in the storage location. In one embodiment, an inventory robot working in a multi-location mode can be used, for example, an inventory robot that reads three locations in the same row at one time to implement the above inventory, and accurately determine a certain location through the above method of intersection. The identification code of the loading box of the storage location.

In one embodiment, if the cross-reading of the material box identification device 321 is serious, the actual material box identification code read at the storage location can be identified according to the signal strength of the material box identification code read at the storage location. For example, the identification range of the material box identification device 321 is a single warehouse location identification, and the material box identification codes read at a certain warehouse location are A, B, and C, and their signal strengths are respectively 0.4, 1.2, and 0.5, so it can be determined that the The material box identification code of storing the material box at the warehouse location is B; if the material box identification code read by the material box identification device 321 at another warehouse location is E, F, and its signal strength is 0.3 and 0.2 respectively, then it can be Make sure there are no bins stored in this location.

In one embodiment, if the cross-reading of the material box identification device 321 is serious, after reading the material box identification codes of multiple storage locations, as a whole, without distinguishing the order of each other, it can be compared with these pre-stored in the inventory data. Compare the material box identification codes of the material boxes that should be placed in the storage location.

In one embodiment, if the horizontal cross-reading of the material box identification device 321 is serious (along the direction of the roadway), all the material box identification codes of a row of storage locations may be read first. Then, deduplicate all the read container identification codes to obtain a number of container identification codes to form a queue, and then compare them with the container identification codes of the material boxes that should be placed in the row location that are pre-stored in the inventory data. If all the bin identification codes of the bins that should be placed in the warehouse location are found in the queue, it is considered that the inventory is successful and there is no need to check. If the material box identification code of the material box that should be placed in the warehouse location is not found in the queue, it will be recorded as a missing material box identification code, and the original warehouse location of the material box with the missing material box identification code will be determined as Unit to be inspected.

In one embodiment, since the material box may be misplaced on an adjacent storage location, the original location of the missing material box identification code and one or more storage locations within a certain range nearby may be determined as waiting for inspection unit, the range can be determined as required.

In one embodiment, if the vertical cross-reading of the material box identification device 321 is serious (vertical direction), all the material box identification codes of a column of warehouse locations can be read first, and then as a whole, without distinguishing the order of each other , and compare it with the material box identification code of the material box that should have been placed in this column of warehouse locations pre-stored in the inventory data.

In one embodiment, if the horizontal and vertical cross-reading of the material box identification device 321 is very serious, all the material box identification codes of all locations on a storage shelf can be read first, and then as a whole, do not distinguish between each other The sequence is compared with the material box identification codes of the material boxes that should have been placed on all locations of the storage rack pre-stored in the inventory data.

In one embodiment, the bin identification device 321 that has substantially no cross-reading in at least one direction is preferentially selected for batch inventory.

Referring to FIG. 3C, FIG. 3C is a schematic diagram of an inventory robot adopting a multi-location method for inventory in the embodiment shown in FIG. Taking 1 row of 5 rows as an example, the working range of the bin identification device 341 of the inventory robot 340 can be 1m to 2m, and the distance from the storage shelf 330 can be 0.5m to 0.8m, so as to prevent the working range from being too small, resulting in failure to identify in one scan Multi-line location. This can also prevent the bin identification device 341 from having too much working range in the space behind the shelf, thereby causing more string readings of the bin identification codes of the bins stored on the storage positions of the storage racks behind it. It can be understood that the above-mentioned working range of the bin identification device 341 and the distance from the storage shelf 330 are examples and can be adjusted as required.

In FIG. 3C , the dotted line is used to indicate the working range of the container identification device 321 . The working range of the bin identification device 341 is one column and five rows. The inventory robot 340 can first align the material box identification device 341 with the first row and the third row of the storage shelf 330, and walk along the direction of the row, thereby identifying each storage location from the first row to the fifth row of the storage shelf 330, and then Raise the bin identification device 341 to align with the last column of the eighth row of the storage rack 330, and walk along the direction of the row, thereby identifying the storage racks 330 The sixth row to the tenth row of each storage position, and then the The bin identification device 341 is raised to align with the location of the twelfth row and the first column of the storage rack 330 , and walks along the direction of the row, so as to identify each storage location of the twelfth row to the fifteenth row of the storage rack 330 . In this way, only three trips are required to take stock of all storage positions of the storage rack 330 . Comparing Fig. 3B and Fig. 3C, it can be seen that the method of adopting multiple storage locations greatly improves the inventory efficiency.

In one embodiment, when the material box identification device 341 with a recognition range of one column and five rows is turned on, it can identify the material box identification codes of the material boxes stored on a certain column of five rows of storage locations, such as five material box identification codes can be read. code.

In one embodiment, the inventory robot 340 does not distinguish the bin identification code read for a certain opening, and the bin identification code read for this opening is related to the time, sequence number, and bin identification code corresponding to the opening. The geographic location of the device 341 and other information that can identify the opening (hereinafter referred to as "the opening identification information") are associated and added to the bin identification code queue. In this case, the system compares the material box identification code read by the opening with the material box identification code that should have been placed on the storage location corresponding to the opening in the inventory data. If the comparison results are consistent, there is no need to Check the warehouse location corresponding to the opening time. If the comparison result is inconsistent, the warehouse location corresponding to the opening time will be listed as the unit to be inspected. The inspection unit, that is, the warehouse location corresponding to the opening time, will be processed by manual or robot. Check verification.

In one embodiment, the bin identification code read for this opening is consistent with the bin identification code that should have been placed on the storage location corresponding to the opening in the inventory data, but it does not mean that the bin identification code that should have been placed on the storage location corresponding to this opening The stored material boxes are all placed in the correct position. For example, the material boxes stored in the corresponding storage location may be exchanged with each other. However, multi-location inventory does not solve this problem. Verification, this problem can be solved by optimizing the method of robot retrieving bins, so as to ensure the efficiency of bin inventory. For example, when the robot picks up the material box and finds that the material box stored in the storage location is incorrect, it first checks the other four storage locations that were counted together in the inventory. If the required picking box is not found, the system sends a "Pick up Error" message.

In one embodiment, the inventory robot 340 determines the specific corresponding warehouse location of each bin identification code read during an opening according to the signal strength of each bin identification code read during a certain opening, for example, when When the bin identification device 341 is an electronic tag reader such as RFID.

In one embodiment, the inventory robot 340 determines the specific corresponding warehouse location of each bin identification code read during an opening according to the position within the identification range of the bin identification code read during a certain opening, for example , when the bin recognition device 341 is an image recognition device such as a camera.

In one embodiment, the bin identification codes read by the inventory robot each time it is opened can be associated with specific location information, and added to the queue of bin identification codes.

In one embodiment, the inventory robot 340 associates the bin identification code read each time with the identification information corresponding to the opening, and according to the signal strength of the read bin identification code, The internal sequence number is set by the container identification code.

In one embodiment, the inventory robot 340 determines the storage location corresponding to the container identification code read by the opening according to the identification information corresponding to the opening and the internal serial number, and stores the location of the bin identification code read by the opening. The bin identification code is associated with the corresponding storage location and reported to the storage system or scheduling equipment or storage system.

In one embodiment, the inventory robot 340 reports the identification information corresponding to this opening and the internal serial number to the storage system or the dispatching equipment or the storage system, and the storage system or the dispatching equipment or the storage system determines the bins read by the opening The storage location corresponding to the identification code.

In one embodiment, due to the occurrence of cross-reading, the material box identification device 341 with a recognition range of one column and five rows may read the material box identification codes of the material boxes stored on more than five warehouse positions when it is opened, for example Six bin IDs were read.

In one embodiment, the inventory robot 340 does not distinguish the bin identification code read in a certain opening where cross-reading occurs, and associates the bin identification code read in this opening with the identification information corresponding to the opening, as A collection of bin IDs, added to the queue of bin IDs. In this case, the warehousing system or dispatching equipment or warehousing system will read the material box identification code read by the opening and the material box identification code pre-stored in the inventory data that should have been placed on the storage location corresponding to the opening (at most 5) In comparison, if the bin identification codes that should have been placed on the storage location corresponding to the opening are all within the bin identification codes read by the opening, there is no need to check the storage location corresponding to the opening; if If the material box identification code that should have been placed on the storage location corresponding to this opening exists in the material box identification code that has not been read in this opening, it will be recorded as a missing material box identification code, and the storage location corresponding to this opening will be used. They are listed together as the unit to be inspected, and further inspection and verification will be performed on the warehouse location corresponding to this opening by manual or robot.

In one embodiment, for the material box corresponding to the missing material box identification code, it may first be checked whether the material box is located in a storage location within a certain range near the storage location corresponding to the opening, such as in an adjacent column, adjacent shelf, etc., The range can be determined according to needs, for example, according to the required balance between efficiency and accuracy.

In one embodiment, if the material box corresponding to the missing material box identification code is not in the storage location adjacent to the storage location corresponding to the opening, the missing material box identification code can be recorded, and the storage location corresponding to the opening associated with the location information or identification information of the missing material box identification code (because after inspection, it is confirmed that the missing and unfilled boxes in the storage location corresponding to the missing material box identification code, the inventory information may be updated, and the corresponding missing material box identification code The location information will be lost, so this relationship can be recorded in advance), which can be used for finding or finding the material box corresponding to the missing material box identification code in other area inventory.

In one embodiment, multiple inventory robots can inventory the same inventory area.

In one embodiment, the inventory data in each inventory area comes from at least two inventory robots, and the inventory robots in the same inventory area have different inventory sequences. Multiple inventory robots carry out inventory in the same inventory area in different inventory sequences, and through the integration of inventory data of multiple inventory robots, that is, through the intersection of the inventory ranges of multiple inventory robots, the storage bins can be more comprehensively and accurately positioned Incorrect unit or location.

In one embodiment, the same storage shelf is checked by two inventory robots, and the two inventory robots take inventory of the storage shelf on different lanes. The path the robot walks.

In one embodiment, the storage racks are elongated, and an aisle for the robot to walk is arranged between two adjacent storage racks. The aisle is parallel to the long sides of the storage racks, and one storage rack corresponds to two aisles. The material box identification codes are arranged on the two opposite sides of the material box. When the material box is stored on the warehouse location, the side provided with the material box identification code needs to face the roadway. In order to improve the space utilization rate of the storage system, the aisle is usually set narrow enough to allow only one robot to pass through. In order to avoid collisions or route conflicts between two robots in the same inventory area, two inventory robots can be set up in the same inventory area. When taking inventory of storage shelves, walk on different aisles corresponding to the storage shelves.

In one embodiment, two stocktaking robots that carry out stocktaking of the same storage shelf adopt a mirror image to carry out stocktaking of the storage shelf, that is, the positions of the two stocktaking robots and the heights of the pick-and-place devices during stocktaking are symmetrical relative to the storage shelf, Thus, two sets of inventory data corresponding to the storage shelf are obtained.

In one embodiment, in one embodiment, the intersection of two sets of inventory data corresponding to the same storage shelf can be used to delete the materials of the bins stored on other storage shelves that are cross-readed due to the large working range of the inventory robot. Box identification code, thereby improving the accuracy of inventory data.

Further, in order to reduce the interference between multiple inventory robots performing inventory in the same inventory area, different inventory starting points can be set for multiple inventory robots in the same inventory area through control instructions. The inventory starting point may be a position corresponding to one end of the storage shelf in the inventory area. When the inventory area corresponds to multiple storage shelves, the inventory order of the storage shelves corresponding to different inventory robots is different.

Exemplarily, if the inventory area O1 corresponds to two storage shelves, ie, the storage shelf H1 and the storage shelf H2, the inventory robots corresponding to the inventory area O1 are the inventory robot R1 and the inventory robot R2. Through the control instructions, the inventory robot R1 can be controlled to first inventory the storage shelf H1, and then the storage shelf H2, and the inventory robot R2 can be controlled to first inventory the storage shelf H2, and then the storage shelf H2.

In one embodiment, the inventory instruction is used to instruct two inventory robots in the same inventory area to carry out inventory of each unit of the storage shelf sequentially by walking towards each other, so as to obtain two sets of inventory of the storage shelf data, so that the inventory sequence of the two sets of inventory data is different.

In one embodiment, two stocktaking robots that take stock of the same storage shelf can carry out stocktaking of the same storage shelf by walking toward each other along two parallel aisles of the storage shelf. In one embodiment, multiple inventory robots in the same inventory area walk in opposite directions, which can greatly reduce the phenomenon of overlapping operating ranges of the inventory robots, thereby reducing interference between inventory robots.

Further, when two inventory robots in the same inventory area are inventorying the same storage shelf, they can perform inventory on both sides of the storage shelf, that is, walk on the two parallel lanes corresponding to the storage shelf to face each other. The way of walking is walking, that is, walking in the opposite direction, so as to reduce the interference between inventory robots.

In one embodiment, the aisles of two inventory robots in the same inventory area are parallel, and the two robots walk in opposite directions on the parallel aisles.

Referring to FIG. 3D, FIG. 3D is a schematic diagram of cross-counting of two inventory robots in the embodiment shown in FIG. 2 of the present disclosure. As shown in FIG. Shelving, that is, storage shelving 370 for inventory. During the inventory, the inventory robot 350 and the inventory robot can walk along the lanes on both sides of the storage rack 370 respectively, and use the single storage location mode or multi-storage location mode to carry out the inventory of each location of the storage shelf 370 . In FIG. 3D , inventory robot 350 walks along the aisle between the storage shelf 370 and the wall during inventory, and inventory robot 360 walks along the aisle between the storage shelf 370 and another storage shelf during inventory.

In one embodiment, two stocktaking robots of the same storage rack, such as the stocktaking robot 350 and the stocktaking robot 360, can use the same mode to carry out the stocktaking of the corresponding stocktaking area, such as both adopting a single storage location mode or both adopting multiple warehouses bit pattern.

In one embodiment, when taking inventory of multiple inventory robots in the same area, the read bin identification codes can be processed using the processing method in the above embodiment, and the processed bin identification codes are reported to the storage system or scheduling equipment or storage systems. For example, for the storage rack 370, the material box identification codes obtained by the inventory robot 350 are A1～A10, B1～B5, and the material box identification codes obtained by the inventory robot 360 are A1～A10, C1～C6, then the two groups of material boxes are identified Take the intersection of the codes to obtain A1-A10 which are the material box identification codes of the storage rack 370 . The bin identification codes B1-B5 excluded by taking the intersection are the identification codes of the bins behind the storage shelf 370 that the counting robot 350 reads when taking inventory from one side, because the beam of the counting robot 350 will be to a certain extent Diffuse to the back of the storage shelf 370, and serially read the material boxes placed on the rear shelf. Similarly, the bin identification codes C1-C6 eliminated by taking the intersection are the ID codes of the bins behind the shelves that the inventory robot 360 serially reads during inventory from the other side.

In one embodiment, the stocktaking robots 350 and 360 carry out stocktaking on the storage shelf 370 from both sides at the same time. In one embodiment, the stocktaking robot 350 first takes inventory of the storage shelf 370 from one side, and at another moment after the stocktaking is finished, the stocktaking robot 360 takes stock of the storage shelf 370 from the other side.

Exemplarily, FIG. 3E is a schematic diagram of storage shelf inventory in the embodiment shown in FIG. 2 of the present disclosure. As shown in FIG. 3E , the inventory area only includes storage shelves 610 and storage shelves 620, and the inventory area is composed of inventory robots 601 and inventory robots. 602 as an example, the inventory robot 601 can walk on the roadway 1, the main road 1 and the roadway 3. Collect the material box identification codes of the material boxes stored on the storage shelves 610 and 620 on the side, and the inventory robot 602 can walk on the roadway 2, the main road 1 and the roadway 4, and the walking direction is indicated by the arrow in Figure 3E display, so that the other side of the storage shelf 610 and the storage shelf 620 collects the material box identification codes of the material boxes stored on the storage shelves 610 and 620 in each location.

In one embodiment, after the inventory robot 601 and the inventory robot 602 respectively take inventory of the storage shelf 610 and the storage shelf 620 from both sides, the read bin identification codes can be processed by the processing method in the above-mentioned embodiment, And report the processed material box identification code to the storage system or dispatching equipment or storage system.

Similarly, the bin identification codes respectively obtained by the inventory robot 601 and the inventory robot 602 can be intersected to obtain the bin identification codes of the storage shelf 610 and the storage shelf 620 after cross-reading is excluded. The stocktaking robot 601 and the stocktaking robot 602 may perform stocktaking on the storage shelf 610 and the storage shelf 620 at the same time or at different times.

In one embodiment, step S203 may be replaced by step S204, and step S204 specifically includes:

According to the inventory data in the inventory area and the inventory data in the inventory area, determine the units to be inspected in the inventory area, so as to inspect the units to be inspected.

In one embodiment, the unit to be inspected may be taken as the unit of inventory counting accuracy (ie, recognition range) of the inventory robot. When the counting accuracy of the inventory robot is a single location, if the material box identification device is in the single location mode, the unit to be inspected includes only one location, and the inventory accuracy of the inventory robot is multiple locations, if the material box identification device is multiple location mode, the unit to be inspected includes multiple locations.

Exemplarily, the units to be checked may be one or more storage locations located in the same row or on the same floor of the storage rack.

Exemplarily, the unit to be checked may be one or more storage locations located in the same column of the storage shelf.

Exemplarily, the units to be inspected may be multiple storage locations located in multiple rows and multiple columns, such as multiple storage locations in 2 rows and 3 columns, multiple storage locations in 3 rows and 3 columns, and so on.

In one embodiment, the dispatching device or the storage system may sequentially determine the units to be inspected in each inventory area according to the inventory area. For each inventory area, compare the inventory data of the inventory area with the pre-stored inventory data of the inventory area, and determine the unit to be inspected in the inventory area according to the comparison result.

In one embodiment, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes: when each item corresponding to the inventory area in the inventory data When all bin identification codes exist in the queue of bin identification codes, it is determined that the storage location to be checked does not exist in the inventory area.

In one embodiment, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: according to the inventory data and the inventory data corresponding to the inventory area If there is a missing material box identification code in the inventory data of the inventory area, it is determined whether there is the warehouse location to be checked in the inventory area ; Wherein, the missing bin ID does not exist in the queue of bin IDs.

In one embodiment, the method further includes that determining the storage location to be checked includes: in the inventory data, the storage location corresponding to the missing container identification code. Alternatively, determining the storage location to be checked includes: in the inventory data, a storage location within a preset range near the storage location corresponding to the missing bin identification code. The preset range can be set manually, or a default range can be adopted.

In one embodiment, according to the inventory data and the inventory data in the inventory area, determining whether there is a location to be checked in the inventory area includes: according to the inventory data and the inventory data corresponding to the inventory area , judging whether there is a misplaced bin identification code in the bin identification code queue of the inventory area; if there is a misplaced bin identification code in the bin identification code queue, then determine that the inventory area has the waiting location; wherein, the misplaced bin identification code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the misplaced bin identification code corresponds to the inventory data The distance between the storage location and the inventory area exceeds a first preset distance; the storage location to be checked includes the storage location or unit corresponding to the misplaced bin identification code in the inventory data.

In one embodiment, if there is only a misplaced bin identification code in the inventory data or bin identification code queue of the inventory area, it can be determined that there is no storage location to be checked in the inventory area, and a preset mark is added to the inventory area, To identify the misplaced material box identification code in the inventory area, and associate the misplaced material box identification code with the inventory data in the inventory area, so that when the material box corresponding to the misplaced material box identification code is out of the warehouse, The material box corresponding to the misplaced material box identification code can be located based on the association relationship between the misplaced material box identification code and the inventory data in the inventory area.

In one embodiment, it is also possible to determine the location of each inventory location or inventory unit in the inventory data. If one of the units or storage locations in the inventory area has inconsistent material box identification codes in the inventory data and inventory data, then Determine the unit, the unit where the warehouse location is located, or the warehouse location as the unit to be inspected, wherein the unit where the warehouse location is located is the unit that includes the warehouse location, and the range corresponding to the unit is the identification range of the inventory robot when performing inventory.

In one embodiment, the inconsistency between the bin identification codes in the inventory data and the inventory data may be that the bin identification codes in the inventory data do not exist in the inventory data.

In one embodiment, the inconsistency of the bin identification codes of the unit in the inventory data and the inventory data may include the inconsistency of the quantity of the corresponding bin identification codes of the unit in the inventory data and the inventory data, for example, for a bin with a relatively certain identification range The identification device, for example, a camera used as an image acquisition device, and the inventory robot and other facilities used to control the material box identification device are all very stable, so that when the unit inventory is carried out, the possibility of cross-reading is very small, then When the number of bin identification codes read at the position corresponding to the unit is inconsistent with the number of corresponding bin identification codes in the inventory data, it can be determined that the bin identification codes of the unit in the inventory data and inventory data are inconsistent.

In one embodiment, the inconsistency between the bin identification codes of the unit in the inventory data and the inventory data may include: at least one of the plurality of bin identification codes corresponding to the unit in the inventory data is different from the plurality of bin identification codes corresponding to the unit in the inventory data. The bin identification codes are inconsistent. For example, when the bin identification device is an electronic tag reader such as RFID, cross-reading is easy to occur. In this way, it can be determined that the bin identification codes of the unit in the inventory data and inventory data are inconsistent. .

Exemplarily, taking a unit including 2 rows and 2 columns of locations, that is, 4 locations as an example, the bin identification codes corresponding to unit 001 in the inventory data are LX01, LX02, LX10, and LX11, and the identification codes corresponding to unit 001 in the inventory data The bin identification codes are LX01, LX02, LX10, and LX12. Since LX11 and LX12 are inconsistent, determine each location in unit 001 as the location to be checked, or determine the location corresponding to LX11 or LX12 as one of the locations to be checked. .

In one embodiment, for each inventory location in each inventory area, compare the corresponding material box identification codes of the inventory location in the inventory data and inventory data to determine whether the two are consistent. Inconsistency, that is, the bin identification codes corresponding to the inventory location in the inventory data and the inventory data are inconsistent, and the unit where the inventory location is located is determined to be the unit to be checked. Wherein, the inventory location is the location in the inventory area that is counted by the inventory robot, and the inventory location of each inventory area can be determined by the storage system, dispatching equipment or storage system, or by the operator.

In one embodiment, for each inventory unit, if a certain inventory unit is included in the set of material box identification codes corresponding to the inventory data, there is a certain material box identification code that does not exist in the material box identification code corresponding to the inventory unit in the inventory data. In the box identification code (the number of material box identification codes corresponding to the inventory unit in the inventory data can be one or more, depending on the number of storage locations contained in the inventory unit), and the material box identification code is not placed near the inventory unit The material box identification code (for example, the warehouse location corresponding to the non-existing material box identification code exceeds the threshold distance from the inventory unit or the inventory area where the inventory unit is located, and the threshold distance may be the range that may be collected by the material box identification device Or superimpose another margin on this range), then it is determined that the material box identification code is the misplaced material box identification code. The misplaced material box identification code can be recorded for subsequent search for the material box, or the storage location where the misplaced material box identification code should be stored in the inventory data can be determined as the storage location to be checked.

In one embodiment, if the same misplaced bin identification code exists in multiple units to be checked, then determine the intersection of the multiple units to be checked as the range to be checked, and each location within the range to be checked is the location to be checked , so as to check each storage location within the range to be checked, so as to determine the wrongly stored material boxes.

Exemplarily, FIG. 3F is a schematic diagram of determining the range to be inspected in the embodiment shown in FIG. 2 of the present disclosure. As shown in FIG. 3F , it has been determined that there are misplaced bin identification codes in both units 381 and 382, that is, units 381 and 382 Unit 382 is a unit to be checked, and the storage positions included in unit 381 and unit 382 are shown in FIG. Stock location K32.

In one embodiment, after receiving the inventory data of each inventory area, the dispatching device or storage system can also determine the storage location corresponding to each bin identification code in the inventory data according to the queue of bin identification codes in the inventory data. Wherein, the queue of material box identification codes includes each material box identification code in the inventory data.

Since the inventory robot is executing the inventory instruction, that is, the process of inventorying the corresponding inventory area is carried out spontaneously by the inventory robot, the dispatching equipment or storage system does not need to control the inventory location of the inventory robot in real time, but the inventory robot based on the set The stocktaking program and the received stocktaking instructions will carry out the stocktaking of the stocktaking area by itself. Therefore, due to the fluctuation of the walking control accuracy of the inventory robot, the identification range of the material box identification device is too large, etc., there may be a phenomenon in the inventory data that one warehouse location corresponds to multiple material box identification codes. Then, after receiving the inventory data, the scheduling device or storage system can also determine the corresponding bin identification codes of each inventory location in the inventory data according to the signal strength corresponding to each bin identification code in the inventory data.

In one embodiment, for an inventory location corresponding to multiple bin identification codes in the inventory data, bin identification codes whose signal strength in the inventory data is lower than the first intensity threshold for the inventory location may be deleted. Wherein, the first intensity threshold may be determined according to field test values.

Further, for the inventory location corresponding to a plurality of material box identification codes in the inventory data, the inventory location can be checked according to the position of the inventory location and the signal strength of the multiple material box identification codes corresponding to the inventory location in the inventory data. A plurality of material box identification codes corresponding to the location in the inventory data are screened to reduce the number of material box identification codes corresponding to the inventory location in the inventory data.

For example, the inventory robot uses a multi-location mode for inventory, the bin identification device is an RFID collector, and the inventory unit is a location with 2 rows and 2 columns (at this time, the identification range of the inventory robot is roughly 2 rows and 2 columns). After testing, when the bin identification device is aimed at an inventory unit, the collected signal strength from the RFID tag placed on the bin on the inventory unit fluctuates between 0.5-1.2, and the signal strength threshold can be set to 0.3. When receiving a bin identification code whose signal strength is lower than 0.3, it can be determined that it does not come from the inventory unit being collected, but should belong to the bin identification code read in series, and it can be deleted directly.

In one embodiment, the signal strength range of the bin identification code corresponding to the inventory location can be determined according to the minimum distance between the location of the inventory location and the set location point. In one embodiment, the set location point is the location of the collector. In one embodiment, the set location point is a location point set according to the location of the collector. For example, the system does not obtain the location of the collector, but can obtain a parameter corresponding to the location where the collector should be. general location. Based on the signal strength range of the bin identification code corresponding to the inventory location, the multiple bin identification codes corresponding to the inventory location in the inventory data are screened, so as to delete the bin identification codes that exceed the corresponding signal strength range.

In order to improve the efficiency of location inspection, the unit to be inspected can include each problematic location whose inventory data is inconsistent with the bin identification code in the inventory data, and one or more before and after the bin identification code corresponding to the problem bin location in the bin ID code queue. The storage location corresponding to each material box identification code.

In one embodiment, the material box identification device 341 with an appropriate identification range is selected so that the signal strength is sufficient to eliminate cross-reading, and the storage location whose inventory data is inconsistent with the material box identification code in the inventory data can be determined as a problem storage location .

In one embodiment, the identification range of the material box identification device 341 is smaller than or substantially equal to the physical size of a material box, so that the signal strength of the material box identification code obtained by serial reading is much lower than that of the material box placed on the warehouse location. If the strength of the bin identification code of the box is determined, the location where the bin identification code in the inventory data is inconsistent with the inventory data can be determined as the problem location.

In one embodiment, the bin recognition device is an image recognition device, such as a camera. At this time, the material box identification device determines whether there is a corresponding material box according to the material box identification code (ie, bar code, two-dimensional code, etc.) collected within the identification range (ie, field of view), and the material box identification device has a relatively certain recognition range. Therefore, it can be determined whether it is the serially read material box identification code through the position of the collected material box identification code within the identification range. For example, if the inventory is in the single storage location mode, after testing, when the material box identification device is aimed at a certain storage location, the collected material box identification codes are all located in a circle with the identification range as the center and a radius of 3 cm, then it can be determined A preset position range is a circle with the center of the recognition range as the center and a radius of 5 cm. The bin identification codes beyond this recognition range are serially read bin identification codes, which can be directly deleted from the collection results. For another example, the inventory is multi-location mode, the inventory unit is three locations in the same row, and the identification range of the material box identification device is roughly three locations in the same row. After testing, when the material box identification device is aligned with an inventory unit, the collected material box identification codes are located in the center of the identification range, and the length is 10 centimeters, and the width is 3 centimeters. Assume that the location range is a rectangle centered on the center of the identification range, with a length of 15 cm and a width of 5 cm. The bin identification codes beyond this identification range are the bin identification codes read in series, which can be directly obtained from the collection results. delete. In an embodiment, an image recognition device with a rectangular recognition range can be realized by blocking a part of the visual field. It should be understood that the above recognition range and preset position range are only examples, and their shapes and sizes may be determined according to actual conditions.

In one embodiment, after each target storage location is determined, an inspection instruction of the inspection robot can be generated according to the position coordinates of each target storage location, so as to control one or more inspection robots to carry out storage on the target storage location. inspection of the bins. In one embodiment, the inspection robot may be any idle robot, such as the inventory robot mentioned above, or may be a robot of a different type from the inventory robot, or may be a robot specially set up for warehouse location inspection.

In the bin inventory method provided by the embodiments of the present disclosure, the inventory robot is controlled based on the inventory command of the inventory area to carry out the inventory of the inventory area, and the inventory data of the inventory area is obtained. The bin identification code queue composed of the bin identification codes of the bins; when the inventory is completed, based on the inventory data of the inventory area and the pre-stored location data of the inventory area, it is judged whether there is a need for further inspection in the inventory area to be checked warehouse location, thereby realizing batch inventory based on area and improving the efficiency of inventory. At the same time, through inventory, the review of the inventory area with misplaced material boxes is realized, so as to ensure the smooth and error-free progress of the material box delivery task and improve the efficiency of the inventory. Operational efficiency of outbound tasks.

Some warehouses use multi-deep racks to increase storage density, such as double-deep racks. FIG. 3G is a schematic diagram of batch inventory of multi-deep shelves provided by an embodiment of the present disclosure. As shown in FIG. 3G, in the multi-deep shelves 390 shown in FIG. From which side of the shelf to pick up the goods, the robot must move a material box to get to the material box located deep in the shelf. When inventorying multi-deep shelves, when the identification range of the material box identification device can be accurately determined, which material boxes will be accurately determined in the identification range, multi-deep shelves can be counted in units of inventory units, such as Figure 3G shows. The "counting unit" at this time is three-dimensional, and may include storage locations located deep in the shelf, such as storage locations in three mutually perpendicular directions including shelf depth (D), length, and height (H).

When it is difficult to accurately determine the identification range of the material box identification device, that is, when it is difficult to determine which material boxes are involved in the identification range of the material box identification device in a certain identification, then the entire shelf or a part of the shelf can be used as a unit. The received material box identification codes are taken as a whole, and after being deduplicated, a queue of material box identification codes is formed and sent directly to the information system.

In one embodiment, the material box identification device is an RFID identification device, and the antenna of the material box identification device is designed so that the identification range can include one or two material boxes in the same row deep in the shelf, but will not involve For the material boxes placed in other rows, the material box identification codes collected for this entire row of inventory can be integrated as a whole, and a queue of material box identification codes is formed after deduplication, which is directly sent to the information system. It should be understood that the inventory of the same row of double-deep racks can be carried out only on one side of the rack, or from both sides of the rack. In addition, the inventory from both sides of the shelf can be: after counting all the rows from one side of the shelf, and then go around to the other side of the shelf to count all the rows, the robot or information system will sort the collected material box identification code by row Carry out splicing, and then judge whether the inventory is successful or not according to the queue of bin identification codes obtained by splicing.

It should be understood that the above-mentioned inventory method for double-deep shelves is also applicable to other multi-deep shelves.

Fig. 3H is a schematic diagram of the cross-counting of multi-deep shelves provided by an embodiment of the present disclosure. The large range of bin identification devices makes cross-reading usually serious. In order to improve the accuracy of stocktaking, the method of cross-counting can be used to remove the serially read bin identification codes. For example, using bins with an identification range sufficient to cover all depths on the same row, after counting the racks from one side of the rack, counting the racks from the other side of the rack, and combining the bin identification codes obtained from the two counts The queues are intersected to obtain more accurate material box identification codes of the material boxes stored on the shelves. The inventory at this time is generally a multi-storage location mode, that is, the inventory command controls the inventory robot to carry out the inventory in the inventory area in units of inventory units, and the bin identification code queue is composed of a set of multiple bin identification codes, and each bin identification code The set corresponds to an inventory unit, or the set of bin identification codes corresponds to the inventory unit one by one, and the inventory unit is determined by the identification range of the bin identification device. In this case, the intersection of the queues of bin identification codes obtained from the two counts is to intersect the corresponding sets of bin identification codes respectively. That is to say, in the two queues of bin identification codes obtained from the two inventory counts, each inventory unit should correspond to two sets of bin identification codes. Take the intersection of these two bin identification code sets, and weigh the intersection The final result obtained is a set of cross-box identification codes, and then the sets of cross-box identification codes are combined to obtain a cross-counting queue. This cross-counting queue is the result of cross-counting the shelves, and is the basis for subsequent determination of whether there is a storage location to be checked. It should be understood that the above-mentioned cross-counting method is applicable to all multi-storey mode stocktaking, not limited to multi-deep shelf stocktaking.

In one embodiment, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin identification device moves to the corresponding The counting unit is opened at a preset position, and the set of material box identification codes is composed of material box identification codes collected each time it is opened.

In one embodiment, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on, and if two bin identification codes collected adjacently If the difference between the corresponding collection time points is less than the preset value, the two bin identification codes are classified into the same bin identification code set.

In one embodiment, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on, and if two bin identification codes collected adjacently When the distance between the position of the container identification device is less than the preset distance when being collected, the two container identification codes are classified into the same container identification code set.

In one embodiment, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

In one embodiment, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes: for each inventory unit in the inventory area, when The bin identification codes corresponding to the inventory unit in the inventory data all exist in the bin identification set corresponding to the inventory unit, then it is determined that the warehouse location to be checked does not exist in the inventory unit; if the If there is no storage location to be checked in each inventory unit in the inventory area, it is determined that there is no storage location to be checked in the inventory area.

In one embodiment, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: according to the inventory data and the inventory data corresponding to the inventory area According to the inventory data, it is judged whether there is a first unit in each inventory unit in the inventory area; if the first unit exists in each inventory unit in the inventory area, it is determined that there is a storage location to be checked in the inventory area; wherein , the first unit is an inventory unit with a missing bin identification code in the corresponding inventory data, the missing bin identification code does not exist in the bin identification code set corresponding to the first unit, and the storage location to be checked Each storage location corresponding to the first unit is included.

In one embodiment, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: according to the inventory data and the inventory data corresponding to the inventory area According to the inventory data, it is judged whether there is a second unit in each inventory unit in the inventory area; if the second unit exists in each inventory unit in the inventory area, it is determined that there is a storage location to be checked in the inventory area; wherein , the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the The distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds a second preset distance, and the storage location to be checked includes each storage location corresponding to the second unit.

In some embodiments, when it is determined that there is a storage location to be inspected in the inventory area, the method further includes the step of determining the storage location or unit to be inspected in the inventory area. Specifically, according to the inventory data and inventory data corresponding to the inventory area, the storage location or unit to be inspected in the inventory area is determined.

Optionally, FIG. 4 is a flowchart of the steps of determining the unit to be inspected provided by an embodiment of the present disclosure. As shown in FIG. 4 , the step of determining the unit to be inspected, that is, the above step S204 may specifically include the following steps:

Step S401, according to the collection sequence of each bin identification code in the inventory data in the inventory area, determine the bin identification codes corresponding to each inventory unit in the inventory area.

Wherein, the collection sequence is the sequence in which the bin identification device of the inventory robot collects or recognizes the identification codes of each bin.

In one embodiment, the inventory data may include the collection sequence of each bin identification code.

In one embodiment, for the inventory data of each inventory area, each unit or each storage location of the inventory area is determined according to the inventory data or the collection sequence of each bin identification code in the bin identification code queue of the inventory data Corresponding bin identification code.

In one embodiment, a sequence in the collection sequence may correspond to one or more bin identification codes.

In one embodiment, the inventory robot may determine the collection order of each bin identification code, and form a queue of bin identification codes with the collected or identified bin identification codes according to the collection order.

Further, the inventory robot can determine the collection sequence of each bin identification code according to the collection or identification time of each bin identification code.

Further, the order of each material box identification code in the collection sequence can be determined according to the current position coordinates of the inventory robot and the current height of the pick-and-place device when the inventory robot collects the material box identification code.

Table 1 The bin identification code table in the bin identification code queue

Exemplarily, Table 1 is a table of material box identification codes in the material box identification code queue. As shown in Table 1, the inventory locations required by the inventory robot 0045 or the corresponding inventory locations are location 001 to location 006, Inventory robot 0045, the queue of material box identification codes in the reported inventory data is LXA01, LXA02 and LXA03, LXA02 and LXA03, LXA04, LXA05 and LXA06. The code behind "LX" in the box identification code can be determined according to the materials stored in the box. For example, "A" indicates a type A building block in the building block toy, and the number in the box identification code can be a non-repeating random number or The auto-increment number can also be determined according to the time when the production batch or material arrives at the storage system.

In one embodiment, the dispatching device or the storage system may determine the collection order of each bin identification code according to the collection time of each bin identification code in the inventory data.

In one embodiment, for the inventory data of each inventory area, the dispatching device or storage system can extract the identification codes of each material box and the collection sequence of each identification code of each material box from the inventory data, and then can The collection sequence of the box identification codes determines the unit corresponding to each material box identification code or the material box identification code corresponding to each unit.

In one embodiment, when the inventory robot reaches the corresponding inventory area, it can perform an inventory of each inventory location or each unit in the inventory area according to a preset inventory sequence. The inventory sequence is the order in which the robot counts each inventory location.

Wherein, the inventory sequence may include the inventory inventory sequence of each storage shelf in the inventory area, and the inventory inventory sequence of each inventory location or unit on each storage shelf.

In one embodiment, when the inventory area includes multiple storage shelves, the inventory instruction may only include the order of each storage shelf inventory, such as specifying the order of each storage shelf inventory and the inventory starting point of each storage shelf, to control the inventory robot in turn Go to the inventory starting point of each storage shelf, and carry out an inventory of each storage shelf.

In one embodiment, the inventory order can be specified by the scheduling device or the storage system, and stored in the inventory instruction.

Exemplarily, when the stocktaking robot takes inventory of the storage shelves, it can be carried out by layers. For example, the stocktaking order can be in the order from high to low and end to end according to the layer where the storage location is located. Low, end-to-end method to take inventory of each location of each layer of the storage shelf or each unit in turn. The inventory order of each storage shelf can also be carried out by column. For example, the inventory order can be in the order of near to far and end to end according to the column where the warehouse location is located. In a connected manner, each warehouse location of each column of the storage shelf is sequentially counted or each unit is sequentially counted.

In one embodiment, the inventory area corresponding to the inventory data can be determined according to the robot identification code in the inventory data.

In one embodiment, for each inventory data, the dispatching device or the storage system can determine the corresponding storage location or each unit according to the collection sequence of each bin identification code in the inventory data and the inventory sequence of the inventory robot that reported the inventory data. bin ID.

In one embodiment, the bin identification code corresponding to each storage location or each unit can be determined by one-to-one correspondence between the inventory sequence and the collection sequence. That is, the inventory locations with the same order in the inventory sequence and the collection sequence correspond to the bin identification codes.

When the working range of the bin identification device of the inventory robot fluctuates, it will lead to the phenomenon of cross-reading, that is, the inventory robot reads the bin identification codes of bins stored in storage locations outside the limited range. In order to weaken the impact of serial reading on the inventory, the inventory data also includes the signal strength of each bin identification code. For each unit whose number of corresponding bin identification codes is greater than the preset number, the signal strength of each bin ID can be Intensity filters the bin identification code corresponding to this unit in the inventory data. Wherein, the preset quantity is the quantity of storage locations included in the unit, which may be 1, 2, 3, 4 or other values.

Step S402, according to the bin identification codes corresponding to each warehouse location in the inventory area and the inventory data in the inventory area, determine the units to be inspected in the inventory area, and determine that each warehouse location of the unit to be inspected is the Describe the warehouse location to be checked.

Wherein, when the unit includes multiple storage locations, each storage location included in the unit to be checked is the storage location to be checked.

In one embodiment, for each unit or each storage location in each inventory area, the dispatching device or storage system can compare whether the same unit or the same storage location corresponds to the bin identification code in the inventory data and inventory data, and if not , then determine this location as one of the target locations.

In one embodiment, if there is no unit to be checked in each inventory area, the scheduling device or the storage system identifies that there is no abnormality in the current round of inventory.

In one embodiment, the dispatching device or the storage system can initiate the inventory task of the storage system at a preset period, and then generate inventory instructions for each inventory area. The preset cycle can be 12 hours, 24 hours, 2 days, 5 days, 7 days, etc.

In one embodiment, the scheduling device or the storage system can judge whether to trigger the inventory task of the storage system according to the situation of the pick-and-place tasks being executed and waiting to be executed by the storage system, and if triggered, generate inventory instructions for each inventory area to When there are fewer pick-and-place tasks being executed and waiting to be executed, or fewer pick-and-place tasks being executed and no pick-and-place tasks waiting to be executed, the inventory task is triggered.

Optionally, the inventory data also includes the position coordinates when the inventory robot collects the identification codes of each bin and the height of the pick-and-place device of the inventory robot. The flowchart of the inspection unit steps, as shown in Figure 5, the step of determining the unit to be inspected may specifically include the following steps:

Step S501, according to the position coordinates of the inventory robot corresponding to each bin identification code in the inventory data of the inventory area and the height of the pick-and-place device of the inventory robot, determine that each inventory unit in the inventory area corresponds to bin ID.

Wherein, the loading and unloading device is a device for extracting or storing the material box, and the loading and unloading device is provided with a material box identification device to obtain or identify the material box identification code of the material box. The pick-and-place device can be aligned with each unit or location on the storage shelf through operations such as lifting, translation, and rotation.

In one embodiment, when the inventory robot is performing an inventory, such as moving to the inventory starting point of the storage rack required for inventory, the pick-and-place device can be rotated so that the material box identification code is far away from the storage rack required for inventory, so as to avoid due to The working range of the material box identification code is relatively large, which causes the material box identification device to read the storage shelf on the side away from the inventory robot.

In one embodiment, the width of the aisle between adjacent storage shelves for the inventory robot to walk allows only one inventory robot to pass through.

In one embodiment, when the inventory robot is taking inventory of storage shelves, it can lift and lower the pick-and-place device of the inventory robot based on the current inventory unit or the number of floors where the warehouse location is located, so that the pick-and-place device is aligned with the current inventory unit Or the area where the material box identification code is set for the material box stored on the warehouse location.

In one embodiment, the height of each layer of the storage shelf is adjustable, and the inventory instruction issued by the dispatching system may also include the height of each layer of the storage shelf, so that the inventory robot can perform an inventory based on the inventory of each layer of the storage shelf. The lifting control of the pick-and-place device is carried out according to the height of the layer, so as to be aligned with the inventory positions of each layer of the storage rack.

In one embodiment, the size of each location of the storage shelf is adjustable, for example, the height and length of the location are adjustable, and the direction in which the length lies is the direction in which the inventory robot walks when performing an inventory of the storage shelf. Then the inventory instruction issued by the dispatching system can also include the size of each location of the storage shelf, so that when the inventory robot is taking stock, it can lift the pick-and-place device and the inventory robot based on the size of each location of the storage shelf that has been counted. The walking speed or walking distance is controlled, so that the inventory robot is aligned with each location of the storage rack being inventoried.

In one embodiment, the stocktaking robot can walk back and forth on the aisle corresponding to the storage shelf during stocktaking, so as to carry out stocktaking of the warehouse locations of each layer of the storage shelf. The inventory robot can adjust the height of the pick-and-place device while walking, so as to align with the layers of the storage rack. Taking inventory by layer can reduce the number of times to adjust the pick-and-place device and improve the safety of inventory.

In one embodiment, when the inventory robot is inventorying a certain layer of the storage shelf, it can walk at a constant speed at a low speed without stopping, so as to collect the identification codes of the material boxes stored in each unit or storage location of the layer.

In one embodiment, the inventory robot can walk on the lane corresponding to the storage shelf in a single-way manner during inventory, so as to collect the material box identification codes of the material boxes stored in each location of the storage shelf.

In one embodiment, when the stocktaking robot walks to the position corresponding to each column of storage locations, the inventory robot stops walking and aligns with each unit or storage location of the column, so as to collect information on each unit or storage location of the column Stored bin ID. In order to reduce the number of adjustments of the pick-and-place device, it is possible to take inventory in the way that each column is connected end-to-end.

Exemplarily, assuming that the storage shelf required for inventory includes 6 rows and 6 columns, and the working range of the bin identification code of the inventory robot is 3 rows and 1 column as an example, the inventory robot can be in the range corresponding to the first column of the storage shelf , control its pick-and-place device to rise from the first height to the second height, so as to carry out the stocktaking of the first row 1 to row 3 at the first height, and carry out the inventory of the first row 4 at the second height Inventory of the warehouse location up to row 6; when it is in the range corresponding to the second column of the storage shelf, control its pick-and-place device to lower from the second height to the first height, so as to carry out the second row 4 at the second height Inventory counting of the warehouse locations up to row 6, at the first height, the inventory location of the second column 1 to row 3, and so on, to complete the inventory inventory of each row and column of the storage shelf, and obtain the storage The inventory data corresponding to the shelf. Wherein, the first height may be the height of the second row, and the second height may be the height of the fifth row.

In one embodiment, the material box identification device can be an electronic tag code reader, and the projection of the electromagnetic wave output by the electronic tag code reader on the vertical plane can be elliptical, so as to read the material stored on a column of multiple rows of storage locations at one time. The bin identification code of the bin or the bin identification code of the bins stored in a row of multi-column storage locations can be read at one time.

In one embodiment, the projection of the electromagnetic wave output by the electronic tag reader on the vertical plane may be circular, so as to read the bin identification codes of the bins stored in multiple columns and rows at one time.

In one embodiment, the working range of the electronic tag reading can be adjusted by adjusting the internal structure of the antenna of the electronic tag reader, adding reflectors, etc., so as to meet inventory requirements.

In one embodiment, when the inventory robot performs an inventory of each unit, it will perform multiple readings of the bin identification code for the unit or storage location, resulting in one storage location corresponding to multiple identical bin identification codes, Then, before the inventory robot reports the inventory data, it can also deduplicate the bin identification code in the inventory data, that is, the identification code of the next bin or the previous bin identification code of the current bin identification code and the identification code of the current bin codes are the same, and the interval between the collection time of the next bin identification code of the current bin identification code or the collection time between the previous bin identification code and the current bin identification code is less than the value, or the current group of bin identification codes and the next group of bin identification codes The box identification code or the previous group of material box identification codes are the same, and the interval between the collection time of the current group of material box identification codes or the previous group of material box identification codes and the current group of material box identification codes is less than the preset value, the preset value can be 0.1s, 0.3s, 0.5s, etc., then delete the next or previous material box identification code, and delete the latter or previous material box identification code in the inventory data The data corresponding to the bin identification code.

In one embodiment, after receiving the inventory data, the dispatching device or the storage system may deduplicate the bin identification codes in the inventory data, so as to reduce the amount of data to be processed and improve the efficiency of inventory result generation.

In one embodiment, after receiving the inventory data reported by the inventory robot, the dispatching device or the storage system can extract each bin identification code in the inventory data, as well as the position coordinates of the inventory robot corresponding to each bin identifier and the location of the inventory robot. The height of the picking and placing device, and then for each material box identification code, according to the position coordinates of the inventory robot corresponding to the material box identification code and the height of the picking and placing device of the inventory robot, determine the unit or units corresponding to the material box identification code location.

Step S502, according to the bin identification codes corresponding to each inventory unit in the inventory area and the inventory data in the inventory area, determine the units to be inspected in the inventory area, and determine the locations of the units to be inspected as The location to be checked.

Optionally, FIG. 6 is a flowchart of the steps of determining the unit to be inspected provided by another embodiment of the present disclosure. As shown in FIG. 6 , the step of determining the unit to be inspected may specifically include the following steps:

Step S601, comparing the inventory data in the inventory area with the inventory data in the inventory area.

Specifically, each bin identification code in the two sets of the inventory data in the inventory area and the inventory data in the inventory area can be compared to obtain a comparison result. The comparison result may include the bin identification codes that do not match between the inventory data in the inventory area and the inventory data

Step S602, according to the comparison result, determine the missing container identification code.

Wherein, the missing material box identification code is the material box identification code of the inventory data not belonging to the inventory area in the inventory data of the inventory area. That is, the missing material box identification code exists in the inventory data of the inventory area, but does not exist in the material box identification code queue or inventory data corresponding to the inventory area.

In one embodiment, each material box identification code in the inventory data of the inventory area can be searched in the inventory data of the inventory area, if the material box identification code is not found, then it is determined that the material box identification code is a missing material Box ID.

In one embodiment, the identification codes of each missing container can be determined based on the difference between the inventory data and the inventory data in the inventory area.

Step S603, according to the original location of each of the misplaced bin identification codes in the inventory data, determine the units to be checked in the inventory area, and determine each location of the unit to be checked as the location to be checked.

Wherein, the original storage location of the missing material box identification code is the storage location of the missing material box identification code recorded in the inventory data.

In one embodiment, it may be directly determined that the original storage location with the missing material box identification code is the unit to be inspected or the storage location to be inspected.

In one embodiment, it can be determined that the original storage location where the bin identification code is missing and the area formed by the adjacent storage locations of the original storage location is the unit to be inspected, wherein the adjacent storage location can be within a certain range near the original storage location A location, for example, a location directly adjacent to the original location, or a location in the same row or column as the original location, or a location that is less than a certain distance from the original location.

Fig. 7 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure. In this embodiment, the bin inventory method provided in this embodiment is based on the embodiment shown in Fig. 2 and further refines step S203 , and adding a step of determining the collection order after step S202, as shown in Figure 7, the bin inventory method provided in this embodiment may include the following steps:

Step S701, generating inventory instructions for a plurality of inventory areas, and sending each of the inventory instructions to each inventory robot, so as to control each of the inventory robots to perform an inventory of each inventory unit in the inventory area corresponding to the inventory instruction, so as to The inventory data of each inventory area is obtained.

Step S702, receiving inventory data of each inventory area.

In one embodiment, the dispatching device or the storage system can send the inventory-taking instructions corresponding to the same inventory-taking area to multiple inventory-taking robots at the same time. The inventory robots in the same inventory area can respond to the received inventory instructions at the same time or at different times.

In one embodiment, if the inventory robot does not respond to the corresponding inventory instruction for a long time, the inventory instruction is sent to other inventory robots, so that other inventory robots can execute the inventory instruction. In one embodiment, when the inventory robot executes the inventory instruction, it can also report the location coordinates of the dispatching equipment or the storage system inventory robot in real time, the height of the pick-and-place device, the walking speed and other parameters, and can also report the inventory interruption parameters to notify The inventory task currently performed by the dispatching equipment or the storage system is interrupted by other tasks, wherein the other tasks may be avoidance tasks, pick-and-place tasks, abnormal maintenance tasks, and the like. The avoidance task is the task of the inventory robot to avoid other robots. The specific strategy can be waiting in place, walking to the entrance of the lane, etc.

Step S703, for the inventory data of each inventory area, according to the collection time point of each material box identification code in the inventory data, determine the collection order of each material box identification code.

In one embodiment, the dispatching device or the storage system can determine the collection sequence of the inventory data or the container identification codes in the container identification code queue according to the interval of the collection time point.

Optionally, if the difference between the acquisition time points of two adjacent bin identification codes in the bin identification code queue corresponding to the inventory data is less than a preset difference, then determine that the two adjacent bins The collection sequence of the identification codes is the same sequence.

Wherein, the preset difference may be a set smaller value, such as 0.1s, 0.3s, 0.5s and so on.

In one embodiment, the preset difference can be determined according to the fastest speed of the inventory robot when collecting, for example, it can be the ratio of the length of the storage location at the opposite end of the length of the inventory area to the fastest speed of the robot when collecting.

Step S704, for each inventory area, according to the collection order of each bin identification code in the bin identification code queue corresponding to the inventory area and the position coordinates when the inventory robot collects each bin identification code, determine the The bin identification codes corresponding to each inventory unit in the above inventory area.

In one embodiment, for each inventory area, since the inventory order of the inventory robot in the inventory area is known, it can be determined according to the collection order of each bin identification code in the bin identification code queue corresponding to the inventory area. The inventory unit corresponding to the bin identification code. Furthermore, combined with the inventory data or the position coordinates of the inventory robot recorded in the queue of the bin identification codes when collecting or identifying each bin identification code, the inventory unit corresponding to each bin identification code is reviewed.

In one embodiment, the inventory robot needs to move to the position corresponding to the inventory unit or the inventory location when performing inventory inventory, so as to align with the inventory unit or inventory location through the lifting pick-and-place device. Therefore, according to the position coordinates of the inventory robot when collecting the identification code of the material box, the unit where the storage location of the material box corresponding to each material box identification code is located can be determined. The inventory unit corresponding to the container identification code determined through the collection sequence is checked by the unit of the warehouse location corresponding to the container identification code determined based on the position coordinates, so as to improve the accuracy of determining the inventory unit corresponding to the container identification code.

Further, if the counting unit corresponding to the bin identification code fails the review, the counting unit corresponding to the bin identification code is determined as one of the units to be checked. Or if the storage location corresponding to the material box identification code fails to pass the review, the dispatching device or the storage system will generate a secondary inventory instruction to control other inventory robots to follow the inventory order of the inventory robot for each storage shelf corresponding to the material box identification code. The inventory unit performs inventory to obtain new inventory data of the storage shelf to cover the inventory data of the storage shelf collected by the inventory robot, so as to determine the bin identification code corresponding to each inventory unit of the storage shelf based on the new inventory data.

Step S705 , for each inventory unit in each inventory area, it is judged whether the inventory data of the inventory unit and the corresponding bin identification codes in the inventory data are consistent.

In one embodiment, for each inventory area, the inventory data of each inventory area can be determined from the inventory data of the storage system stored in the scheduling device or the storage system. The inventory data may include the material box identification codes of the material boxes stored in each location, and may also include material information stored in each material box.

In one embodiment, according to the inventory data in the inventory area, the preset box identification code set corresponding to each inventory unit can be determined, and for each inventory unit in the inventory area, the box identification code corresponding to the inventory unit in the inventory data can be judged Whether the set of preset bin identification codes corresponding to the inventory unit is consistent, if not, determine that the inventory unit is one of the units to be checked. When the counting unit is a single storage location, the number of container identification codes in the preset container identification code set is 1. Wherein, the set of preset material box identification codes is the material box identification codes of the material boxes stored in each location corresponding to the inventory unit recorded in the inventory data.

In one embodiment, if the bin identification code corresponding to the inventory unit in the inventory data does not include a certain bin identification code in the preset bin identification code set corresponding to the inventory unit, it is determined that the inventory unit is in the inventory The data and the corresponding bin identification code in the inventory data are inconsistent.

In one embodiment, if the bin identification code corresponding to the unit in the inventory data is the same as the preset bin identification code set corresponding to the unit, then determine the bin identification code corresponding to the unit in the inventory data and the inventory data unanimous.

Optionally, if the bin identification codes corresponding to the counting unit in the inventory data all exist in the counting data of the counting unit, then determine the identification of the bins corresponding to the counting unit in the inventory data and in the counting data The code is the same.

Step S706, if the inventory data and the inventory data corresponding to the bin identification codes of the unit are inconsistent, then determine that the inventory unit is a problem unit.

In one embodiment, it is also possible to determine the inventory area where problematic units exist, and where there are storage locations to be checked. The storage location to be checked at least includes the storage location corresponding to the problem unit.

Step S707, according to the problematic unit, determine the unit to be checked in the inventory area, and determine each storage location of the unit to be checked as the storage location to be checked.

In one embodiment, each problematic unit can be directly determined as each unit to be checked.

In one embodiment, each problematic unit and the adjacent units of each problematic unit may be determined as each unit to be checked. Wherein, the adjacent unit of the problem unit can be an inventory unit adjacent to the collection order of the problem unit, or an inventory unit whose difference with the collection order of the problem unit is located in a set area, or an inventory unit adjacent to the problem unit unit etc.

Optionally, according to the problem unit, determining the at least one unit to be checked includes: for each problem unit, determining that the absolute value of the difference between the inventory sequence and the inventory sequence of the problem unit is less than the first difference Each inventory unit is a unit to be checked.

Wherein, the first difference may be 1, 2 or other values.

Further, if the inventory counting accuracy of the inventory robot is the location, then step S605 is for each inventory location in each inventory area, judging whether the corresponding bin identification codes of the inventory location in the inventory data and the inventory data are consistent, If they are inconsistent, it is determined that the inventory location is the problem location. For each of the inventory areas, determine the location corresponding to the container identification code collected in each target collection sequence of the inventory data in the inventory area as the target location of the inventory area. Wherein, the target collection sequence is located in a preset interval, and the preset interval takes the collection sequence of the bin identification code corresponding to the problem location in the inventory data as a midpoint.

In one embodiment, the target collection sequence may include the collection sequence of the bin identification code of the problem location in the inventory data, that is, the problem collection sequence, and the previous collection sequence and the next collection sequence of the problem collection sequence, or The target collection sequence may include a question collection sequence and multiple collection sequences adjacent to the question collection sequence.

In order to reduce costs, no storage location identification codes are set on the storage shelves of the storage system. When the identification range of the material box identification device is too large, there will be a situation in the inventory data that one storage location corresponds to multiple material box identification codes. The storage location corresponding to multiple material box identification codes must be a problematic storage location. In order to more comprehensively and accurately determine the storage location with errors in each stored material box, you can use the problematic location and the collection sequence corresponding to the problematic location The storage locations corresponding to multiple material box identification codes in adjacent order in the sequence are determined together as the target storage location to be checked.

Taking the case identification device as an electronic tag as an example, due to the excessive power of the electronic tag reader, the electronic tag reader on the pick-and-place device can read the bins stored in multiple locations at the same position. The electronic tags, that is, the situation of cross-reading, resulting in multiple material box identification codes in the inventory data corresponding to the same storage location, so that it is impossible to determine the storage location of the serially read material box identification codes, so it is necessary to check the problems in the inventory data The storage location, that is, the serial reading storage location, multiple material box identification codes collected before and after, are used to locate the wrong storage location of the stored material box.

Exemplarily, it is assumed that the bin identification codes in the inventory data in the order of collection are: LX001 to LX007, LX007, LX008, and LX010, and the corresponding warehouse locations are: warehouse location 001 to warehouse location 010, if the warehouse location in the inventory data The bin identification codes corresponding to location 001 to location 010 are LX001 to LX010 in turn, and location 008 and location 009 can be determined to be the problem location through the bin identification codes corresponding to the same location in the inventory data and inventory data. For the comprehensiveness of the inspection, you can also determine the location 007 to 0010 as the target location, so as to avoid the fact that some wrong storage locations cannot be checked due to the existence of cross-reading. There is no material box stored in location 007, and material box LX007 is stored in location 008. Due to cross-reading or an error in judging the walking distance of the robot, the material box identification device reads the data stored in location 008 when it is aligned with location 007. The bin identification code of the bin LX007.

In step S708, an inspection report is generated according to the position of each unit to be inspected, so as to inspect the material boxes stored in the storage locations of each unit to be inspected.

Wherein, the inspection report may include location identifiers or location codes of locations of each unit to be inspected, and bin identification codes of bins that should be stored in each location of each inspection unit.

In one embodiment, an operator or a robot may inspect the bins stored in each storage location of each inspection unit based on the inspection report.

In this embodiment, based on the scheduling equipment or storage system, the inventory instructions of multiple inventory areas are generated, so as to control each inventory robot to carry out the inventory of each inventory unit in the corresponding inventory area, and obtain the inventory data of each inventory area; when the inventory is completed , based on the collection sequence of each material box identification code in the inventory data of each inventory area and the position coordinates of the robot when collecting each material box identification code, determine the material box identification code corresponding to each unit in the inventory area. The bin identification codes corresponding to each unit in the stored location data determine each unit to be inspected, so as to review each unit to be inspected to determine the wrongly stored bins, thereby realizing batch inventory based on the area and improving the Inventory efficiency.

Optionally, the bin identification device provided on the inventory robot may be an electronic tag reader, and the inventory robot collects the bin identification codes of the bins stored in each storage location based on the electronic tag reader.

In one embodiment, the above-mentioned material box inventory method may also include, based on the scheduling equipment or the storage system, turning off the material box identification device set on the inventory robot, so as to prevent the material box identification device of the inventory robot from misreading other items in the non-corresponding inventory area. The bin ID of the bin stored on the location.

Optionally, the above-mentioned bin inventory method further includes: during the period when the inventory robot executes the received inventory instruction, acquiring the position coordinates uploaded by the inventory robot; according to the current position coordinates of the robot, turning on or off the Robot bin recognition device.

In one embodiment, the scheduling device or storage system can receive the location coordinates uploaded by the inventory robot in real time after sending the scheduling instruction to the inventory robot, and then the scheduling equipment or storage system can judge whether the inventory robot is based on the location coordinates uploaded by the inventory robot. Enter the corresponding inventory area, if it is within the preset range of the inventory starting point in the inventory area, if so, turn on the bin identification device of the inventory robot.

In one embodiment, the dispatching equipment or the storage system can judge whether the inventory robot exceeds the scope of the corresponding inventory area according to the current position coordinates of the inventory robot, and if so, close the bin identification device of the inventory robot to avoid bin identification. The unit misread the bin ID of a bin stored on another location.

Optionally, turning on or off the bin identification device of the robot according to the current position coordinates of the robot includes: determining the current path node of the inventory robot according to the current position coordinates of the inventory robot; according to the Count the walking time corresponding to the current path node of the inventory robot and the next path node, and turn off the bin identification device of the inventory robot.

Wherein, the next path node is a path node next to the current path node.

In one embodiment, the stocktaking instruction may include the stocktaking path of the stocktaking robot, and the positions of each path node in the stocktaking path and the association relationship between each path node.

In one embodiment, the inventory robot can plan the inventory path by itself according to the positions of each storage shelf or each inventory location that needs to be inventoried, and the inventory starting point of the inventory area corresponding to the inventory robot. The location of the path node is uploaded to the scheduling device or storage system.

In one embodiment, the dispatching device or the storage system can determine the path node that is closest to the current position coordinates and that the inventory robot has not passed by as the current path node of the inventory robot according to the current position coordinates of the inventory robot, that is, the current path node of the inventory robot. The path node of is the path node that the inventory robot will pass through.

In one embodiment, the walking time corresponding to the current path node and the next path node may be the path length from the current path node to the next path node, and the current position coordinates after the inventory robot passes through the inventory starting point of the corresponding inventory area The ratio of the corresponding average speed.

In one embodiment, if the travel time corresponding to the current path node and the next path node is less than or equal to the preset time, then keep turning on the bin identification device of the inventory robot, if the current path node corresponds to the next path node When the walking time is greater than the preset time, the bin identification device of the inventory robot is turned off, so as to prevent the bin identification device from misreading the bin identification codes of bins stored in other storage locations when the inventory robot goes to the next path node.

In one embodiment, the preset time can be determined according to the communication time when the dispatching equipment or the storage system sends the control instruction of the bin identification device to the inventory robot and the time when the bin identification device responds to the control instruction, the control of the bin identification device The command is used to turn on or off the bin identification device.

In an embodiment, the preset time may be a fixed value, such as 5s, 6s or other times.

Optionally, the method for counting bins described above further includes: during the execution of the received counting instruction by the counting robot, acquiring task parameters uploaded by the counting robot; shutting down the counting robot according to the task parameters of the counting robot bin identification device.

Wherein, the task parameters may include parameters such as the type of task currently being performed by the inventory robot, the status of the task being performed, and the like.

In one embodiment, if the task parameter of the stocktaking robot is that the stocktaking task is suspended or the stocktaking task is terminated, then the bin identification device of the stocktaking robot is turned off.

In one embodiment, if the task parameter of the inventory robot is that the inventory robot is performing tasks other than the inventory task, such as avoidance tasks, pick-and-place tasks, abnormal handling tasks, etc., the bin identification device of the inventory robot is turned off.

Through the closing control of the material box identification device based on the position coordinates of the inventory robot or the task parameters, the phenomenon of misreading by the inventory robot is effectively reduced, and the accuracy of the inventory is improved.

Fig. 8 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure. This embodiment aims at the case where each inventory area corresponds to multiple sets of inventory data. As shown in Fig. 8, the bin inventory method provided by this embodiment Include the following steps:

Step S801, generating an inventory instruction for the inventory area, and sending the inventory instruction to at least one inventory robot, so as to control the at least one inventory robot to perform inventory on the inventory area, so as to obtain at least two parts of the inventory area. Group inventory data.

Wherein, the inventory area includes a plurality of storage locations, the inventory unit is a unit that needs to be inventoried in the inventory area, each unit includes one or more storage locations in the inventory area, and each set of inventory data includes a A bin identification code queue, where the bin identification code queue is a collection of bin identification codes collected by the inventory robot at the inventory area.

In one embodiment, the inventory sequence or inventory path corresponding to each group of inventory data is different.

Optionally, sending the stocktaking instruction to at least one stocktaking robot to control the at least one stocktaking robot to carry out stocktaking on the stocktaking area includes: sending the stocktaking instruction to one stocktaking robot to control all The stocktaking robot takes inventory of the stocktaking area at least twice, and at least one of the stocktaking order and the stocktaking path of the stocktaking robot is different each time.

Optionally, the stocktaking instruction includes a first stocktaking instruction and a second stocktaking instruction, and sending the stocktaking instruction to at least one stocktaking robot to control the at least one stocktaking robot to carry out stocktaking on the stocktaking area includes :

Sending the first stocktaking instruction and the second stocktaking instruction to the first stocktaking robot and the second stocktaking robot respectively, so as to control the first stocktaking robot and the second stocktaking robot to carry out stocktaking on the stocktaking area respectively.

Optionally, the first inventory robot is different from the second inventory robot in at least one of an inventory sequence and an inventory path for inventorying the inventory area.

The specific process of one stocktaking robot performing a stocktaking of the stocktaking area based on the stocktaking instruction can refer to the stocktaking method provided in any of the above embodiments, and will not be repeated here.

In one embodiment, the first inventory robot and the second inventory robot can walk towards each other on the aisles on both sides of the storage shelf in the inventory area to perform inventory of the storage shelf, so as to reduce cross-reading.

Step S802, receiving the at least two groups of inventory data.

Wherein, each set of inventory data respectively includes a queue of bin identification codes.

Step S803, taking the intersection of each of the bin identification code queues to obtain a cross inventory queue.

Through the method of intersecting the bin identification code queues corresponding to multiple sets of inventory data, the impact of serial reading or misreading by the inventory robot on the inventory results is reduced, and the accuracy of the inventory results is improved.

Step S804, according to the cross inventory queue and the inventory data in the inventory area, it is judged whether there is a stock location to be checked in the inventory area. In one embodiment, based on the method of step S203 above, the inventory location to be checked in the inventory area can be determined, and only the inventory data or bin identification code queue in step S203 and related descriptions needs to be replaced with a cross-count queue. This will not be repeated here.

In one embodiment, according to the cross-counting queue and the inventory data in the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: when each material box corresponding to the inventory area in the inventory data If the identification codes all exist in the cross-counting queue, then it is determined that the storage location to be checked does not exist in the inventory area.

In one embodiment, according to the inventory data of the cross-counting queue and the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: if each material box corresponding to the inventory area in the inventory data If there is a missing material box identification code in the identification code, it is determined that the storage location to be checked exists in the inventory area; wherein, the missing material box identification code does not exist in the cross-counting queue.

In one embodiment, the storage location to be checked includes: in the inventory data, the storage location corresponding to the missing container identification code.

In one embodiment, the storage location to be checked includes: in the inventory data, a storage location within a preset range near the storage location corresponding to the missing bin identification code.

In one embodiment, according to the inventory data of the cross-counting queue and the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: if there is a misplaced bin identification code in the cross-counting queue, Then it is determined that the storage location to be checked exists in the inventory area; wherein, the misplaced bin identification code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the misplaced The distance between the location corresponding to the bin identification code in the inventory data and the inventory area exceeds a first preset distance; the location to be checked includes the location corresponding to the misplaced bin identification code in the inventory data location or unit.

In one embodiment, the inventory-counting instruction is used to control the inventory-counting robot to perform inventory-counting in units of inventory-counting units in the inventory-counting area, and the inventory-counting unit includes one or more storage locations; the bin identification code queue consists of A plurality of material box identification code sets are formed, and the material box identification code set is in one-to-one correspondence with the inventory unit; each of the material box identification code queues is intersected to obtain a cross inventory queue, including: each of the material box identification code queues The corresponding sets of bin identification codes in the identification code queue are respectively intersected to obtain each cross-box identification code set; all cross-box identification code sets are combined to obtain the cross-counting queue.

In one embodiment, according to the inventory data of the cross-counting queue and the inventory area, judging whether there is a warehouse location to be checked in the inventory area includes: for each inventory unit in the inventory area, when the The bin identification codes corresponding to the inventory unit in the inventory data all exist in the bin identification code set corresponding to the inventory unit, then it is determined that the warehouse location to be checked does not exist in the inventory unit; if the inventory If there is no storage location to be checked in each inventory unit in the area, it is determined that there is no storage location to be checked in the inventory area.

In one embodiment, according to the inventory data of the cross-counting queue and the inventory area, judging whether there is a stock location to be checked in the inventory area includes: according to the cross-counting queue and the inventory data of the inventory area, Judging whether there is a first unit in each inventory unit in the inventory area; if there is a first unit in each inventory unit in the inventory area, then determine that there is a warehouse location to be checked in the inventory area; wherein, the first unit is the corresponding In the inventory data of inventory data, there is an inventory unit with a third material box identification code, the third material box identification code does not exist in the set of material box identification codes corresponding to the first unit, and the location to be checked includes the first Each storage location corresponding to a unit.

In one embodiment, according to the inventory data of the cross-counting queue and the inventory area, judging whether there is a stock location to be checked in the inventory area includes: according to the cross-counting queue and the inventory data of the inventory area, Judging whether there is a second unit in each inventory unit in the inventory area; if there is the second unit in each inventory unit in the inventory area, then determine that there is a storage location to be checked in the inventory area; wherein, the first The second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin The distance between the storage location corresponding to the identification code in the inventory data and the second unit exceeds a second preset distance, and the storage location to be checked includes each storage location corresponding to the second unit.

In one embodiment, step S803 may not be performed, and step S804 may be replaced by determining at least one unit to be inspected in the inventory area according to the at least two sets of inventory data and the inventory data in the inventory area.

In one embodiment, each group of inventory data can be compared with the corresponding inventory data, that is, for each group of inventory data in the inventory area, compare the inventory data with the inventory data in the inventory area, and determine the The inventory location to be checked in the inventory area.

In one embodiment, according to the manner of step S203 in the embodiment shown in FIG. 2 , according to each set of inventory data and inventory data in the inventory area, the location to be checked in the inventory area is determined. Furthermore, deduplication processing is performed on the storage locations to be checked corresponding to each group of inventory data, so as to obtain each storage location to be checked in the inventory area.

Optionally, according to the at least two sets of inventory data and inventory data, determining the location to be checked in the inventory area includes: for each inventory unit, if the inventory result of the inventory unit is consistent with the inventory data of the inventory unit If they are not consistent, it is determined that the inventory unit is a problem unit; according to the problem unit, the at least one storage location to be checked is determined.

Optionally, determining the location to be checked in the inventory area according to the at least two sets of inventory data and inventory data includes: for each set of inventory data, according to the The collection sequence of each material box identification code is to determine the material box identification code corresponding to each inventory unit in the inventory data; according to the material box identification code corresponding to each inventory unit in each group of the inventory data and each of the inventory units Corresponding to the inventory data, determine the storage location to be checked in the inventory area.

Optionally, according to the collection order of each bin identification code in the bin identification code queue corresponding to the inventory data, determining the bin identification code corresponding to each inventory unit in the inventory data includes: according to the The collection sequence of each bin identification code in the bin identification code queue corresponding to the inventory data and the position coordinates when the inventory robot collects each bin identification code, determine the bins corresponding to each inventory unit in the inventory data Identifier.

Optionally, the inventory data also includes the position coordinates of the inventory robot when it collects the bin identification code and the height of the pick-and-place device of the inventory robot. According to the at least two sets of inventory data and the location of the inventory area Inventory data, determining the warehouse location to be checked in the inventory area, including: for each set of inventory data, according to the position coordinates of the inventory robot corresponding to each bin identification code in the inventory data and the pick-and-place of the inventory robot The height of the cargo device, determine the material box identification codes corresponding to each inventory unit in the inventory data; according to the material box identification codes corresponding to each inventory unit in each group of inventory data and the inventory data corresponding to each inventory unit , to determine the storage location to be checked in the inventory area.

Optionally, according to the bin identification codes corresponding to each inventory unit in each set of inventory data and the inventory data corresponding to each inventory unit, determining the location to be checked in the inventory area includes: The inventory unit is used to determine whether the inventory data corresponding to the inventory unit is consistent with the bin identification code corresponding to the inventory unit in each group of the inventory data; if the inventory data corresponding to the inventory unit is consistent with the inventory data of the inventory unit If at least one set of inventory data corresponding to the bin identification codes is inconsistent, or the inventory data corresponding to the inventory unit is inconsistent with the inventory unit identification codes corresponding to each set of inventory data, then it is determined that the The stocktaking unit is a problem unit; according to the problem unit, the storage location to be checked in the inventory area is determined.

Optionally, if all the bin identification codes in the inventory data corresponding to the inventory unit exist in the inventory data of the inventory unit, it is determined that the inventory data corresponding to the inventory unit is the same as that of the inventory unit in the inventory data. The corresponding bin identification codes in the data are consistent, that is, there is no storage location to be checked in this inventory area.

Optionally, according to the problem unit, determining the inventory location to be checked in the inventory area to be checked includes: for each problem unit, determining the absolute value of the difference between the inventory sequence and the inventory sequence of the problem unit Each inventory unit whose value is smaller than the first difference is a unit to be checked, and each storage location of the unit to be checked is determined to be a storage location to be checked.

Optionally, determining the unit to be inspected in the inventory area according to the at least two sets of inventory data and inventory data includes: for each set of inventory data, comparing the inventory data with the inventory data in the inventory area Comparing: For each set of inventory data, according to the comparison result, determine the missing material box identification code in the inventory data, wherein the missing material box identification code is that the inventory data in the inventory area does not belong to all The material box identification code of the inventory data; according to the original storage location of each missing material box identification code in the inventory data, determine the storage location to be checked in the inventory area.

Fig. 9 is a flow chart of a bin inventory method provided in another embodiment of the present disclosure. The bin inventory method provided in this embodiment is performed by an inventory robot, and the inventory robot can be any robot in the storage system, or it can be a robot dedicated to executing The robot of inventory task, as shown in Figure 9, the bin inventory method that the present embodiment provides comprises the following steps:

Step S901, receiving an inventory instruction for the inventory area.

Wherein, the inventory area includes a plurality of warehouse locations.

Wherein, the stocktaking instruction is used to control the stocktaking robot to carry out stocktaking in the stocktaking area.

Step S902: Perform an inventory on the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area.

Step S903, sending the inventory data.

Wherein, the inventory data includes a queue of bin identification codes, and the inventory data is used for comparison with the inventory data in the inventory area to determine whether there is a storage location to be checked in the inventory area.

Optionally, performing an inventory on the inventory area based on the inventory instruction, and generating inventory data corresponding to the inventory area includes: performing an inventory on the inventory area based on the inventory instruction; performing an inventory on the inventory area. All collected bin identification codes are deduplicated to obtain the inventory data corresponding to the inventory area.

Optionally, performing an inventory on the inventory area based on the inventory instruction, and generating the inventory data corresponding to the inventory area includes: controlling the bin identification device of the inventory robot based on the inventory instruction, taking inventory units as units Collecting the material box identification codes of the material boxes placed in each inventory unit in the inventory area; according to the collected material box identification codes, obtaining the set of material box identification codes corresponding to each of the inventory units; based on each inventory unit in the inventory area The corresponding set of material box identification codes generates the inventory data corresponding to the inventory area; wherein, the inventory unit includes one or more storage locations, and the set of material box identification codes corresponds to the inventory unit one by one.

Optionally, based on the inventory instruction, the bin identification device of the inventory robot is controlled to collect the bin identification codes of the bins placed in each inventory unit in the inventory area in units of inventory units, including: for each inventory The unit, when moving to the preset position of the inventory unit based on the inventory instruction, turns on the bin identification device of the inventory robot to collect the bin identification codes of the bins placed in the inventory unit.

Optionally, according to the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: if the difference between the collection time points corresponding to two adjacent bin identification codes collected is less than the preset value, the two material box identification codes are classified into the same material box identification code set.

Optionally, according to the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: if the collected bin identification codes correspond to the positions of the bin identification devices If the distance is less than the preset distance, then the two material box identification codes are classified into the same material box identification code set.

Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

Optionally, the method further includes: if the strength value of the collected bin identification code is lower than a preset strength, deleting the bin identification code from the corresponding bin identification code set.

Optionally, the method further includes: determining the location corresponding to the collected bin identification code; if the location corresponding to the collected bin identification code exceeds the scope of the corresponding inventory unit, then collect the corresponding bin identification code Delete the bin ID in the .

An embodiment of the present disclosure provides a material box inventory device, which can be executed by a scheduling device or a storage system. The material box inventory device includes: an instruction sending module, an inventory data receiving module, and an abnormality judgment module.

Wherein, the instruction sending module is used to generate an inventory instruction for the inventory area, and send the inventory instruction to the inventory robot, and the inventory instruction controls the inventory robot to perform an inventory of the inventory area to obtain the inventory corresponding to the inventory area. The inventory data, the inventory area includes a plurality of warehouse locations, wherein the inventory data includes a queue of material box identification codes; the inventory data receiving module is used to receive the inventory data; the abnormality determination module is used for according to the inventory data and the inventory data in the inventory area, and determine whether there is a storage location to be checked in the inventory area.

Optionally, the abnormality determination module is specifically configured to: determine that the inventory area does not exist when each bin identification code corresponding to the inventory area in the inventory data exists in the bin identification code queue The location to be checked.

Optionally, the abnormality determination module is specifically used to: judge whether there is a missing bin identification code in the inventory data in the inventory area according to the inventory data and the inventory data corresponding to the inventory area; if the inventory If there is a missing material box identification code in the inventory data of the area, it is determined that the warehouse location to be checked exists in the inventory area; wherein, the missing material box identification code does not exist in the material box identification code queue.

Optionally, the abnormality judgment module is specifically used to: judge whether there is a misplaced bin identification code in the bin identification code queue in the inventory area according to the inventory data and the inventory data corresponding to the inventory area; If there is a misplaced material box identification code in the material box identification code queue, it is determined that the storage location to be checked exists in the inventory area; wherein, the misplaced material box identification code does not exist in the inventory data. In each material box identification code corresponding to the inventory area, and the distance between the warehouse location corresponding to the misplaced material box identification code in the inventory data and the inventory area exceeds the first preset distance; the warehouse to be inspected The bit includes the storage location or unit corresponding to the misplaced bin identification code in the inventory data.

Optionally, the abnormality determination module is specifically configured to: for each inventory unit in the inventory area, when the bin identification code corresponding to the inventory unit in the inventory data exists in the inventory corresponding to the inventory unit In the bin identification set, it is determined that the inventory unit does not have the storage location to be checked; if each inventory unit in the inventory area does not have the storage location to be checked, it is determined that the inventory area does not exist. Check the location.

Optionally, the abnormality determination module is specifically configured to: judge whether there is a first unit in each inventory unit in the inventory area according to the inventory data and the inventory data corresponding to the inventory area; if the inventory area If there is a first unit in each inventory unit of each inventory unit, it is determined that there is a storage location to be checked in the inventory area; wherein, the first unit is an inventory unit with a missing material box identification code in the corresponding inventory data, and the missing material box identification code does not exist in the bin identification code set corresponding to the first unit, and the warehouse location to be checked includes each warehouse location corresponding to the first unit.

Optionally, the abnormality determination module is specifically configured to: judge whether there is a second unit in each inventory unit in the inventory area according to the inventory data and the inventory data corresponding to the inventory area; if the inventory area If there is the second unit in each inventory unit, it is determined that there is a storage location to be checked in the inventory area; wherein, the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, The misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the distance between the warehouse location corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds the second unit. The preset distance, the warehouse location to be checked includes each warehouse location corresponding to the second unit.

Optionally, the device may replace the abnormality determination module with a location-to-be-checked determination module, and the location-to-be-checked determination module is used to determine the storage to be checked in the inventory area according to the inventory data and the inventory data in the inventory area bit.

The material box inventory device provided by the embodiment of the present disclosure can execute the material box inventory method provided by any embodiment corresponding to FIG. 2 and FIG. 4 to FIG. 7 of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

Another material box inventory device provided by an embodiment of the present disclosure may be executed by a scheduling device or a storage system, and the material box inventory device includes: an instruction generation module, an inventory data receiving module, a cross queue acquisition module, and an abnormality determination module. Wherein, the instruction generation module is used to generate an inventory instruction for the inventory area, and send the inventory instruction to at least one inventory robot, so as to control the at least one inventory robot to perform inventory on the inventory area, so as to obtain the At least two sets of inventory data in the inventory area, wherein the inventory area includes a plurality of storage locations; an inventory data receiving module, configured to receive the at least two sets of inventory data, wherein each set of inventory data includes a bin Identification code queue; cross queue acquisition module, used to intersect each of the bin identification code queues to obtain a cross inventory queue; an abnormal judgment module, used to judge according to the inventory data of the cross inventory queue and the inventory area Whether there is a storage location to be checked in the inventory area.

Optionally, the instruction generation module is specifically configured to: generate an inventory instruction for the inventory area, and send the inventory instruction to an inventory robot, so as to control the inventory robot to inventory the inventory area at least twice, and the At least one item in the inventory sequence and the inventory path of the inventory robot is different each time it takes inventory.

Optionally, the instruction generation module is specifically used to: generate a first inventory instruction and a second inventory instruction; send the first inventory instruction and the second inventory instruction to the first inventory robot and the second inventory robot respectively, The first inventory robot and the second inventory robot are controlled to perform inventory in the inventory area respectively.

Optionally, the abnormality judging module is specifically used for: when all bin identification codes corresponding to the inventory area in the inventory data exist in the cross-counting queue, then determine that the inventory area does not have the waiting Check the location.

Optionally, the abnormality determination module is specifically used for: if there is a missing material box identification code in each material box identification code corresponding to the inventory area in the inventory data, then determine that the warehouse location to be checked exists in the inventory area ; Wherein, the missing bin identification code does not exist in the cross-counting queue.

Optionally, the abnormality determination module is specifically used for: if there is a misplaced material box identification code in the cross-counting queue, then determine that the storage location to be checked exists in the inventory area; wherein, the misplaced material box identification code The code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the inventory area exceeds the first A preset distance; the warehouse location to be checked includes the warehouse location or unit corresponding to the misplaced bin identification code in the inventory data.

Optionally, the abnormality determination module is specifically configured to: for each inventory unit in the inventory area, when the bin identification code corresponding to the inventory unit in the inventory data exists in the inventory corresponding to the inventory unit In the set of bin identification codes, it is determined that the inventory unit does not have the location to be checked; if each inventory unit in the inventory area does not have the location to be checked, it is determined that the inventory area does not exist Stock location to be checked.

Optionally, the abnormality judging module is specifically configured to: judge whether there is a first unit in each inventory unit in the inventory area according to the cross-counting queue and the inventory data in the inventory area; If there is a first unit in the inventory unit, it is determined that there is a storage location to be checked in the inventory area; wherein, the first unit is an inventory unit with a third material box identification code in the corresponding inventory data, and the third material box identification code does not exist in the bin identification code set corresponding to the first unit, and the warehouse location to be checked includes each warehouse location corresponding to the first unit.

Optionally, the abnormality judging module is specifically configured to: judge whether there is a second unit in each inventory unit in the inventory area according to the cross-counting queue and the inventory data in the inventory area; If the second unit exists in the inventory unit, it is determined that there is a storage location to be checked in the inventory area; wherein, the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, and the The misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds a second preset distance distance, the storage locations to be checked include each storage location corresponding to the second unit.

The material box inventory device provided in the embodiments of the present disclosure can execute the material box inventory method provided in any embodiment of the present disclosure corresponding to FIG. 8 , and has corresponding functional modules and beneficial effects for executing the method.

Another material box inventory device provided by an embodiment of the present disclosure is applied to an inventory robot, and the material box inventory device includes: an instruction receiving module, an inventory data generating module, and an inventory data sending module.

Wherein, the instruction receiving module is used to receive the inventory instruction of the inventory area, and the inventory instruction is used to control the inventory robot to take inventory of the inventory area; the inventory data generation module is used to perform the inventory based on the inventory instruction. The region performs an inventory, and generates the inventory data corresponding to the inventory area; the inventory data sending module is used to send the inventory data; wherein, the inventory area includes a plurality of storage locations, and the inventory data includes a bin identification code queue, The inventory data is used for comparison with the inventory data in the inventory area to determine whether there is a stock location to be checked in the inventory area.

Optionally, the inventory data generating module is specifically used for: performing an inventory on the inventory area based on the inventory instruction; performing deduplication processing on all bin identification codes collected in the inventory area to obtain the The inventory data corresponding to the inventory area.

Optionally, the inventory data generation module includes: an inventory unit, configured to control the bin identification device of the inventory robot based on the inventory instruction, and collect the bins placed in each inventory unit in the inventory area in units of inventory units The bin identification code; the collection acquisition unit, used to obtain the bin identification code set corresponding to each of the inventory units according to the bin identification code collected; the inventory data generation unit, used for each inventory unit based on the inventory area The corresponding set of material box identification codes generates the inventory data corresponding to the inventory area; wherein, the inventory unit includes one or more storage locations, and the set of material box identification codes corresponds to the inventory unit one by one.

Optionally, the base counting unit is specifically configured to: for each counting unit, when moving to a preset position of the counting unit based on the counting instruction, turn on the bin identification device of the counting robot, collect The material box identification code of the material box placed in the inventory unit.

Optionally, the collection acquisition unit is specifically used for: if the difference between the collection time points corresponding to two adjacent material box identification codes collected is less than a preset value, then classify the two material box identification codes into the same A collection of bin IDs.

Optionally, the collection acquisition unit is specifically used for: if the distance between the positions of the bin identification devices corresponding to two collected adjacent bin identification codes is less than a preset distance, then the two bin identification codes belong to the same set of bin IDs.

Optionally, the device further includes: a first identification code deletion module, configured to delete the material box from the corresponding set of material box identification codes if the strength value of the collected material box identification code is lower than a preset strength Identifier.

Optionally, the device further includes: a second identification code deletion module, configured to determine the location corresponding to the collected bin identification code; if the location corresponding to the collected bin identification code exceeds the scope of the corresponding inventory unit, Then delete the material box identification code from the corresponding material box identification code set.

The bin inventory device provided in the embodiments of the present disclosure can execute the bin inventory method provided in any embodiment of the present disclosure corresponding to FIG. 9 , and has corresponding functional modules and beneficial effects for executing the method.

Fig. 10 is a schematic structural diagram of a scheduling device provided by an embodiment of the present disclosure. As shown in Fig. 10 , the scheduling device includes: a memory 1010, a processor 1020 and a computer program.

Wherein, the computer program is stored in the memory 1010 and is configured to be executed by the processor 1020 to implement the bin inventory method provided in any one of the embodiments corresponding to FIG. 2 and FIG. 4 to FIG. 8 of the present disclosure.

Wherein, the memory 1010 and the processor 1020 are connected through a bus 1030 .

Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 2 and FIG. 4 to FIG. 8 , and details are not repeated here.

FIG. 11 is a schematic structural diagram of an inventory robot provided by an embodiment of the present disclosure. As shown in FIG. 11 , the inventory robot includes: a memory 1110 , a processor 1120 and a computer program.

Wherein, the computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to implement the bin inventory method provided by the embodiment corresponding to FIG. 9 of the present disclosure.

Wherein, the memory 1110 and the processor 1120 are connected through a bus 1130 .

Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in FIG. 9 , and details are not repeated here.

FIG. 12 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure. As shown in FIG. 12 , the storage system includes: a storage shelf 1210 , a scheduling device 1220 and an inventory robot 1230 . FIG. 12 takes two storage shelves 1210 as an example.

Wherein, the scheduling device or storage system 1220 is the scheduling device or storage system provided by the embodiment shown in FIG. 10 of the present disclosure, and the inventory robot 1230 is the inventory robot provided by the embodiment shown in FIG. 11 of the present disclosure.

In one embodiment, the sizes of the locations on the same storage shelf may be the same or different, and may be set according to actual needs.

In one embodiment, the warehouse system also includes pick-and-place robots, stacking robots and other robots.

In one embodiment, the storage system further includes a transfer device for material boxes such as an unloader, a hoist, and a transportation line.

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. 2 , FIG. 4 to FIG. 9 of the present disclosure. bin inventory method.

Among them, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device and the like.

The present disclosure also provides a program product including an executable computer program stored in a readable storage medium. At least one processor of the dispatching equipment, storage system or robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the bin inventory device implements the bin inventory methods provided in the above-mentioned various embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, 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. In another point, 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.

The 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.

In addition, 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.

It should be understood that the above-mentioned 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. 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 storage may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage, and may also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.

The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, 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. 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. Of course, 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). Of course, the processor and the storage medium can also exist in the electronic device or the main control device as discrete components.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it 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.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present disclosure. scope.

Claims (33)

1. A method for taking inventory of material bins, characterized in that the method is applied to scheduling equipment, and the method includes:

   Generating an inventory instruction for the inventory area, and sending the inventory instruction to the inventory robot, the inventory instruction is used to control the inventory robot to inventory the inventory area, so as to obtain the inventory data corresponding to the inventory area, wherein, The inventory area includes a plurality of warehouse locations, and the inventory data includes a queue of bin identification codes;

   receiving said inventory data;

   According to the inventory data and the inventory data in the inventory area, it is judged whether there is a stock location to be checked in the inventory area.
2. The method according to claim 1, wherein the queue of bin identification codes is obtained by deduplicating all bin identification codes collected by the inventory robot in the inventory area.
3. The method according to claim 2, wherein, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes:

   When all the bin identification codes corresponding to the inventory area in the inventory data exist in the bin identification code queue, it is determined that the warehouse location to be checked does not exist in the inventory area.
4. The method according to claim 2, wherein, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes:

   According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a missing bin identification code in the inventory data in the inventory area;

   If there is a missing material box identification code in the inventory data of the inventory area, it is determined that the warehouse location to be checked exists in the inventory area;

   Wherein, the missing container identification code does not exist in the queue of container identification codes.
5. The method according to claim 4, wherein the storage location to be checked comprises: in the inventory data, a storage location corresponding to the missing container identification code.
6. The method according to claim 4, wherein the location to be checked includes: in the inventory data, a location within a preset range near the location corresponding to the missing container identification code.
7. The method according to claim 2, wherein, according to the inventory data and the inventory data in the inventory area, determining whether there is a storage location to be checked in the inventory area includes:

   According to the inventory data and the inventory data corresponding to the inventory area, it is judged whether there is a misplaced bin identification code in the bin identification code queue in the inventory area;

   If there is a misplaced material box identification code in the material box identification code queue, it is determined that the warehouse location to be checked exists in the inventory area;

   Wherein, the misplaced material box identification code does not exist in each material box identification code corresponding to the inventory area in the inventory data, and the misplaced material box identification code is in the corresponding warehouse location in the inventory data The distance from the inventory area exceeds a first preset distance; the storage location to be checked includes the storage location or unit corresponding to the misplaced bin identification code in the inventory data.
8. The method according to claim 1, wherein the inventory instruction is used to control the inventory robot to perform an inventory in the inventory area in units of inventory units, and the inventory unit includes a plurality of warehouse locations;

   The bin identification code queue is composed of a plurality of bin identification code sets, and the bin identification code sets are in one-to-one correspondence with the inventory units.
9. The method according to claim 8, characterized in that, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin The identification device is turned on when it moves to the preset position of the corresponding inventory unit, and the set of bin identification codes is composed of bin identification codes collected each time it is turned on.
10. The method according to claim 8, characterized in that, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on, and if the adjacent collected If the difference between the collection time points corresponding to the two bin identification codes is less than the preset value, the two bin identification codes are classified into the same bin identification code set.
11. The method according to claim 8, characterized in that, when the inventory robot performs an inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on, and if the adjacent collected When the two bin identification codes are collected, the distance between the positions of the bin identification device is less than the preset distance, and the two bin identification codes are classified into the same bin identification code set.
12. The method according to claim 11, wherein the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.
13. The method according to claim 8, wherein, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes:

    For each inventory unit in the inventory area, when the bin identification code corresponding to the inventory unit in the inventory data exists in the bin identification set corresponding to the inventory unit, then determine the inventory The unit does not exist in the storage location to be checked;

    If there is no storage location to be checked in each inventory unit in the inventory area, it is determined that there is no storage location to be checked in the inventory area.
14. The method according to claim 8, wherein, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes:

    According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a first unit in each inventory unit in the inventory area;

    If the first unit exists in each inventory unit in the inventory area, it is determined that there is a storage location to be checked in the inventory area;

    Wherein, the first unit is an inventory unit with a missing bin identification code in the corresponding inventory data, and the missing bin identification code does not exist in the bin identification code set corresponding to the first unit, and the waiting The inspection location includes each location corresponding to the first unit.
15. The method according to claim 8, wherein, according to the inventory data and the inventory data corresponding to the inventory area, judging whether there is a storage location to be checked in the inventory area includes:

    According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a second unit in each inventory unit in the inventory area;

    If the second unit exists in each inventory unit in the inventory area, it is determined that there is a stock location to be checked in the inventory area;

    Wherein, the second unit is an inventory unit for which there is a misplaced bin identification code in the corresponding bin identification set, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the The distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds a second preset distance, and the storage location to be checked includes each storage location corresponding to the second unit.
16. The method according to claim 1, wherein the inventory data comes from at least two inventory robots, and at least one of the inventory sequence and the inventory path of the at least two inventory robots for the inventory area different.
17. The method according to any one of claims 1-16, characterized in that the bin identification device is an electronic label identification device or an image identification device.
18. A method for counting material boxes, characterized in that the method is applied to an inventory robot, and the method includes:

    receiving an inventory counting instruction for the inventory area, where the inventory instruction is used to control the inventory robot to inventory the inventory area;

    performing an inventory on the inventory area based on the inventory instruction, and generating inventory data corresponding to the inventory area;

    sending said inventory data;

    Wherein, the inventory area includes a plurality of warehouse locations, the inventory data includes a queue of bin identification codes, and the inventory data is used for comparison with the inventory data in the inventory area to determine whether there is a waiting list in the inventory area. Check the location.
19. The method according to claim 18, characterized in that, based on the inventory instruction, the inventory area is inventoried, and the inventory data corresponding to the inventory area is generated, including:

    performing an inventory on the inventory area based on the inventory instruction;

    Deduplication processing is performed on all bin identification codes collected in the inventory area to obtain inventory data corresponding to the inventory area.
20. The method according to claim 18, characterized in that, based on the inventory instruction, the inventory area is inventoried, and the inventory data corresponding to the inventory area is generated, including:

    Controlling the bin identification device of the inventory robot based on the inventory instruction, collecting the bin identification codes of the bins placed in each inventory unit in the inventory area in units of inventory units;

    According to the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained;

    Generate inventory data corresponding to the inventory area based on the set of bin identification codes corresponding to each inventory unit in the inventory area;

    Wherein, the counting unit includes one or more warehouse locations, and the set of bin identification codes corresponds to the counting unit one by one.
21. The method according to claim 20, characterized in that, based on the inventory instruction, the bin identification device of the inventory robot is controlled to collect the bins of the bins placed in each inventory unit in the inventory area in units of inventory units Identification code, including:

    For each inventory unit, when moving to the preset position of the inventory unit based on the inventory instruction, the bin identification device of the inventory robot is turned on to collect the bins of the bins placed in the inventory unit Identifier.
22. The method according to claim 20, wherein, according to the collected bin identification codes, obtaining a set of bin identification codes corresponding to each of the inventory units includes:

    If the difference between the collected time points corresponding to two adjacent material box identification codes collected is less than a preset value, then the two material box identification codes are classified into the same material box identification code set.
23. The method according to claim 20, wherein, according to the collected bin identification codes, obtaining a set of bin identification codes corresponding to each of the inventory units includes:

    If the distance between the positions of the container identification device corresponding to two collected adjacent container identification codes is less than a preset distance, then the two container identification codes are classified into the same container identification code set.
24. The method according to claim 23, wherein the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.
25. The method according to claim 20, further comprising:

    If the intensity value of the collected material box identification code is lower than the preset intensity, the material box identification code is deleted from the corresponding material box identification code set.
26. The method according to claim 20, further comprising:

    Determine the location corresponding to the collected bin identification code;

    If the position corresponding to the collected material box identification code exceeds the range of the corresponding inventory unit, then delete the material box identification code from the corresponding material box identification code set.
27. A material box inventory device, characterized in that the device is applied to scheduling equipment, and the device includes:

    An instruction sending module, configured to generate an inventory instruction for an inventory area, and send the inventory instruction to an inventory robot, where the inventory instruction is used to control the inventory robot to perform an inventory of the inventory area, so as to obtain the inventory corresponding to the inventory area. The inventory data, wherein, the inventory area includes a plurality of storage locations, and the inventory data includes a bin identification code queue;

    An inventory data receiving module, configured to receive the inventory data;

    The abnormality determination module is configured to determine whether there is a storage location to be checked in the inventory area according to the inventory data and the inventory data in the inventory area.
28. A material box inventory device, characterized in that the device is applied to an inventory robot, and the device includes:

    An instruction receiving module, configured to receive an inventory instruction in an inventory area, and the inventory instruction is used to control the inventory robot to perform an inventory in the inventory area;

    An inventory data generating module, configured to perform an inventory of the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area;

    An inventory data sending module, configured to send the inventory data;

    Wherein, the inventory area includes a plurality of warehouse locations, the inventory data includes a queue of bin identification codes, and the inventory data is used for comparison with the inventory data in the inventory area to determine whether there is a waiting list in the inventory area. Check the location.
29. A scheduling device, characterized in that it includes:

    memory and at least one processor;

    the memory stores computer-executable instructions;

    The at least one processor executes the computer-executed instructions stored in the memory, so that the at least one processor executes the bin inventory method according to any one of claims 1-17.
30. An inventory robot, characterized in that it comprises:

    Mobile chassis and inventory modules;

    The inventory module is used to implement the bin inventory method according to any one of claims 18-26.
31. A warehousing system, characterized by comprising storage shelves, the dispatching equipment or warehousing system as claimed in claim 29, and the inventory robot as claimed in claim 30.
32. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the processor executes the computer-executable instructions, the method described in any one of claims 1-26 is realized. Box inventory method.
33. A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the bin inventory method according to any one of claims 1-26 is realized.

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