CN115759922A - Smart storage goods storage method, electronic equipment and computer readable storage medium - Google Patents
Smart storage goods storage method, electronic equipment and computer readable storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent storage, in particular to an intelligent storage goods storage method, electronic equipment and a computer readable storage medium. When the system is used, whether goods at the gate of the warehouse belong to the warehouse can be identified, if the goods belong to the warehouse, a traveling route is formulated, an inflection point image of a turning point is obtained when the carrying robot transports the goods, and if the missed goods exist in the inflection point image, all the carrying robots are controlled to stop so as to avoid damaging the missed goods. The invention can effectively establish a traveling route for each cargo and can avoid the damage of the fallen cargo during transportation.
Description
Technical Field
The invention relates to the technical field of intelligent storage, in particular to an intelligent storage goods storage method, electronic equipment and a computer readable storage medium.
Background
The logistics storage experiences: the method comprises four stages of manual operation, mechanization, automation and intellectualization. Wherein, in the artificial era, people finish various operations such as carrying, putting on shelves, sorting and the like of goods; in the mechanical era, a large number of mechanical vehicle devices such as cranes, elevators and the like operate; in the automatic era, on the basis of mechanization, an Automatic Guided Vehicle (AGV) is used, and is automatically identified by a transfer robot to automatically sort and transfer goods; the intelligent era combines digitization on the basis of automation, cargo information is collected and processed through the internet of things technology, and the cargo information is analyzed and sent out through the cloud, so that unmanned operation is achieved. In the process of transporting goods stored in an intelligent manner, the problem of losing goods is inevitable, and how to deal with the problem of losing goods is a technical problem to be solved in the field.
Disclosure of Invention
In view of the above, the invention provides an intelligent storage goods storage method, an electronic device and a computer readable storage medium, which can solve the problem of goods left and avoid the damage of the left and right goods.
In a first aspect, the present invention provides a method for storing intelligent warehoused goods, including: receiving goods information generated by triggering goods at a warehouse gate; judging whether the goods belong to the warehouse or not according to the goods information; if the goods belong to the warehouse, matching according to the goods information to obtain a corresponding target shelf; according to the target shelf, matching to obtain a traveling route of the warehouse gate to the target shelf; sending the traveling route corresponding to the goods to a corresponding transfer robot so that the transfer robot can transport the corresponding goods to the corresponding target shelf; obtaining the position information of the inflection point of the route according to the travelling route; acquiring an inflection point image of the route inflection point position information at a corresponding position in a warehouse according to the route inflection point position information; and if the inflection point image contains the fallen goods, sending unified parking information to all the carrying robots in the warehouse.
This aspect is when using, can discern whether the goods of warehouse gate department belongs to this warehouse, if belong to this warehouse then formulate the route of marcing, obtain the flex point image of corner when transfer robot transports goods, if have in the flex point image and lose the goods then control all transfer robots and park to avoid damaging and lose the goods. This aspect can be effectively for every goods formulate the route of marcing to can also avoid losing the goods when the transportation and be damaged.
With reference to the first aspect, in a possible implementation manner, the method further includes: and if the fallen cargos in the inflection point image are cleared, sending unified starting information to all the carrying robots so as to control all the carrying robots to continuously carry out cargo transportation according to respective travelling routes.
With reference to the first aspect, in a possible implementation manner, the method further includes: generating an inflection point deceleration signal and an inflection point acceleration signal according to the travelling route, the route inflection point position information and the cruising speed of the transfer robot; and sending the inflection point deceleration signal and the inflection point acceleration signal to the transfer robot.
With reference to the first aspect, in a possible implementation manner, the sending the travel route corresponding to the goods to a corresponding transfer robot for the transfer robot to transport the corresponding goods to the corresponding target shelf includes: if a plurality of different types of goods are detected at a warehouse gate, a starting instruction and the traveling route are sequentially sent to a plurality of transfer robots corresponding to the goods according to a preset sequence, wherein the different types of goods correspond to the target goods shelves at different positions.
With reference to the first aspect, in a possible implementation manner, if a plurality of different types of goods are detected at a warehouse gate, sequentially sending a starting instruction and the travel route to a plurality of transfer robots corresponding to the plurality of goods according to a preset sequence includes: obtaining a plurality of different travel routes according to a plurality of different kinds of cargos; and comparing the routes of the plurality of travelling routes, and sequentially sending the plurality of travelling routes to the corresponding plurality of transfer robots from small to large according to the routes.
With reference to the first aspect, in a possible implementation manner, the comparing the routes of the plurality of travel routes, and sequentially sending the plurality of travel routes to the corresponding plurality of transfer robots from small to large according to the routes includes: and sequentially sending the plurality of the travelling routes to the corresponding plurality of the transfer robots at intervals of preset duration according to the distance from small to large.
With reference to the first aspect, in a possible implementation manner, the obtaining, according to the route inflection point location information, an inflection point image of the route inflection point location information at a corresponding location in a warehouse includes: acquiring a plurality of inflection point images of a plurality of visual angles according to the route inflection point position information; synthesizing the inflection point images into a three-dimensional image; wherein, if there is a missing cargo in the inflection point image, sending unified parking information to all the transfer robots in the warehouse includes: and if the three-dimensional image contains the fallen goods, sending unified parking information to all the carrying robots in the warehouse.
With reference to the first aspect, in a possible implementation manner, the method further includes: if the in-position sensing information of the goods on the corresponding target shelf is received, sending a return route back to the corresponding carrying robot, wherein the return route is opposite to the traveling route and points to a warehouse exit.
In a second aspect, the present invention provides an electronic device, comprising: a processor; and a memory for storing the processor-executable instructions; the processor is used for executing the intelligent warehouse goods storage method.
The second aspect is used for executing the method of the first aspect, and the technical effects of the second aspect are not described herein again.
In a third aspect, the present invention provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is configured to execute the method for storing intelligent warehoused goods.
The third aspect is configured to perform the method of the first aspect, and the technical effect of the third aspect is not described herein again.
Drawings
Fig. 1 is a schematic diagram illustrating steps of a method for storing intelligent warehoused goods according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating steps of a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating steps of a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 7 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 8 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 9 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention.
Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Exemplary method for storing intelligent warehouse goods
Fig. 1 is a schematic diagram illustrating steps of a method for storing intelligent warehoused goods according to an embodiment of the present invention. The present invention provides a method for storing intelligent warehoused goods, in one embodiment, as shown in fig. 1, the method includes:
This step may be performed by a processor responsible for intelligent management of the warehouse. The warehouse gate is pre-provided with an identifier, each cargo is provided with an electronic tag, and cargo information is pre-stored in the electronic tags. When the goods enter the warehouse gate, the electronic tags can be identified by the identifier, so that the goods information is known, and then the goods information is sent to the processor. The mutual identification method between the identifier and the electronic tag may adopt various wireless identification methods on the market, for example, radio Frequency Identification (RFID) technology is used to read the cargo information of each cargo.
And step 120, judging whether the goods belong to the warehouse or not according to the goods information.
This step may be performed by a processor responsible for intelligent management of the warehouse. The corresponding relation between the goods information and the warehouse is stored in the processor in advance, and whether the goods at the gate of the current warehouse belong to the warehouse can be judged and known according to the corresponding relation.
And step 130, if the goods belong to the warehouse, matching according to the goods information to obtain a corresponding target shelf.
This step may be performed by a processor responsible for intelligent management of the warehouse. The corresponding relation between the goods information and the goods shelf is stored in the processor in advance, and the goods can be classified to the corresponding correct goods shelf according to the corresponding relation so as to obtain the target goods shelf corresponding to the goods.
And 140, matching to obtain a traveling route of the warehouse gate to the target shelf according to the target shelf.
This step may be performed by a processor responsible for intelligent management of the warehouse. According to a layout map in the warehouse, the advancing routes of the warehouse gate to each shelf are stored in the processor in advance, and the corresponding advancing routes are obtained according to the target shelf in the step.
And 150, sending the traveling route corresponding to the goods to the corresponding carrying robot so that the carrying robot can transport the corresponding goods to the corresponding target shelf.
This step can be carried out by the treater that is responsible for warehouse wisdom management, and the warehouse is furnished with one or more transfer robot, and transfer robot can snatch the goods, transport and place on goods shelves, and the storage has the inside map in this warehouse among the transfer robot, can be according to the route automatic navigation situation of marcing. After the advancing route is sent to the carrying robot, the carrying robot can transport goods to a target goods shelf according to the advancing route, and the goods can be placed on the goods shelf automatically or manually.
And step 160, obtaining the position information of the inflection point of the route according to the traveling route.
This step may be performed by a processor responsible for intelligent management of the warehouse. The travel route mainly comprises a straight line route and a turn, a plurality of turns may exist in one travel route, each turn is a route inflection point, and the corresponding route inflection point position of the travel route in the warehouse can be known by integrating the travel route and a layout map of the warehouse, so that the route inflection point position information can be obtained.
And 170, acquiring an inflection point image of the route inflection point position information at a corresponding position in the warehouse according to the route inflection point position information.
This step may be performed by a processor responsible for intelligent management of the warehouse. The inflection point image can be obtained by shooting by arranging a camera at the top of the warehouse, and the camera sends the image to the processor after shooting the image at the inflection point position. The camera can shoot images of the whole area of the warehouse, and then the processor extracts an inflection point image at an inflection point position from the images of the whole area; the processor can also move the camera according to the position information of the inflection point of the route and then shoot the line by aligning the camera with the position of the inflection point. Because the goods can be left when the transfer robot turns, the invention only obtains the inflection point image corresponding to the inflection point position of the route, and can greatly reduce the memory occupied by the image data.
And step 180, if the fallen goods exist in the inflection point image, sending unified parking information to all the conveying robots in the warehouse.
This step may be performed by a processor responsible for intelligent management of the warehouse. In this step, a standard image of the warehouse floor without sundries may be prestored in the processor, the processor compares the inflection point image with the standard image, and if the inflection point image is not consistent with the standard image, it is indicated that the route inflection point position information has fallen goods at the corresponding position in the warehouse. Or the processor can prestore cargo images of various fallen cargos, the processor identifies whether the cargo images exist or not from the inflection point images through an image identification algorithm, and if the cargo images exist, the route inflection point position information shows that the fallen cargos exist at the corresponding position in the warehouse. When the route inflection point position information has lost goods at the corresponding position in the warehouse, unified parking information is sent to all the carrying robots in the warehouse, and the carrying robots execute parking action after receiving the unified parking information, so that the damage to the lost goods is avoided.
This embodiment is when using, can discern whether the goods of warehouse gate department belongs to this warehouse, if belong to this warehouse then formulate the route of marcing, obtain the flex point image of corner when transfer robot transports goods, if have in the flex point image and lose the goods then control all transfer robots to park to avoid damaging and lose the goods. The embodiment can effectively establish the traveling route for each cargo, and can also avoid the damage of the fallen cargo during transportation.
Fig. 2 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in fig. 2, the method for storing intelligent warehoused goods further comprises:
and 190, if the fallen cargos in the inflection point image are cleaned, sending unified starting information to all the carrying robots so as to control all the carrying robots to continuously carry out cargo transportation according to respective travelling routes.
In this embodiment, after staff or the robot cleans the left goods, the left goods in the inflection point image are cleaned, and at this time, unified start-up information is sent to all the transfer robots so that each transfer robot continues to perform transportation.
Fig. 3 is a schematic diagram illustrating steps of a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in fig. 3, the method for storing smart warehoused goods further comprises:
and 200, generating an inflection point deceleration signal and an inflection point acceleration signal according to the travelling route, the route inflection point position information and the cruising speed of the carrying robot.
And step 210, sending the inflection point deceleration signal and the inflection point acceleration signal to the transfer robot.
This embodiment is when using, according to the route of marcing and the speed of cruising, alright in order to learn the moment that transfer robot reachd first inflection point position department, inflection point deceleration signal has included the first deceleration control signal, inflection point acceleration signal has included the first acceleration control signal, when transfer robot acquires first deceleration control signal and the first acceleration control signal, transfer robot decelerates in first inflection point position department, in order to reduce the speed of traveling, thereby avoid the goods to be thrown away to a certain extent, transfer robot accelerates to the speed of cruising according to the first acceleration control signal again after the road of traveling crosses inflection point position.
Specifically, the first deceleration control signal includes a vehicle speed reduction slope during deceleration and a low speed after deceleration, the first acceleration control signal includes a vehicle speed acceleration slope during acceleration, the transfer robot can accelerate to the cruising speed according to the first acceleration control signal, and the first deceleration time consumed by the transfer robot during the first deceleration can be known according to the distance data of the travelling route, the vehicle speed reduction slope, the low speed and the vehicle speed acceleration slope. If the travelling route comprises a plurality of inflection points, the time length used before the first deceleration can be known according to the cruising speed and the distance data of the travelling route, the time of the transfer robot at the position of a second inflection point can be known according to the time of the first deceleration, and the second deceleration control signal and the second acceleration control signal are sent to the transfer robot at the time when the transfer robot reaches the position of the second inflection point, so that the transfer robot is controlled to execute deceleration at the position of the second inflection point. More sending moments of the deceleration control signal and the acceleration control signal can be calculated according to the method, and are not described herein again.
Fig. 4 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in FIG. 4, step 150 comprises:
step 1501, if a plurality of different kinds of goods are detected at the warehouse gate, sequentially sending a starting instruction and a traveling route to a plurality of transfer robots corresponding to the goods according to a preset sequence.
In this step, different types of goods correspond to target shelves at different positions. When the embodiment is used, when a plurality of goods need to be transported to the goods shelf, a plurality of advancing routes are sent to a plurality of carrying robots according to the preset sequence, and the plurality of carrying robots can be prevented from simultaneously entering a warehouse gate and colliding due to the fact that the carrying robots are sent according to the preset sequence.
Fig. 5 is a schematic diagram illustrating steps of a method for storing smart warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in FIG. 5, step 1501 includes:
Step 15012, the routes of the plurality of travel routes are compared, and the plurality of travel routes are sequentially sent to the corresponding plurality of transfer robots from small to large.
When the carrying robot is used, the multiple advancing routes are compared, the advancing routes are sequentially arranged into a preset sequence from small to large according to the size of the route, and then the advancing routes are sent to the corresponding multiple carrying robots according to the preset sequence. Therefore, the carrying robots start in sequence to avoid collision of the carrying robots on a traveling path, the carrying robot with a short path preferentially reaches the target goods shelf, and traveling of other carrying robots is not influenced.
In some embodiments, when the transfer robot reaches the target rack, the processor also sends an edge approach instruction to the transfer robot, the edge approach instruction instructing the transfer robot to move toward the target rack, thereby yielding a arterial road for a route the transfer robot travels in the warehouse according to the travel route. Through the side approaching instruction, the carrying robot can be prevented from influencing the running of other carrying robots behind the carrying robot.
Fig. 6 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in FIG. 6, step 15012 includes:
and 15013, sequentially sending the plurality of travel routes to the corresponding plurality of transfer robots at intervals of preset time length from small to large.
When the carrying robot is used, each traveling route is sent to the carrying robot at intervals of preset duration, so that the carrying robots are started at intervals, and mutual collision of the carrying robots is further avoided. And redundant time can be provided for the execution process of the edge instruction.
Fig. 7 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in FIG. 7, step 170 comprises:
Wherein step 180 comprises:
and 1801, if the left goods exist in the stereoscopic image, sending unified parking information to all the transfer robots in the warehouse.
In the embodiment, whether the left goods exist at the inflection point position can be accurately judged through the stereo image, so that the identification accuracy of the left goods is improved. The method for synthesizing a stereoscopic image through multiple viewing angles is an existing image synthesis technology, and is not described herein again. Specifically, a plurality of cameras can be arranged on the side wall of the warehouse to shoot inflection point images in the horizontal direction; arranging a plurality of cameras at the top of the warehouse to shoot a top view; arranging a plurality of cameras at the junction of the side wall and the top wall of the warehouse to shoot oblique views; the stereoscopic image can be constructed by a horizontal view, a top view and an oblique view.
Fig. 8 is a schematic diagram illustrating steps of a method for storing smart warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in fig. 8, the method for storing intelligent warehoused goods further comprises:
and step 220, if the in-place sensing information of the goods on the corresponding target shelf is received, sending back a return route to the corresponding carrying robot, wherein the return route is opposite to the direction of the travel route and points to the warehouse exit.
When the warehouse is used, the sensor can be arranged on the target shelf to detect whether goods are placed in place or not, and the carrying robot can be indicated to exit the warehouse according to the return route after the goods are placed in place. The return route opposite to the travel route can prevent the transfer robot from colliding with the transfer robot traveling along the travel route during the exit.
In some embodiments, the road surface of the warehouse includes a main road for a road on which the transfer robot travels according to the return route, and a plurality of sub-roads for a road on which the transfer robot travels according to the return route, so that the transfer robot can be further prevented from colliding with the transfer robot traveling according to the travel route during the exit.
Fig. 9 is a schematic diagram illustrating a method for storing intelligent warehoused goods according to another embodiment of the present invention. In one embodiment, as shown in fig. 9, the method for storing intelligent warehoused goods further comprises:
and step 230, receiving collision information of the transfer robot.
And step 240, sending the collision information to a cloud.
In this embodiment, the transfer robot may be provided with a collision detection module, and when the transfer robot collides with the rack or another transfer robot, the collision detection module may generate collision information. The collision information sent to the cloud can be used for data storage recording, data analysis and sending to the staff. The processor or the worker can perform remote dispatch control of each transfer robot to deal with the collision accident. Further, since the transfer robots may fall down when colliding, which may block the road in the warehouse, all the transfer robots are also controlled to stop when a collision occurs, so as to prevent a more complicated collision accident.
Exemplary electronic device and computer-readableStorage medium
Next, an electronic apparatus according to an embodiment of the present invention is described with reference to fig. 10. Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
As shown in fig. 10, the electronic device 100 includes one or more processors 1001 and memory 1002.
The processor 1001 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 100 to perform desired functions.
Memory 1002 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 1001 to implement the smart warehoused goods storage method according to the various embodiments of the present invention described above or other desired functions. Various contents such as a smart warehoused goods storage error parameter and the like can be stored in the computer readable storage medium.
In one example, the electronic device 100 may further include: an input device 1003 and an output device 1004, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 1003 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.
The output device 1004 may output various information including the determined exercise data and the like to the outside. The output 1004 may include, for example, a display, a communication network, a remote output device connected thereto, and so forth.
Of course, for simplicity, only some of the components of the electronic device 100 relevant to the present invention are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 100 may include any other suitable components depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the intelligent warehouse goods storage method according to various embodiments of the present invention described in this specification.
The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, an embodiment of the present invention may also be a computer readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to execute the steps in the smart warehouse goods storage method according to various embodiments of the present invention.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. should not be considered as being necessary for the various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.
The block diagrams of devices, apparatus, apparatuses, systems involved in the present invention are by way of illustrative examples only and are not intended to require or imply that the devices, apparatus, apparatuses, systems must be connected, arranged, or configured in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the apparatus, devices and methods of the present invention, the components or steps may be broken down and/or re-combined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention.
Claims (10)
1. An intelligent storage goods storage method is characterized by comprising the following steps:
receiving goods information generated by triggering goods at a warehouse gate;
judging whether the goods belong to the warehouse or not according to the goods information;
if the goods belong to the warehouse, matching according to the goods information to obtain a corresponding target shelf;
according to the target shelf, matching to obtain a traveling route from the warehouse gate to the target shelf;
sending the travelling route corresponding to the goods to a corresponding carrying robot so that the carrying robot can transport the corresponding goods to the corresponding target goods shelf;
obtaining route inflection point position information according to the traveling route;
according to the route inflection point position information, acquiring an inflection point image of the route inflection point position information at a corresponding position in a warehouse; and
and if the fallen goods exist in the inflection point image, sending unified parking information to all the carrying robots in the warehouse.
2. The method as claimed in claim 1, further comprising:
and if the fallen goods in the inflection point image are cleaned, sending unified starting information to all the carrying robots so as to control all the carrying robots to continuously carry out goods transportation according to respective traveling routes.
3. The method as claimed in claim 1, further comprising:
generating an inflection point deceleration signal and an inflection point acceleration signal according to the travelling route, the route inflection point position information and the cruising speed of the carrying robot; and
and sending the inflection point deceleration signal and the inflection point acceleration signal to the transfer robot.
4. The method as claimed in claim 1, wherein the step of sending the travel route corresponding to the goods to the corresponding transfer robot for the transfer robot to transport the corresponding goods to the corresponding target shelf comprises:
if a plurality of different types of goods are detected at a warehouse gate, a starting instruction and the traveling route are sequentially sent to a plurality of transfer robots corresponding to the goods according to a preset sequence, wherein the different types of goods correspond to the target goods shelves at different positions.
5. The method as claimed in claim 4, wherein the sequentially sending the start command and the travel route to the transfer robots corresponding to the plurality of the goods in a predetermined order if the plurality of the different kinds of the goods are detected at the warehouse gate comprises:
obtaining a plurality of different travel routes according to a plurality of different kinds of cargoes; and
and comparing the routes of the plurality of travelling routes, and sequentially sending the plurality of travelling routes to the corresponding plurality of transfer robots from small to large.
6. The method as claimed in claim 5, wherein the comparing the routes of the plurality of travel routes and sequentially transmitting the plurality of travel routes to the corresponding plurality of transfer robots from the small routes to the large routes comprises:
and sequentially sending the plurality of the travelling routes to the corresponding plurality of the transfer robots at intervals of preset duration according to the distance from small to large.
7. The method as claimed in claim 1, wherein the step of obtaining the inflection image of the route inflection point location information at the corresponding location in the warehouse according to the route inflection point location information comprises:
acquiring a plurality of inflection point images of a plurality of visual angles according to the route inflection point position information; and
synthesizing the inflection point images into a stereo image;
wherein, if there is a missing cargo in the inflection point image, the sending unified parking information to all the transfer robots in the warehouse includes:
and if the three-dimensional image contains the left goods, sending unified parking information to all the carrying robots in the warehouse.
8. The method as claimed in claim 1, further comprising:
if the in-position sensing information of the goods on the corresponding target shelf is received, sending a return route back to the corresponding carrying robot, wherein the return route is opposite to the traveling route and points to a warehouse exit.
9. An electronic device, characterized in that the electronic device comprises:
a processor; and a memory for storing the processor-executable instructions;
the processor is configured to execute the method of any one of claims 1 to 8.
10. A computer-readable storage medium, wherein the storage medium stores a computer program for executing the method of depositing smart storage goods according to any one of claims 1 to 8.
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