WO2024060896A1 - 无人档案仓库智能盘点方法、装置、智能终端及存储介质 - Google Patents

无人档案仓库智能盘点方法、装置、智能终端及存储介质 Download PDF

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Publication number
WO2024060896A1
WO2024060896A1 PCT/CN2023/113589 CN2023113589W WO2024060896A1 WO 2024060896 A1 WO2024060896 A1 WO 2024060896A1 CN 2023113589 W CN2023113589 W CN 2023113589W WO 2024060896 A1 WO2024060896 A1 WO 2024060896A1
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Prior art keywords
inventory
robot
area
unmanned
file
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PCT/CN2023/113589
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English (en)
French (fr)
Inventor
蒋运涛
张昆
何龙
白来彬
张建
杨龙飞
蒋小军
柳青
杨志祥
于帅帅
黎前卫
魏莹
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北京融安特智能科技股份有限公司
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Publication of WO2024060896A1 publication Critical patent/WO2024060896A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods

Definitions

  • the present application relates to the technical field of unmanned warehousing, and in particular to an intelligent inventory method, device, intelligent terminal and storage medium for an unmanned archive warehouse.
  • the archives warehouse is a special storage place where files are borrowed and returned to the warehouse. Considering the confidentiality, security and importance of the files, these files need to be inventoried regularly, and the inventory records should be recorded in real time and accurately. and store for a long time.
  • this application provides an intelligent inventory method, device, equipment and storage medium for unmanned archive warehouse.
  • this application provides an intelligent inventory method for unmanned archives warehouses, adopting the following technical solutions:
  • An intelligent inventory method for unmanned archive warehouse including:
  • the target files in the unmanned file warehouse are inventoried to obtain the inventory results.
  • the scanning area of the robot is determined through the obtained inventory task, and the target files in the scanning area are inventoried, and the scanning area is continuously adjusted during the inventory process, thereby Realize the inventory of target files in the unmanned warehouse, and compared with the existing technology, the inventory of target files through robots has the advantages of improving inventory efficiency, low error rate, and high inventory accuracy.
  • this application provides an intelligent inventory device for an unmanned archives warehouse, adopting the following technical solution:
  • An intelligent inventory device for unmanned archives warehouse including:
  • a first determination module configured to determine the scanning power of the first robot based on the inventory task
  • a second determination module configured to determine the scanning area of the first robot based on the scanning power
  • the inventory module is used to inventory the target archives in the unmanned archive warehouse based on the scanning area to obtain an inventory result.
  • the scanning area of the robot is determined through the obtained inventory task, and the target files in the scanning area are inventoried, and the scanning area is continuously adjusted during the inventory process, thereby Realize the inventory of target files in the unmanned warehouse, and compared with the existing technology, the inventory of target files through robots has the advantages of improving inventory efficiency and high inventory accuracy.
  • this application provides an intelligent terminal that adopts the following technical solution:
  • An intelligent terminal includes a processor, the processor is coupled to a memory;
  • the processor is configured to execute the computer program stored in the memory, so that the intelligent terminal executes the intelligent inventory method of the unmanned archives warehouse as described in any one of the first aspects.
  • this application provides a computer-readable storage medium, adopting the following technical solution:
  • a computer-readable storage medium stores a computer program that can be loaded by a processor and execute the intelligent inventory method of an unmanned archives warehouse according to any one of the first aspects.
  • Figure 1 is a schematic flowchart of an intelligent inventory method for an unmanned archives warehouse provided by an embodiment of the present application.
  • Figure 2 is a structural block diagram of an intelligent inventory device for an unmanned archives warehouse provided by an embodiment of the application.
  • Figure 3 is a structural block diagram of an intelligent terminal provided by an embodiment of the present application.
  • the embodiment of the present application provides an intelligent inventory method for an unmanned archives warehouse.
  • the intelligent inventory method for an unmanned archives warehouse can be executed by an electronic device.
  • the electronic device can be a server or a terminal device, where the server can be an independent physical server. It can also be a server cluster or distributed system composed of virtual machines or multiple physical servers, or a cloud server that provides cloud computing services.
  • the terminal device can be a smartphone, tablet computer, desktop computer, etc., but is not limited to this.
  • Figure 1 is a schematic flowchart of an intelligent inventory method for an unmanned archives warehouse provided by an embodiment of the present application.
  • step S101 to S104 the main process of this method is described as follows (steps S101 to S104):
  • Step S101 obtaining an inventory task.
  • the unmanned archive warehouse includes intelligent racks, intelligent terminals and multiple first robots.
  • Staff can remotely issue inventory tasks to intelligent terminals through the Internet, and can also issue inventory tasks through manual input. Then the inventory task is obtained through the smart terminal; then the smart terminal controls the actions of the first robot and the intelligent rack according to the inventory task, and performs the inventory.
  • the inventory task includes a rough inventory and a fine inventory.
  • the rough inventory is to determine whether the target file is in the unmanned archives warehouse, and the fine inventory is to determine the precise location of the target file in the unmanned archives warehouse.
  • the first robot is equipped with a scanning device, and each file will have an RFID electronic tag.
  • the first robot scans the RFID electronic tag through the scanning device to complete the inventory task.
  • Step S102 Determine the scanning power of the first robot based on the inventory task.
  • the inventory area is determined based on the inventory task; the current position information of the first robot and the position information of the center point of the inventory area are obtained; the first distance between the first robot and the center point of the inventory area is determined based on the current position information; and it is determined whether the first distance is is greater than the preset distance; if so, adjust the scanning power of the first robot to the maximum scanning power and control the first robot to move into the inventory area; if not, adjust the scanning power to the scanning power corresponding to the first distance.
  • each first robot since each first robot is responsible for different areas, it is necessary to determine the inventory area where the target file is located according to the category of the target file in the inventory task. For example, if the target file is an economic category file, it will be stored The area for files of the economic category is divided into an inventory area. If the target file is a file of the legal category, the area for storing files of the legal category is divided into an inventory area.
  • the current position information determines the first distance of the first robot from the center point, compares the first distance with the preset distance, and adjusts the scanning power of the first robot according to the comparison result, where the preset distance is the scanning power of the first robot.
  • the scanning power is maximum, the maximum distance that can be scanned.
  • the scanning power of the first robot needs to be adjusted to the maximum, and then the first robot is controlled to gradually move toward the center point based on the current position information of the first robot and the position information of the center point.
  • the first distance is equal to the preset distance, it means that the maximum scanning area of the first robot can fully cover the inventory area, so that the target files in the inventory area can be inventoryed.
  • the scanning power of the first robot can be gradually adjusted according to the first distance, thereby adjusting the scanning area of the first robot, thereby accurately positioning the target file and completing a detailed inventory.
  • controlling the first robot to move into the inventory area includes: planning multiple first travel routes of the first robot based on the current location information and the location information of the center point of the inventory area; sorting the multiple first travel routes to obtain the first travel route.
  • a sorting result select the optimal travel route based on the first sorting result, where the optimal travel route is the shortest travel route; determine whether there is an inventory area on the optimal travel route that is being inventoried by other first robots; if so, then Obtain the second travel route of other first robots; adjust the optimal travel route based on the second travel route to obtain a third travel route; control the first robot to move based on the third travel route.
  • the first robot when the first distance is greater than the preset distance, the first robot needs to be controlled to move to the inventory area. At this time, the traveling route of the first robot needs to be planned so that the first robot reaches the inventory area as quickly as possible.
  • three first routes are planned from the first robot to the center point of the inventory area, and the moving distances that the first robot needs to move on the three first routes are calculated respectively.
  • the routes are sorted according to the moving distances to obtain a first sorting result, and the first route with the shortest moving distance is selected from the first sorting result as the optimal route.
  • the first robot is controlled to move to the inventory area according to the optimal route.
  • the travel route adjusts the optimal route to obtain a third travel route, which reduces the impact of the first robot on other first robots during its movement.
  • the routes need to be re-sorted to obtain a second sorting result, and then the optimal route is re-selected from the second sorting result until the optimal route can satisfy the first robot to quickly reach the inventory area.
  • the method before controlling the first robot to move based on the third traveling route, the method also includes: obtaining the traveling speed of the first robot and the moving distance of the traveling route; and determining the moving time of the first robot based on the moving distance and the traveling speed, so The movement time is the time for the first robot to reach the center point of the inventory area from the current position; obtain the opening speed of the intelligent rack in the inventory area; determine the opening time of the intelligent rack based on the movement time and opening speed; control the opening of the intelligent rack based on the opening time .
  • the moving time of the first robot is determined based on the moving distance of the optimal traveling route and the traveling speed of the first robot, and then the smart rack is opened in advance according to the moving time, thereby reducing First robot waiting time.
  • the moving distance is 36 meters and the traveling speed is 6 meters/minute
  • the moving time of the first robot is 6 minutes
  • the opening speed of the smart rack is 4 meters/minute
  • the time for all the smart racks to be opened is only 10 seconds
  • the smart racks will begin to open. In this way, when the first robot arrives at the inventory area, the smart racks will be fully opened, which will not affect the first robot's processing of the target files in the inventory area. Inventory, and save the waiting time of the first robot.
  • Step S103 Determine the scanning area of the first robot based on the scanning power.
  • the scanning area of the first robot is a spherical scanning area with the first robot as the center and the scanning distance corresponding to the scanning power as the radius.
  • the maximum scanning area of the first robot is a spherical scanning area with a radius of 30 meters centered on the first robot.
  • the area is a spherical scanning area with the first robot as the center and a radius of 5 cm.
  • the first robot After the first robot obtains the inventory task, the first robot first scans with the maximum scanning area, and then gradually reduces the scanning area to complete the positioning of the target file.
  • Step S104 Inventory the target files in the unmanned archives warehouse based on the scan area, and obtain the inventory results.
  • obtain the first file label in the inventory task obtain all file label groups in the scan area; compare the first file label with the file label group one by one; if the first file label exists in the file label group, compare The first file label is accurately positioned to obtain the positioning information, and the positioning information is used as the inventory result; if the first file label does not exist in the file label group, the relevant information of the file represented by the first file label is obtained, and the relevant information includes the borrower and borrowing time, and use relevant information as inventory results.
  • the first robot when the first robot arrives at the inventory area, it compares the file label group in the inventory area with the first file label of the target file. When performing a rough inventory, if the file label group contains the first file label, Then a rough inventory is completed and a precise inventory is performed, that is, the first file tag is accurately positioned to obtain the positioning information.
  • the target file is a newspaper in July 2021, but during a rough inventory, it is found that no one is there
  • the target file does not exist in the archives warehouse, you need to retrieve the relevant information of the target file. For example, if the borrower is a newspaper, the borrowing time is from July 2022 to December 2022, but the current inventory time is August 2022. This The target file at the time has not been returned, and the smart terminal will take the borrower and the borrowing time as the inventory result of the target file.
  • the first file tag is accurately positioned to obtain positioning information including: establishing a three-dimensional model based on the intelligent dense shelving; obtaining the first coordinate of the first robot on the three-dimensional model; determining the second coordinate of the first file tag based on the scanning area and the first coordinate; and determining the positioning information according to the second coordinate and the three-dimensional model.
  • a rectangular coordinate system is established with the center point of the intelligent rack, and the first coordinate system is determined based on the first coordinate of the first robot and the second distance between the first file label and the first robot.
  • the second coordinate of the file tag for example, the first coordinate of the first robot is (1, 5, -2), and the straight-line distance between the first robot and the first file tag is 0.5 meters, then the target represented by the first file tag can be determined
  • the second coordinate of the file is (-2, 5, 2).
  • the positioning information of the target file can be found in the three-dimensional model through the second coordinate, and then the positioning information can be used as the inventory result. output.
  • the method also includes: obtaining the inventory progress and power information of the first robot; judging whether the first robot can complete the inventory task based on the power information and inventory progress; if not, selecting the second robot to complete the inventory task, wherein the second robot The robot is the first robot that has no inventory task and/or the first robot that has completed the inventory task.
  • the power information of the first robot is obtained in real time, and the inventory task is planned based on the power information of the first robot and the inventory progress.
  • the power of the first robot is insufficient,
  • a second robot needs to be selected to complete the inventory task to ensure the effective execution of the inventory task and the efficiency of the inventory.
  • the current inventory progress of the first robot is 50%, but at this time the first robot If the robot's power is less than 10%, it is necessary to select the most suitable first robot as the second robot from the first robot that has no inventory task and/or the first robot that has completed the inventory task, and use the second robot to complete the inventory task;
  • the optimal second robot is the first robot that has the most power and has not performed an inventory task.
  • Figure 2 is a structural block diagram of an intelligent inventory device 200 for an unmanned archives warehouse provided by an embodiment of the present application.
  • the unmanned file warehouse intelligent inventory device 200 mainly includes:
  • Acquisition module 201 is used to obtain inventory tasks
  • a first determination module 202 configured to determine a scanning power of a first robot based on an inventory task
  • the second determination module 203 is used to determine the scanning area of the first robot based on the scanning power
  • the inventory module 204 is used to inventory the target files in the unmanned archives warehouse based on the scan area and obtain the inventory results.
  • the first determination module 202 is also specifically configured to determine the scanning power of the first robot based on the inventory task, including: determining the inventory area based on the inventory task; obtaining the current location information and inventory of the first robot Position information of the center point of the area; determine the first distance between the first robot and the center point of the inventory area based on the current position information; determine whether the first distance is greater than the preset distance; if so, adjust the scanning power of the first robot to the maximum scanning power , and control the first robot to move into the inventory area; if not, adjust the scanning power to the scanning power corresponding to the first distance.
  • the first determination module 202 is also specifically used to control the first robot to move into the inventory area, including: planning multiple first positions based on the current position information and the position information of the center point of the inventory area.
  • the first traveling route of the robot sort multiple first traveling routes to obtain the first sorting result; select the optimal traveling route based on the first sorting result, where the optimal traveling route is the first traveling route with the shortest distance; judge Whether there is an inventory area on the optimal travel route that other first robots are taking inventory of; if so, obtain the second travel route of the other first robots; adjust the optimal travel route based on the second travel route to obtain the third travel route ; Control the first robot to move based on the third travel route.
  • the first determination module 202 is also specifically used to obtain the travel speed of the first robot and the moving distance of the travel route before controlling the first robot to move based on the third travel route; determine the moving time of the first robot based on the moving distance and the travel speed, and the moving time is the time for the first robot to reach the center point of the inventory area from the current position; obtain the opening speed of the smart compact shelving in the inventory area; determine the opening time of the smart compact shelving based on the moving time and the opening speed; and control the opening of the smart compact shelving based on the opening time.
  • the inventory module 204 is also specifically configured to inventory the archive tags in the unmanned archive warehouse based on the scan area, and obtain the inventory results, including: obtaining the first archive tag in the inventory task; Obtain all file tag groups in the scan area; compare the first file tag with the file tag group one by one; if the first file tag exists in the file tag group, accurately locate the first file tag to obtain the positioning information, and Use the positioning information as the inventory result; if the first file tag does not exist in the file tag group, obtain the relevant information of the target file represented by the first file tag.
  • the relevant information includes the borrower and the borrowing time, and use the relevant information as the inventory result.
  • the inventory module 204 is also specifically used to accurately position the first file tag and obtain positioning information, including: establishing a three-dimensional model based on the intelligent compact frame; establishing a rectangular coordinate system based on the three-dimensional model; Obtain the first coordinates of the first robot on the Cartesian coordinate system; determine the second coordinates of the first file tag based on the scan area and the first coordinates; determine the positioning information based on the second coordinates and the three-dimensional model.
  • the inventory module 204 is also specifically configured to inventory the target files in the unmanned file warehouse based on the scanning area, including: obtaining the inventory progress and power information of the first robot; based on the power information and the inventory progress to determine whether the first robot can complete the inventory task; if not, select a second robot to complete the inventory task, where the second robot is the first robot that does not have the inventory task and/or the first robot that has completed the inventory task.
  • the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • FPGAs field programmable gate arrays
  • the processing element can be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processors that can call programs.
  • CPU central processing unit
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • Figure 3 is a structural block diagram of an intelligent terminal 300 provided by an embodiment of the present application.
  • the smart terminal 300 includes a processor 301 and a memory 302, and may further include information output.
  • I/O Input/output
  • communication components 304 one or more of communication components 304
  • communication bus 305 communication bus
  • the processor 301 is used to control the overall operation of the intelligent terminal 300 to complete all or part of the steps of the above-mentioned intelligent inventory method of the unmanned archive warehouse;
  • the memory 302 is used to store various types of data to support the operation of the intelligent terminal 300 , these data may include, for example, instructions for any application program or method operating on the smart terminal 300, as well as application program-related data.
  • the memory 302 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (Read- Only Memory (ROM), magnetic memory, flash memory, one or more of magnetic disks or optical disks.
  • SRAM static random access memory
  • EEPROM Electrically erasable programmable read-only memory
  • EPROM Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • ROM Read-Only Memory
  • magnetic memory flash memory, one or more of magnetic disks or optical disks.
  • the I/O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons.
  • the communication component 304 is used for wired or wireless communication between the smart terminal 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.
  • the intelligent terminal 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the unmanned archive warehouse intelligent inventory method given in the above embodiment.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • controllers microcontrollers, microprocessors or other electronic components to execute the unmanned archive warehouse intelligent inventory method given in the above embodiment.
  • Communication bus 305 may include a path that carries information between the above-mentioned components.
  • the communication bus 305 may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus or an EISA (Extended Industry Standard Architecture) bus, etc.
  • the communication bus 305 can be divided into an address bus, a data bus, a control bus, etc.
  • the smart terminal 300 may include, but is not limited to, a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle-mounted terminal (such as a vehicle-mounted navigation terminal), and the like.
  • Mobile terminals and fixed terminals such as digital TVs, desktop computers, etc., can also be servers.
  • This application also provides a computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the steps of the above-mentioned intelligent inventory method for unmanned archive warehouses are implemented.
  • the computer-readable storage medium can include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc., which can store programs The medium of the code.

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Abstract

一种无人档案仓库智能盘点方法、装置、智能终端及存储介质，应用于无人仓储技术领域，其方法包括：获取盘点任务；基于所述盘点任务确定第一机器人的扫描功率；基于所述扫描功率确定所述第一机器人的扫描区域；基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点，得到盘点结果。该方法具有提高盘点效率，实现无人仓储管理的效果。

Description

无人档案仓库智能盘点方法、装置、智能终端及存储介质 技术领域
本申请涉及无人仓储的技术领域，尤其是涉及一种无人档案仓库智能盘点方法、装置、智能终端及存储介质。
背景技术
档案仓库是一种特殊的仓储场所，档案会被借阅出库、归还回库，考虑到档案的机密性、安全性与重要性，这些档案需要定时盘点，盘点记录应该被实时、准确的记录，并长时间存储。
随着近年来第一机器人技术的进步，越来越多的第一机器人被用于仓储、物流等行业。事实证明，第一机器人在这些场景中的应用，不仅节约了人力成本，还提升了效率，降低了出错率，为构建无人仓储提供了条件。
虽然第一机器人已经被应用在仓储等行业，但是目前对档案的盘点还是由人工进行盘点，如果完全依靠人工操作，不但会产生漏记、错记、记录丢失的情况，还会因为档案的数据量过大造成盘点效率低下、相关人员的冗余等缺点。
发明内容
为了提高盘点效率，实现无人仓储管理，本申请提供一种无人档案仓库智能盘点方法、装置、设备及存储介质。
第一方面，本申请提供一种无人档案仓库智能盘点方法，采用如下的技术方案：
一种无人档案仓库智能盘点方法，包括：
获取盘点任务；
基于所述盘点任务确定第一机器人的扫描功率；
基于所述扫描功率确定所述第一机器人的扫描区域；
基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点，得到盘点结果。
通过采用上述技术方案，当需要对无人档案仓库进行盘点时，通过获取的盘点任务确定机器人的扫描区域，对扫描区域中的目标档案进行盘点，在进行盘点的过程中不断调整扫描区域，从而实现对无人仓库目标档案的盘点，而且与现有技术相比，通过机器人对目标档案进行盘点具有提高盘点效率、错误率低、盘点准确率高的优点。
第二方面，本申请提供一种无人档案仓库智能盘点装置，采用如下的技术方案：
一种无人档案仓库智能盘点装置，包括：
获取模块，用于获取盘点任务；
第一确定模块，用于基于所述盘点任务确定第一机器人的扫描功率；
第二确定模块，用于基于所述扫描功率确定所述第一机器人的扫描区域；
盘点模块，用于基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点，得到盘点结果。
通过采用上述技术方案，当需要对无人档案仓库进行盘点时，通过获取的盘点任务确定机器人的扫描区域，对扫描区域中的目标档案进行盘点，在进行盘点的过程中不断调整扫描区域，从而实现对无人仓库目标档案的盘点，而且与现有技术相比，通过机器人对目标档案进行盘点具有提高盘点效率、盘点准确率高的优点。
第三方面，本申请提供一种智能终端，采用如下的技术方案：
一种智能终端，包括处理器，所述处理器与存储器耦合；
所述处理器用于执行所述存储器中存储的计算机程序，以使得所述智能终端执行如第一方面任一项所述的无人档案仓库智能盘点方法。
第四方面，本申请提供一种计算机可读存储介质，采用如下的技术方案：
一种计算机可读存储介质，存储有能够被处理器加载并执行第一方面任一项所述的无人档案仓库智能盘点方法的计算机程序。
附图说明
图1是本申请实施例提供的一种无人档案仓库智能盘点方法的流程示意图。
图2是申请实施例提供的一种无人档案仓库智能盘点装置的结构框图。
图3是本申请实施例提供的智能终端的结构框图。
具体实施方式
以下结合附图对本申请作进一步详细说明。
本申请实施例提供一种无人档案仓库智能盘点方法，该无人档案仓库智能盘点方法可由电子设备执行，该电子设备可以为服务器也可以为终端设备，其中该服务器可以是独立的物理服务器，也可以是虚拟机或多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云计算服务的云服务器。终端设备可以是智能手机、平板电脑、台式计算机等，但并不局限于此。
图1为本申请实施例提供的一种无人档案仓库智能盘点方法的流程示意图。
如图1所示，该方法主要流程描述如下(步骤S101～S104)：
步骤S1O1，获取盘点任务。
在本实施例中，无人档案仓库包括智能密集架、智能终端和多个第一机器人，工作人员能够通过互联网远程向智能终端下发盘点任务，还可以通过手动输入的形式下发盘点任务，再经由智能终端获取盘点任务；然后智能终端根据盘点任务控制第一机器人和智能密集架动作，并进行盘点。
具体的，盘点任务包括粗略盘点和精细盘点，其中，粗略盘点为判断目标档案是否在无人档案仓库内，精细盘点为确定目标档案在无人档案仓库的精确位置。
在本实施例中，第一机器人设置有扫描装置，每个档案上都会有RFID电子标签，第一机器人通过扫描装置扫描RFID电子标签，从而完成盘点任务。
步骤S102，基于盘点任务确定第一机器人的扫描功率。
具体的，基于盘点任务确定盘点区域；获取第一机器人的当前位置信息和盘点区域中心点的位置信息；基于当前位置信息确定第一机器人与盘点区域中心点的第一距离；判断第一距离是否大于预设距离；若是，则将第一机器人的扫描功率调整为最大扫描功率，并控制第一机器人向盘点区域内移动；若否，则将扫描功率调整为与第一距离对应的扫描功率。
在本实施例中，由于每个第一机器人负责的不同的区域，所以需要根据盘点任务中目标档案的类别确定目标档案所在的盘点区域，例如，若目标档案为经济类别的档案，则将存放经济类别的档案的区域划为盘点区域，若目标档案为法律类别的档案，则将存放法律类别的档案的区域划为盘点区域。
在确定完盘点区域之后，由于盘点区域内存在多个智能密集架，为方便对盘点区域中目标档案进行盘点，所以需要确定盘点区域中心点的位置，根据中心点的位置信息和第一机器人的当前位置信息确定第一机器人距离中心点的第一距离，将第一距离和预设距离进行对比，根据对比结果调整第一机器人的扫描功率，其中，预设距离为当第一机器人的扫描功率为最大扫描功率时，能够扫描的最大距离。
当第一距离大于预设距离时，需要将第一机器人的扫描功率调整为最大，然后根据第一机器人的当前位置信息和中心点的位置信息控制第一机器人逐渐向中心点移动。
当第一距离等于预设距离时，表示第一机器人的最大扫描区域能够对盘点区域进行全覆盖，从而能够使盘点区域内的目标档案进行盘点。
当第一距离小于预设距离时，可以根据第一距离逐渐调整第一机器人的扫描功率，从而调整第一机器人的扫描区域，进而对目标档案进行精确定位完成细盘点。
进一步地，控制第一机器人向盘点区域内包括：基于当前位置信息和盘点区域中心点的位置信息规划多条第一机器人的第一行进路线；对多条第一行进路线进行排序，得到第 一排序结果；基于第一排序结果选取最优行进路线，其中，最优行进路线为距离最短的行进路线；判断最优行进路线上是否存在其他第一机器人正在盘点的盘点区域；若存在，则获取其他第一机器人的第二行进路线；基于第二行进路线对最优行进路线进行调整，得到第三行进路线；基于第三行进路线控制第一机器人进行移动。
在本实施例中，当第一距离大于预设距离时，需要控制第一机器人向盘点区域进行移动，此时需要对第一机器人的行进路线进行规划，使第一机器人最快到达盘点区域。
例如，第一机器人到盘点区域的中心点规划了三条第一行进路线，分别计算三条第一行进路线第一机器人所需要移动的移动距离，根据移动距离对行进路线进行排序，得到第一排序结果，并从第一排序结果中选择移动距离最短的第一行进路线作为最优行进路线，然后控制第一机器人按照最优行进路线向盘点区域进行移动。
进一步地，在控制第一机器人按照最优行进路线向盘点区域进行移动的过程之前，若在最优行进路线上存在其他第一机器人正在盘点的盘点区域，则需要根据其他第一机器人的第二行进路线对最优路线进行调整，得到第三行进路线，减少第一机器人在移动的过程中对其他第一机器人的影响。
但是当第三行进路线的移动距离大于其余第一行进路线的移动距离时，需要对行进路线进行重新排序，得到第二排序结果，然后从第二排序结果中重新选择最优行进路线，直至最优行进路线能够满足第一机器人快速到达盘点区域为止。
进一步地，在基于第三行进路线控制第一机器人进行移动之前，方法还包括：获取第一机器人的行进速度和行进路线的移动距离；基于移动距离和行进速度确定第一机器人的移动时间，所移动时间为第一机器人由当前位置到达盘点区域中心点的时间；获取盘点区域内智能密集架的开启速度；基于移动时间和开启速度确定智能密集架的开启时间；基于开启时间控制智能密集架开启。
在本实施例中，为了缩短第一机器人盘点的时间，根据最优行进路线的移动距离和第一机器人的行进速度确定第一机器人的移动时间，然后根据移动时间提前打开智能密集架，从而减少第一机器人等待时间。
例如，移动距离为36米，行进速度为6米/分钟，则第一机器人的移动时间为6分钟，而智能密集架的开启速度为4米/分钟，但智能密集架全部打开的时间仅需10秒，则在第一机器人已经行进35米时，智能密集架开始打开，这样当第一机器人到达盘点区域时，智能密集架正好全部打开，不仅不影响第一机器人对盘点区域的目标档案进行盘点，而且节省了第一机器人的等待时间。
步骤S103，基于扫描功率确定第一机器人的扫描区域。
在本实施例中，第一机器人的扫描区域为以第一机器人为中心，扫描功率对应的扫描距离为半径构成的球体扫描区域。
例如，第一机器人的最大扫描距离为30米，最小扫描距离为5厘米，则第一机器人的最大扫描区域为以第一机器人为中心30米为半径的球体扫描区域，第一机器人的最小扫描区域为以第一机器人为中心，5厘米为半径的球体扫描区域。
在第一机器人获取到盘点任务之后，第一机器人先以最大扫描区域进行扫描，然后逐渐缩小扫描区域，完成对目标档案的定位。
步骤S104，基于扫描区域对无人档案仓库中的目标档案进行盘点，得到盘点结果。
具体的，获取盘点任务中的第一档案标签；获取扫描区域内所有的档案标签组；将第一档案标签与档案标签组进行一一对比；若档案标签组内存在第一档案标签，则对第一档案标签进行精确定位，得到定位信息，并将定位信息作为盘点结果；若档案标签组内不存在第一档案标签，则获取第一档案标签所代表档案的相关信息，相关信息包括借阅人和借阅时间，并将相关信息作为盘点结果。
在本实施例中，在第一机器人到达盘点区域时，将盘点区域内的档案标签组与目标档案的第一档案标签进行对比，当进行粗略盘点时，若档案标签组存在第一档案标签，则完成粗略盘点，进行精确盘点，即对第一档案标签进行精确定位，得到定位信息。
若档案标签组内不存在第一档案标签，则需要获取第一档案标签所代表的目标档案的相关信息；例如，目标档案为2021年七月份的报纸，但是在进行粗略盘点时，发现无人档案仓库内不存在目标档案，则需要调取目标档案的相关信息，如借阅人为某个报社，借阅时间为2022年七月至2022年十二月，但是当前盘点时间为2022年八月，此时的目标档案尚未归还，智能终端将借阅人和借阅时间作为目标档案的盘点结果。
进一步地，对第一档案标签进行精确定位，得到定位信息包括：基于智能密集架建立三维模型；获取第一机器人在三维模型上的第一坐标；基于扫描区域和第一坐标确定第一档案标签的第二坐标；根据第二坐标和三维模型确定定位信息。
当第一机器人对目标档案进行精细盘点时，以智能密集架的中心点建立直角坐标系，根据第一机器人的第一坐标和第一档案标签与第一机器人之间的第二距离确定第一档案标签的第二坐标，例如第一机器人的第一坐标为(1，5，-2)，第一机器人与第一档案标签的直线距离为0.5米，则可以确定第一档案标签代表的目标档案的第二坐标为(-2,5，2)，此时可以通过第二坐标在三维模型中找到目标档案的定位信息，然后将定位信息作为盘点结果进行 输出。
进一步地，方法还包括：获取第一机器人的盘点进度和电量信息；基于电量信息和盘点进度判断第一机器人是否能够完成盘点任务；若否，则选取第二机器人完成盘点任务，其中，第二机器人为没有盘点任务的第一机器人和/或已完成盘点任务的第一机器人。
在本实施例中，当第一机器人对目标档案进行盘点时，实时获取第一机器人的电量信息，根据第一机器人的电量信息和盘点进度对盘点任务进行规划，当第一机器人的电量不足以支持百分百完成盘点任务时，需要选取第二机器人完成盘点任务，以保证盘点任务的有效进行和盘点效率，例如：当前第一机器人的盘点进度为百分之五十，但是此时第一机器人的电量不足百分之十，需要从没有盘点任务的第一机器人和/或已完成盘点任务的第一机器人中选取最适合的第一机器人作为第二机器人，采用第二机器人完成盘点任务；在本实施例中，最优的第二机器人为电量最多且没有进行过盘点任务的第一机器人。
图2为本申请实施例提供的一种无人档案仓库智能盘点装置200的结构框图。
如图2所示，无人档案仓库智能盘点装置200主要包括：
获取模块201，用于获取盘点任务；
第一确定模块202，用于基于盘点任务确定第一机器人的扫描功率；
第二确定模块203，用于基于扫描功率确定第一机器人的扫描区域；
盘点模块204，用于基于扫描区域对无人档案仓库中的目标档案进行盘点，得到盘点结果。
作为本实施例的一种可选实施方式，第一确定模块202还具体用于基于盘点任务确定第一机器人的扫描功率包括：基于盘点任务确定盘点区域；获取第一机器人的当前位置信息和盘点区域中心点的位置信息；基于当前位置信息确定第一机器人与盘点区域中心点的第一距离；判断第一距离是否大于预设距离；若是，则将第一机器人的扫描功率调整为最大扫描功率，并控制第一机器人向盘点区域内移动；若否，则将扫描功率调整为与第一距离对应的扫描功率。
作为本实施例的一种可选实施方式，第一确定模块202还具体用于控制第一机器人向盘点区域内移动，包括：基于当前位置信息和盘点区域中心点的位置信息规划多条第一机器人的第一行进路线；对多条第一行进路线进行排序，得到第一排序结果；基于第一排序结果选取最优行进路线，其中，最优行进路线为距离最短的第一行进路线；判断最优行进路线上是否存在其他第一机器人正在盘点的盘点区域；若存在，则获取其他第一机器人的第二行进路线；基于第二行进路线对最优行进路线进行调整，得到第三行进路线；基于第三行进路线控制第一机器人进行移动。
作为本实施例的一种可选实施方式，第一确定模块202还具体用于在基于第三行进路线控制第一机器人进行移动之前，获取第一机器人的行进速度和行进路线的移动距离；基于移动距离和行进速度确定第一机器人的移动时间，所述移动时间为第一机器人由当前位置到达盘点区域中心点的时间；获取盘点区域内智能密集架的开启速度；基于移动时间和开启速度确定智能密集架的开启时间；基于开启时间控制智能密集架开启。
作为本实施例的一种可选实施方式，盘点模块204还具体用于基于扫描区域对无人档案仓库中的档案标签进行盘点，得到盘点结果，包括：获取盘点任务中的第一档案标签；获取扫描区域内所有的档案标签组；将第一档案标签与档案标签组进行一一对比；若档案标签组内存在第一档案标签，则对第一档案标签进行精确定位，得到定位信息，并将定位信息作为盘点结果；若档案标签组内不存在第一档案标签，则获取第一档案标签所代表的目标档案的相关信息，相关信息包括借阅人和借阅时间，并将相关信息作为盘点结果。
作为本实施例的一种可选实施方式，盘点模块204还具体用于对第一档案标签进行精确定位，得到定位信息，包括：基于智能密集架建立三维模型；基于三维模型建立直角坐标系；获取第一机器人在直角坐标系上的第一坐标；基于扫描区域和第一坐标确定第一档案标签的第二坐标；根据第二坐标和三维模型确定定位信息。
作为本实施例的一种可选实施方式，盘点模块204还具体用于基于扫描区域对无人档案仓库中的目标档案进行盘点，包括：获取第一机器人的盘点进度和电量信息；基于电量信息和盘点进度判断第一机器人是否能够完成盘点任务；若否，则选取第二机器人完成盘点任务，其中，第二机器人为没有盘点任务的第一机器人和/或已完成盘点任务的第一机器人。
在一个例子中，以上任一装置中的模块可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个专用集成电路(application specific integratedcircuit，ASIC)，或，一个或多个数字信号处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(field programmable gate array，FPGA)，或这些集成电路形式中至少两种的组合。
再如，当装置中的模块可以通过处理元件调度程序的形式实现时，该处理元件可以是通用处理器，例如中央处理器(central processing unit，CPU)或其它可以调用程序的处理器。再如，这些模块可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的装置和模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
图3为本申请实施例提供的智能终端300的结构框图。
如图3所示，智能终端300包括处理器301和存储器302，还可以进一步包括信息输 入/信息输出(I/O)接口303、通信组件304中的一种或多种以及通信总线305。
其中，处理器301用于控制智能终端300的整体操作，以完成上述的无人档案仓库智能盘点方法的全部或部分步骤；存储器302用于存储各种类型的数据以支持在智能终端300的操作，这些数据例如可以包括用于在该智能终端300上操作的任何应用程序或方法的指令，以及应用程序相关的数据。该存储器302可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，SRAM)、电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM)、可编程只读存储器(Programmable Read-Only Memory，PROM)、只读存储器(Read-Only Memory，ROM)、磁存储器、快闪存储器、磁盘或光盘中的一种或多种。
I/O接口303为处理器301和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件304用于在智能终端300与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G或4G，或它们中的一种或几种的组合，因此相应的该通信组件304可以包括：Wi-Fi部件，蓝牙部件，NFC部件。
智能终端300可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述实施例给出的无人档案仓库智能盘点方法。
通信总线305可包括一通路，在上述组件之间传送信息。通信总线305可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。通信总线305可以分为地址总线、数据总线、控制总线等。
智能终端300可以包括但不限于移动电话、笔记本电脑、数字广播接收器、PDA(个人数字助理)、PAD(平板电脑)、PMP(便携式多媒体播放器)、车载终端(例如车载导航终端)等等的移动终端以及诸如数字TV、台式计算机等等的固定终端，还可以为服务器等。
本申请还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被处理器执行时实现上述的无人档案仓库智能盘点方法的步骤。
该计算机可读存储介质可以包括：U盘、移动硬盘、只读存储器(R ead-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的申请范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离前述申请构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本申请中申请的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (10)

  1. 一种无人档案仓库智能盘点方法，其特征在于，包括：
    获取盘点任务；
    基于所述盘点任务确定第一机器人的扫描功率；
    基于所述扫描功率确定所述第一机器人的扫描区域；
    基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点，得到盘点结果。
  2. 根据权利要求1所述的方法，其特征在于，所述基于所述盘点任务确定第一机器人的扫描功率包括：
    基于所述盘点任务确定盘点区域；
    获取所述第一机器人的当前位置信息和所述盘点区域中心点的位置信息；
    基于所述当前位置信息确定所述第一机器人与盘点区域中心点的第一距离；
    判断所述第一距离是否大于预设距离；
    若是，则将所述第一机器人的扫描功率调整为最大扫描功率，并控制所述第一机器人向所述盘点区域内移动；
    若否，则将所述扫描功率调整为与所述第一距离对应的扫描功率。
  3. 根据权利要求2所述的方法，其特征在于，所述控制所述第一机器人向所述盘点区域内移动包括：
    基于所述当前位置信息和所述盘点区域中心点的位置信息规划多条所述第一机器人的第一行进路线；
    对多条所述第一行进路线进行排序，得到第一排序结果；
    基于所述第一排序结果选取最优行进路线，其中，所述最优行进路线为距离最短的第一行进路线；
    判断所述最优行进路线上是否存在其他第一机器人正在盘点的盘点区域；
    若存在，则获取所述其他第一机器人的第二行进路线；
    基于所述第二行进路线对所述最优行进路线进行调整，得到第三行进路线；
    基于所述第三行进路线控制所述第一机器人进行移动。
  4. 根据权利要求3所述的方法，其特征在于，在所述基于所述第三行进路线控制所述第一机器人进行移动之前，所述方法还包括：
    获取所述第一机器人的行进速度和所述行进路线的移动距离；
    基于所述移动距离和所述行进速度确定所述第一机器人的移动时间，所述移动时间为所述第一机器人由所述当前位置到达所述盘点区域中心点的时间；
    获取所述盘点区域内智能密集架的开启速度；
    基于所述移动时间和所述开启速度确定所述智能密集架的开启时间；
    基于所述开启时间控制所述智能密集架开启。
  5. 根据权利要求1所述的方法，其特征在于，所述基于所述扫描区域对所述无人档案仓库中的档案标签进行盘点，得到盘点结果包括：
    获取盘点任务中的第一档案标签；
    获取所述扫描区域内所有的档案标签组；
    将所述第一档案标签与所述档案标签组进行一一对比；
    若所述档案标签组内存在所述第一档案标签，则对所述第一档案标签进行精确定位，得到定位信息，并将所述定位信息作为盘点结果；
    若所述档案标签组内不存在所述第一档案标签，则获取所述第一档案标签所代表的目标档案的相关信息，所述相关信息包括借阅人和借阅时间，并将所述相关信息作为盘点结果。
  6. 根据权利要求5所述的方法，其特征在于，所述对所述第一档案标签进行精确定位，得到定位信息包括：
    基于智能密集架建立三维模型；
    基于所述三维模型建立直角坐标系；
    获取所述第一机器人在所述直角坐标系上的第一坐标；
    基于所述扫描区域和所述第一坐标确定所述第一档案标签的第二坐标；
    根据所述第二坐标和所述三维模型确定定位信息。
  7. 根据权利要求1所述的方法，其特征在于，所述基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点包括：
    获取所述第一机器人的盘点进度和电量信息；
    基于所述电量信息和所述盘点进度判断所述第一机器人是否能够完成盘点任务；
    若否，则选取第二机器人完成盘点任务，其中，所述第二机器人为没有盘点任务的第一机器人和/或已完成盘点任务的第一机器人。
  8. 一种无人档案仓库智能盘点装置，其特征在于，包括：
    获取模块，用于获取盘点任务；
    第一确定模块，用于基于所述盘点任务确定第一机器人的扫描功率；
    第二确定模块，用于基于所述扫描功率确定所述第一机器人的扫描区域；
    盘点模块，用于基于所述扫描区域对所述无人档案仓库中的目标档案进行盘点，得到盘点结 果。
  9. 一种智能终端，其特征在于，包括处理器，所述处理器与存储器耦合；
    所述处理器用于执行所述存储器中存储的计算机程序，以使得所述智能终端执行如权利要求1至7任一项所述的方法。
  10. 一种计算机可读存储介质，其特征在于，包括计算机程序或指令，当所述计算机程序或指令在计算机上运行时，使得所述计算机执行如权利要求1至7任一项所述的方法。
PCT/CN2023/113589 2022-09-24 2023-08-17 无人档案仓库智能盘点方法、装置、智能终端及存储介质 WO2024060896A1 (zh)

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