CN118205853A

CN118205853A - Warehouse management equipment and method

Info

Publication number: CN118205853A
Application number: CN202211617256.8A
Authority: CN
Inventors: 王宏伟
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2024-06-18

Abstract

The embodiment of the application provides warehouse management equipment and a method, wherein the warehouse management equipment comprises the following components: the device comprises a moving mechanism, a control module, a goods checking module and a mechanical arm, wherein the control module, the goods checking module and the mechanical arm are arranged on the moving mechanism; the control module is used for controlling the moving mechanism to move to the target bin under the condition of obtaining the tally task of the target bin; obtaining a target cargo code set which is not matched with a preset cargo code set in a current cargo code set, and controlling the mechanical arm to execute a library moving operation on at least one target cargo based on the target cargo code set; the target cargo code set includes a code of the at least one target cargo; the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods code set.

Description

Warehouse management equipment and method

Technical Field

The application relates to the technical field of warehouse, in particular to warehouse management equipment and method.

Background

In a large-scale e-commerce warehouse, standard stacking of goods is a key examination point for warehouse operation management; if goods in the warehouse are stacked normally, the efficiency of staff is greatly improved when in-warehouse checking, picking and other warehouse operations are performed, meanwhile, the management of real-time inventory of the goods in the warehouse can be promoted, and the warehouse is neat and attractive in layout, so that in-warehouse forklift operation is facilitated. To achieve this, the tally clerk is an indispensable role in warehousing. However, for a warehouse with a large stock amount, if the warehouse is manually operated by a tally staff, the warehouse is time-consuming and labor-consuming, has low efficiency, and is easy to cause tally errors.

Disclosure of Invention

The embodiment of the application provides warehouse management equipment and a warehouse management method, which can solve the problems of low cargo management efficiency and low cargo management accuracy when cargo in a warehouse is managed in the related technology.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides warehouse management equipment, which comprises: the device comprises a moving mechanism, a control module, a goods checking module and a mechanical arm, wherein the control module, the goods checking module and the mechanical arm are arranged on the moving mechanism;

The control module is used for controlling the moving mechanism to move to the target bin under the condition of obtaining the tally task of the target bin; obtaining a target cargo code set which is not matched with a preset cargo code set in a current cargo code set, and controlling the mechanical arm to execute a library moving operation on at least one target cargo based on the target cargo code set; the target cargo code set includes a code of the at least one target cargo;

The goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods code set.

In some embodiments, the control module includes a data processing unit and a remote communication unit; the remote communication unit is used for receiving the preset goods code set issued by the background service system; the data processing unit is used for comparing the current cargo code set with the preset cargo code set to determine

And encoding the target cargo code 5 code set which belongs to the current cargo code set and does not belong to the preset cargo code set.

In some embodiments, the remote communication unit is further configured to: uploading the current cargo code set to the background service system, so that the background service system compares the current cargo code set with the preset cargo code set to determine the target cargo code set; and receiving the target cargo code set issued by the background service system.

0 In some embodiments, the warehouse management device further comprises a cargo identification module disposed on the mobile mechanism; the remote communication unit is used for sending the target cargo code set to the cargo identification module; the goods identification module is used for collecting the picture information of the current goods corresponding to each target goods code in the target goods code set, and identifying the picture information to obtain the current goods

The current appearance attribute of the object is fed back to the data processing unit; the data processing unit is used for comparing the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module 5 with the preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in the at least one target goods.

In some embodiments, the warehouse management equipment further comprises a warehouse location identification module disposed on the mobile mechanism, the control module further comprising an instruction control unit; the library position identification module is used for identifying the library position identification of the target library position under the condition that the moving mechanism 0 moves to the target library position, and sending the identification result to the data processing unit in the control module; the data processing unit is used for generating an attitude adjustment instruction according to the identification result and sending the attitude adjustment instruction to the instruction control unit; the instruction control unit is used for adjusting the mobile machine according to the gesture adjustment instruction

The posture of the mechanism is that the moving mechanism is opposite to the target library position; and the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism is opposite to the target storage position 5, so as to obtain the current goods coding set.

In some embodiments, the library position recognition module comprises at least one of an optical character recognition (Optical Character Recognition, OCR) recognition unit and a first radio frequency identification (Radio Frequency Identification, RFID) recognition unit; the OCR recognition unit is used for recognizing the library position identification of the target library position and sending the recognition result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is a text label; the first RFID identification unit is used for identifying the library position identification of the target library position and sending the identification result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is an electronic tag.

In some embodiments, the cargo inventory module includes a target antenna and a second RFID identification unit; the target antenna is used for sending a columnar radio frequency signal to the target bin to cover the target bin under the condition that the moving mechanism moves to the target bin; the second RFID identification unit is used for identifying the cargo label of each cargo currently stored in the target library position covered by the target antenna to obtain the current cargo code set.

In some embodiments, the control module further comprises a power management unit; the power management unit is used for judging whether the current electric quantity of the warehouse management equipment is lower than a threshold electric quantity or not after the warehouse management equipment is electrified; the data processing unit in the control module is used for planning a path according to the current position of the moving mechanism and the position of the charging area when the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity; and the instruction control unit in the control module is used for controlling the moving mechanism to move to the charging area according to the planned path.

The embodiment of the application also provides a warehouse management method which is applied to warehouse management equipment, wherein the warehouse management equipment comprises the following steps: the device comprises a moving mechanism, a control module, a goods checking module and a mechanical arm, wherein the control module, the goods checking module and the mechanical arm are arranged on the moving mechanism; the method comprises the following steps:

the control module controls the moving mechanism to move to the target bin under the condition of obtaining a tally task of the target bin;

The goods checking module identifies the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods coding set;

The control module obtains a target cargo code set which is not matched with a preset cargo code set in the current cargo code set, and controls the mechanical arm to execute a library moving operation on at least one target cargo based on the target cargo code set; the target cargo code set includes a code of the at least one target cargo.

In some embodiments, the control module includes a data processing unit and a remote communication unit, the method further comprising: the remote communication unit receives the preset goods code set issued by the background service system; the data processing unit compares the current cargo code set with the preset cargo code set to determine the target cargo code set of which the code belongs to the current cargo code set and does not belong to the preset cargo code set.

In some embodiments, the method further comprises: the remote communication unit uploads the current cargo code set to the background service system, so that the background service system compares the current cargo code set with the preset cargo code set to determine the target cargo code set; and receiving the target cargo code set issued by the background service system.

In some embodiments, the warehouse management device further comprises a cargo identification module disposed on the mobile mechanism, the method further comprising: the remote communication unit sends the target cargo code set to the cargo identification module; the goods identification module acquires the picture information of the current goods corresponding to each target goods code in the target goods code set, identifies the picture information, obtains the current appearance attribute of the current goods, and feeds back the current appearance attribute to the data processing unit; the data processing unit compares the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module with a preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in the at least one target goods.

In some embodiments, the warehouse management device further comprises a warehouse location identification module disposed on the mobile mechanism, the control module further comprising an instruction control unit, the method further comprising: the library position identification module identifies the library position identification of the target library position under the condition that the moving mechanism moves to the target library position, and sends an identification result to a data processing unit in the control module; the data processing unit generates an attitude adjustment instruction according to the identification result and sends the attitude adjustment instruction to the instruction control unit; the instruction control unit adjusts the gesture of the moving mechanism according to the gesture adjustment instruction so that the moving mechanism is opposite to the target library position; and the goods checking module identifies the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism is opposite to the target storage position, so as to obtain the current goods coding set.

In some embodiments, the library bit recognition module comprises at least one of an OCR recognition unit and a first RFID recognition unit, the method further comprising: the OCR recognition unit recognizes the library position identification of the target library position and sends the recognition result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is a text label; and the first RFID identification unit identifies the library position identification of the target library position and sends the identification result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is an electronic tag.

In some embodiments, the cargo inventory module includes a target antenna and a second RFID identification unit; the method further comprises the steps of: the target antenna is used for sending a columnar radio frequency signal to the target bin to cover the target bin under the condition that the moving mechanism moves to the target bin; the second RFID identification unit is used for identifying the cargo label of each cargo currently stored in the target library position covered by the target antenna to obtain the current cargo code set.

In some embodiments, the control module further comprises a power management unit, the method further comprising: after the warehouse management equipment is electrified, the power management unit judges whether the current electric quantity of the warehouse management equipment is lower than a threshold electric quantity or not; when the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity, the data processing unit in the control module performs path planning according to the current position of the moving mechanism and the position of the charging area; and an instruction control unit in the control module controls the moving mechanism to move to the charging area according to a planned path.

It can be seen that, according to the embodiment of the application, the warehouse is not required to be subjected to the tally operation manually, but the tally task aiming at a certain warehouse location is directly sent to warehouse management equipment, and after the control module, the cargo checking module and the mechanical arm in the equipment execute related operations, the tally operation aiming at the warehouse location can be completed; therefore, the problems of low tally efficiency and low tally accuracy caused by manual operation in the related technology can be solved; in addition, the goods checking module can acquire the goods codes of the goods stored in the warehouse at present in real time, so that the equipment can also acquire the warehouse in-warehouse out and warehouse in-out information of each goods in the warehouse in time.

Drawings

Fig. 1A is a schematic structural view of a warehouse management device according to an embodiment of the present application;

FIG. 1B is a schematic diagram of a cargo inventory module according to an embodiment of the application;

Fig. 2 is a schematic structural diagram of a gabion lens antenna according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a control module according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a layout of a bank bit according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a structure of a target library radiated by a Luneberg lens antenna according to an embodiment of the present application;

FIG. 6A is a flow chart of a warehouse management method according to an embodiment of the application;

FIG. 6B is a flow chart of another warehouse management method according to an embodiment of the present application;

FIG. 6C is a flowchart illustrating a cargo handling operation performed on a target bin according to an embodiment of the present application;

fig. 7 is a flow chart of another warehouse management method according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples. It is to be understood that the examples provided herein are for the purpose of illustration only and are not intended to limit the application. In addition, the embodiments provided below are some of the embodiments for carrying out the present application, but not all of the embodiments for carrying out the present application, and the technical solutions described in the embodiments of the present application may be implemented in any combination without conflict.

It should be noted that, in the embodiments of the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a method or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such method or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other related elements in a method or apparatus comprising the element (e.g., a step in a method or an element in an apparatus, e.g., an element may be part of a circuit, part of a processor, part of a program or software, etc.).

The term "and/or" is merely an association relationship describing an associated object, and means that there may be three relationships, e.g., I and/or J, and may mean: there are three cases, I alone, I and J together, J alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of I, J, R, may mean including any one or more elements selected from the group consisting of I, J and R.

For example, the warehouse management method provided by the embodiment of the present application includes a series of steps, but the warehouse management method provided by the embodiment of the present application is not limited to the described steps, and similarly, the warehouse management device provided by the embodiment of the present application includes a series of modules, but the warehouse management device provided by the embodiment of the present application is not limited to the explicitly described modules, and may also include modules that are required to be set when acquiring relevant task data or performing processing based on the task data.

In the related art, the role of tally is usually also a manual role, especially for large warehouses such as some black and white household appliances, the tally person needs to patrol by a special forklift, the person can recognize the abnormal goods in a certain warehouse position by eyes, and the goods need to be shifted to the warehouse position in which the goods are placed by clamping or forklift, and the following disadvantages mainly exist in the operation:

1) When goods are placed abnormally through human eyes, the goods placed in the storage positions or different goods with similar appearance are difficult to identify.

2) The manual cargo handling workload is large, the cargo handling frequency is difficult to guarantee, namely the cargo handling period is long, the problem of wrong placement of the outer layer of cargoes in the cargo handling process is not easy to find, and along with the follow-up cargo handling operation, the possibility of wrong accumulation is large, so that even if cargoes which are not placed in the cargo handling position are known in the cargo handling position, the outer layer of cargoes are inconvenient to move and carry out abnormal inventory cargoes in the cargo handling position.

3) For large-scale goods, special tools such as clamping and holding machines, forklift trucks and the like are often needed, and production resources are additionally occupied.

4) The existing data in the warehouse, such as the warehouse capacity of the current warehouse location, the actual warehouse location of the goods to be managed currently, and the like, are difficult to synchronize in real time due to the frequency of manual management (usually in units of weeks), and the management task assigned by the warehouse management system (Warehouse MANAGEMENT SYSTEM, WMS system) is easy to create the warehouse location 1 for picking, but the goods to be managed are not actually located in the warehouse location 1 due to the disordered inventory, even the warehouse location in which the goods to be managed are not found in the system, so that the warehouse with larger inventory is lower in management efficiency, and the ex warehouse is affected.

In order to solve the above-described problems, the following embodiments are proposed.

Fig. 1A is a schematic structural view of a warehouse management device according to an embodiment of the present application, as shown in fig. 1A, the warehouse management device includes, in addition to: the mobile mechanism 10, and the control module 11, the mechanical arm 12 and the goods checking module 13 arranged on the mobile mechanism 10, further comprise a warehouse location identification module 14, a goods identification module 15 and a charging coil 16, wherein the mechanical arm 12, the goods checking module 13, the warehouse location identification module 14, the goods identification module 15 and the charging coil 16 are all connected with the control module 11.

In the embodiment of the application, the warehouse management equipment is simply referred to as equipment and can be applied to a warehouse, for example, an electronic commerce warehouse storing a large amount of goods; the warehouse may include a plurality of library bits, each library bit provided with a library bit identification; here, the type of the library mark is not limited, and may be, for example, a text tag or an electronic tag.

It should be noted that the bin position identification of each bin position is exposed and is not blocked by goods or other articles; each warehouse is used for storing goods; each goods stored on the storage position is attached with an electronic tag representing the identity of the goods; here, the type of the electronic tag is not limited. As can be appreciated, since each cargo is attached with an electronic tag, the cargo code of the cargo can be obtained by scanning the electronic tag of the cargo, and based on the cargo code, the related attribute information of the cargo can be further determined; for example, the package information, name information, weight information, or the like of the cargo may be mentioned. The functions of the respective components included in the apparatus are sequentially described below.

Illustratively, the mechanical body of the apparatus is the movement mechanism 10; the moving mechanism is an automatic navigation device equipped with related components such as an electromagnetic component and an optical component, and is capable of traveling along a predetermined navigation path, and has a safety protection function and various transfer functions.

Here, the type of the moving mechanism is not limited, and for example, it may be a different type of moving device such as an automatic navigation device (Automated Guided Vehicle, AGV), an autonomous moving robot (Automatic Mobile Robot, AMR), or a guided vehicle (RailGuidedVehicle, RGV); the external shape of the moving mechanism and the types of the internal components can be set according to the actual situation, and the embodiment of the present application is not limited thereto.

Illustratively, the library bit recognition module 14 may include at least one of an OCR recognition unit and a first RFID recognition unit; aiming at the configuration modes of different library position identifiers, different types of identification units are adopted for identification; for example, in the case where the library bit identifier is a text tag, then recognition is performed using an OCR recognition unit; and under the condition that the library bit identification is an electronic tag, the first RFID identification unit is adopted for identification.

Illustratively, referring to FIG. 1B, the inventory module 13 may include a target antenna and a second RFID identification unit; in order to effectively suppress high-frequency effects such as power reflection and parasitic radiation, a target antenna can be connected to a high-frequency module of the RFID identification unit through a coaxial cable in a normal case; the type of the target antenna is not limited, and may be, for example, a Long Bo lens antenna or another antenna having a columnar radiation characteristic.

Fig. 2 is a schematic structural diagram of a gabion lens antenna according to an embodiment of the present application, and as shown in fig. 2, since the Long Bo lens antenna has a cylindrical radiation characteristic, an RFID identification unit connected to the antenna can implement electronic tag scanning in a cylindrical area (corresponding to any bin of a warehouse), so as to obtain a cargo code of each cargo stored in the bin.

It should be noted that, when the bin identifier is an electronic tag, the first RFID identification unit adopted by the bin identification module may be shared with the second RFID identification unit adopted by the cargo inventory module, so as to identify the bin code by distinguishing the code type (the bin code is inconsistent with the cargo code rule, for example, the bin code is F0101, the cargo code is AAAAEEEE0000001, etc.), and compare the bin angles of the bin identifiers received by the bin identification module to determine the bin corresponding to the device.

Illustratively, the cargo identification module 15 may include an image identification unit and an RFID identification unit; the image recognition unit can comprise a camera, and the appearance attribute of any cargo in the storage position, characters on the surface of the cargo and the like can be obtained through the camera; meanwhile, the code of the corresponding goods can be read through the RFID identification unit. It should be noted that the RFID identification unit in the cargo identification module corresponds to the second RFID identification unit in the cargo inventory module.

Illustratively, after determining the goods to be moved out of the storage location based on the above modules, the mechanical arm 12 applies a clamping or forking operation to the goods to be moved out of the storage location; temporary clearing obstacles to normal goods placement of the blocking operation and subsequent homing of the normal goods placement. The charging coil 16 is used to enable self-service wireless charging of the device in a charging area.

Illustratively, fig. 3 is a schematic structural diagram of a control module according to an embodiment of the present application, and as shown in fig. 3, the control module 11 may include: a power management unit 110, a data processing unit 111, a remote communication unit 112, an instruction control unit 113, and other core components; the power management unit 110 is used for power management of the equipment, power control of other modules, charging current rectification, power storage, power shortage early warning, power full indication and the like; the data processing unit 111 is configured to receive data of the library position identification module and the cargo inventory module, obtain cargo codes of respective cargoes that the library position should contain through the remote communication unit 112, and determine whether the library position contains cargoes that should not be stored in the library position; if so, the goods are positioned, the goods codes corresponding to the goods are obtained, and corresponding control instructions are issued through the instruction control unit 113 to control the operation of the mechanical arm.

The following describes exemplary cargo handling procedures of the device in combination with the functions of the above components, where:

The control module is used for controlling the moving mechanism to move to the target warehouse location under the condition of acquiring the tally task of the target warehouse location; obtaining a target cargo code set which is not matched with a preset cargo code set in a current cargo code set, and executing a library moving operation on at least one target cargo based on a target cargo code set control mechanical arm; the target cargo code set includes a code of at least one target cargo;

and the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods code set.

In the embodiment of the application, the target library position is any one of a plurality of library positions included in a warehouse; the tally task can represent a task of adjusting the position of goods in the target warehouse location; the preset cargo code set comprises cargo codes of all cargoes to be stored in the target storage position; that is, each of the codes in the preset cargo code set corresponds to a cargo that should be originally stored in the target storage location.

For example, the device may interact with a backend service system deployed at the cloud; here, the type of the background service system is not limited, and may include, for example, a WMS system or other systems for managing or controlling a warehouse, a cloud service system, and the like. The following describes exemplary the tallying steps performed by the control module in connection with the various units shown in fig. 3.

In one embodiment, the remote communication unit is configured to receive a preset cargo code set issued by the background service system; and the data processing unit is used for comparing the current cargo code set with the preset cargo code set and determining a target cargo code set which is coded to the current cargo code set and not to the preset cargo code set. In this embodiment, the cargo management task and the preset cargo code set are issued by the background service system, and the operation of comparing the current cargo code set with the preset cargo code set to obtain the target cargo code set is implemented at the device side.

In another embodiment, the remote communication unit is further configured to: uploading the current cargo code set to a background service system, so that the background service system compares the current cargo code set with a preset cargo code set to determine a target cargo code set; and receiving the target cargo code set issued by the background service system. In this embodiment, the cargo management task is issued by the background service system, and the operation of comparing the current cargo code set with the preset cargo code set to obtain the target cargo code set is implemented at the background service system end.

In some embodiments, the power management unit is configured to determine, after the warehouse management device is powered on, whether a current power level of the warehouse management device is lower than a threshold power level; the data processing unit is used for planning a path according to the current position of the mobile mechanism and the position of the charging area when the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity; and the instruction control unit is used for controlling the moving mechanism to move to the charging area according to the planned path.

The power management unit is used for judging whether the current electric quantity of the equipment is lower than a threshold electric quantity after the equipment is electrified, so as to obtain a judging result; feeding back the judgment result to the data processing unit; if the data processing unit determines that the current electric quantity of the equipment is lower than the threshold electric quantity, path planning is carried out according to the current position of the moving mechanism and the position of the charging area, and the planned path is fed back to the instruction control unit, so that the instruction control unit controls the moving mechanism to move to the charging area according to the planned path; after the equipment is charged, acquiring a tally task of a target library position through a remote communication unit; if the current electric quantity of the equipment is not lower than the threshold electric quantity, the cargo management task of the target library position is directly acquired through the remote communication unit.

The power management unit is used for sending an alarm to the user when the current electric quantity of the device is lower than the threshold electric quantity; here, the implementation of the alarm is not limited, and may be, for example, by voice or light.

For example, a warehouse may include a plurality of charging areas, each of which deploys coils in advance and adopts a wireless charging model; when the path is planned according to the current position of the moving mechanism and the position of the charging area, the selected charging area is the charging area closest to the current position of the moving mechanism. Further, after the moving mechanism moves to the charging area, the image recognition unit in the goods recognition module can be combined to acquire a charging area picture, the posture of the equipment is adjusted according to the charging area picture, and the charging coil is released to a set position after adjustment so as to charge; during device charging, other units and modules may enter a sleep state in addition to the power management unit.

In the embodiment of the application, the threshold electric quantity is used for judging whether the power management unit of the equipment is in a low-power state or not; the low power state indicates a state in which it is difficult for the power management unit to supply power to the device for a long time, subject to limitation of the amount of power. Here, the value of the threshold electric quantity is not limited, for example, the threshold electric quantity may be an empirical value or may be set by the user; for example, 10% of the power may be determined as the threshold power.

In some embodiments, the remote communication unit is further configured to obtain warehouse map information, the warehouse map information including a warehouse location layout; and the instruction control unit is also used for controlling the moving mechanism to move to the target warehouse location according to the warehouse map information.

In the embodiment of the application, the warehouse map information can be issued to the remote communication unit in advance by the background service system; FIG. 4 is a schematic diagram of a layout of a bank bit according to an embodiment of the present application; the tally task includes location information of the target bin, where the location information is located in a vicinity of the target bin.

The vicinity region is exemplified as a region that is outside the target bank bit marker line and within a set distance, where the value of the set distance may be set according to actual conditions, and the embodiment of the present application is not limited thereto, and may be set to 1m or 0.5m, for example.

If the remote communication unit receives the warehouse map information, the information is fed back to the data processing unit, the data processing unit can conduct path planning according to the warehouse map information and the position information of the target warehouse location included in the tally task, and the planned path is fed back to the instruction control unit, so that the moving mechanism is controlled to move to the target warehouse location according to the planned path through the instruction control unit.

In some embodiments, the library position identification module is used for identifying the library position identification of the target library position and sending the identification result to the data processing unit in the control module when the moving mechanism moves to the target library position; the data processing unit is used for generating an attitude adjustment instruction according to the recognition result and sending the attitude adjustment instruction to the instruction control unit; the instruction control unit is used for adjusting the gesture of the moving mechanism according to the gesture adjustment instruction so that the moving mechanism is opposite to the target library position; and the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism is opposite to the target storage position, so as to obtain the current goods coding set.

In the embodiment of the application, after the moving mechanism moves to the target library position, the library position identification module is started to identify the library position identification of the target library position, and the identification result is sent to the data processing unit in the control module, so that the data processing unit generates the gesture adjustment instruction according to the identification result and sends the gesture adjustment instruction to the instruction control unit, and the instruction control unit adjusts the gesture of the moving mechanism according to the gesture adjustment instruction, so that the moving mechanism is opposite to the target library position. Here, the recognition result includes a library bit code of a library bit identification; if the moving mechanism is over against the target storage position and the distance between the moving mechanism and the target storage position meets the set requirement, the current gesture of the moving mechanism is indicated to meet the requirement, and at the moment, the cargo label of each cargo currently stored in the target storage position can be identified through the cargo checking module, so that the current cargo code set is obtained.

Illustratively, the library position identifier may be a text tag or an electronic tag; in an embodiment, the type of the library position identifier may be preset in a background service system deployed in the cloud according to the actual situation of the warehouse.

It can be understood that if the library position identifier is a text label, an OCR recognition unit in the library position recognition module is adopted to acquire picture information of the library position identifier, characters in the picture information are recognized, and when the character recognition effect reaches a definition standard, a definition position of a target library position is acquired; for example, when the device is 0.5m away from the target library bit marker line, determining that the device is located at a defined position of the target library bit, and adjusting the posture of the device at the moment so that the device is opposite to the target library bit; if the library bit identification is an electronic tag, firstly, the library bit boundary is identified through a cargo identification module, the equipment posture is adjusted, equipment is stopped in front of the library bit, meanwhile, a first RFID identification unit in the library bit identification module is started, tag data acquired by the RFID identification unit are acquired through a data processing unit in a control module, coding data of the library bit identification are screened out from the tag data, the output power of the RFID identification unit is adaptively adjusted until only a library bit code of one library bit identification is read, namely, the library bit identification corresponding to a target library bit, the output power is continuously adjusted until a received signal strength Indication ranging value (RECEIVED SIGNAL STRENGTH Indication, RSSI) received by the RFID identification unit reaches a preset boundary value, for example, -45dBm, and the equipment posture is controlled to be kept still.

In some embodiments, the cargo inventory module includes a target antenna and a second RFID identification unit; the target antenna is used for sending columnar radio frequency signals to the target bin to cover the target bin under the condition that the moving mechanism moves to the target bin; the second RFID identification unit is used for identifying the cargo label of each cargo currently stored in the target library position covered by the target antenna to obtain the current cargo code set.

In the embodiment of the application, when the equipment is over against the target storage position and the distance between the equipment and the target storage position meets the set requirement, the cargo checking module is started to acquire the cargo codes of all cargoes stored in the target storage position currently.

Here, the target antenna is taken as Long Bo lens antenna, if the main lobe angle of the Long Bo lens antenna is set as the width of the target bin, the structure of the Long Bo lens antenna is adjusted based on the columnar radiation characteristic of the Long Bo lens antenna, and a columnar radio frequency signal is sent to the target bin to cover the target bin; thus, the main lobe direction of the target antenna can radiate the whole target bin; fig. 5 is a schematic diagram of a structure of radiating a target bin through a gabion lens antenna according to an embodiment of the present application, where, as shown in fig. 5, bin i is the target bin, a dark shaded portion represents Long Bo lens antennas, and a column gray band represents a main lobe radiation region of Long Bo lens antennas.

Further, scanning the electronic tags of the goods stored in the target bin position covered by the target antenna through a second RFID identification unit connected with the target antenna to obtain the goods codes of the goods; based on these cargo codes, a current cargo code set may be obtained.

In the embodiment of the application, after the cargo checking module obtains the current cargo code set, the data processing unit or the background service system in the control module compares the preset cargo code set with the current cargo code set to determine the target cargo code set of which the code belongs to the current cargo code set and does not belong to the preset cargo code set.

Comparing the preset cargo code set with the current cargo code set, namely judging whether each cargo code in the current cargo code set belongs to the preset cargo code set, if so, indicating that the target warehouse position does not have cargoes needing to be moved, and controlling the moving mechanism to drive into the next warehouse position at the moment, or ending the current cargo management task; otherwise, if not, it is indicated that the target bin has goods to be stored in other bins, and at this time, a tally operation needs to be performed on the target bin.

By way of example, by comparing the two code sets, a target cargo code set may be obtained; wherein the target cargo code set comprises cargo codes belonging to the current cargo code set but not belonging to the preset cargo code set; for example, if the preset cargo code set includes codes 1 to 10 and the current cargo code set includes codes 1 to 12, the final determined target cargo code set includes codes 11 and 12 by the above comparison.

In some embodiments, a remote communication unit for transmitting the target cargo code set to the cargo identification module; the goods identification module is used for acquiring the picture information of the current goods corresponding to each target goods code in the target goods code set, identifying the picture information, obtaining the current appearance attribute of the current goods and feeding back to the data processing unit; the data processing unit is used for comparing the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module with the preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in at least one target goods.

Illustratively, after the target cargo code set is obtained by the data processing unit, the target cargo code set is sent to the cargo identification module by the remote communication unit; after the target cargo code set is obtained through the background service system, the target cargo code set is issued to the remote communication unit, and the target cargo code set is sent to the cargo identification module through the remote communication unit.

In the embodiment of the application, after each cargo needing to be moved is determined, each cargo needs to be positioned; for example, the second RFID identification unit may be set to a screening mode, where screening conditions are set to codes Mi of a certain cargo that needs to be executed by the mobile device, and other cargo codes that do not need to be executed by the mobile device are filtered; judging whether the code Mi of the goods is read, if so, gradually adjusting the output power of the RFID identification unit, for example, the adjustment amplitude can be set to be step 0.5dBm; here, assuming that the RSSI value is-30 dBm, determining that the cargo corresponding to the code Mi is within the operable distance of the mobile mechanism; otherwise, if the RSSI value does not reach-30 dBm or the RSSI value is < -30dBm when the goods are not read, the port plane of the target antenna needs to be translated until the RSSI value reaches-30 dBm, and meanwhile, the moving mechanism needs to correspondingly adjust the self posture, so that the aim of directly facing the goods to be moved is fulfilled.

The image recognition unit in the cargo recognition module is used for acquiring the picture information of the current cargo after the current cargo corresponding to each cargo code in the target cargo code set is positioned, and recognizing the picture information to obtain the current appearance attribute of the current cargo.

Here, the type of the appearance attribute is not limited, and for example, the package information of the goods may be included, wherein the package information may include information such as a name of the goods, a size and a shape of the package of the goods, and the like.

Further, after the current appearance attribute corresponding to each target cargo code is obtained, the current appearance attribute corresponding to each target cargo code is fed back to the data processing unit of the control module, and the comparison result is obtained by comparing the current appearance attribute corresponding to each target cargo code with the preset appearance attribute through the data processing unit. And under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in at least one target goods.

Further, after determining each target cargo, the control mechanical arm performs a warehouse moving operation on each target cargo.

The data processing unit in the control module generates a corresponding control instruction according to the code of each target cargo and sends the control instruction to the instruction control unit so as to control the mechanical arm to execute the library moving operation through the instruction control unit; it should be noted that, the garage moving process relates to the technology of a moving mechanism such as a self positioning system, a navigation system, an origin and destination path planning of the device, and the related technology may be referred to, and will not be described in detail herein.

For example, in the case that the comparison results are different, it is indicated that the goods to be moved out of the target stock position are not the current goods identified by the image identification unit, and may be the goods on the rear side of the current goods; at this time, a control instruction can be issued to the instruction control unit, so that the instruction control unit controls the mechanical arm to temporarily remove the current goods to the buffer temporary area, the operations are repeated again until the goods information is consistent, after the corresponding operations are executed, the equipment is required to be retracted to the buffer temporary area, and the mechanical arm is controlled to reset the removed goods to the target warehouse.

After the steps described above are performed, all the target goods that need to be moved to the storage position specified by the background service system are returned to the storage position, whether the storage task is completed is determined, if yes, the storage task is ended, and if not, the next storage position or the storage task for locating the storage position is performed.

The embodiment of the application provides warehouse management equipment, which comprises: the device comprises a moving mechanism, a control module, a goods checking module and a mechanical arm, wherein the control module, the goods checking module and the mechanical arm are arranged on the moving mechanism; the control module is used for controlling the moving mechanism to move to the target warehouse location under the condition of acquiring the tally task of the target warehouse location; obtaining a target cargo code set which is not matched with a preset cargo code set in a current cargo code set, and executing a library moving operation on at least one target cargo based on a target cargo code set control mechanical arm; the target cargo code set includes a code of at least one target cargo; and the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods code set. It can be seen that, according to the embodiment of the application, the warehouse is not required to be subjected to the tally operation manually, but the tally task aiming at a certain warehouse location is directly sent to warehouse management equipment, and after the control module, the cargo checking module and the mechanical arm in the equipment execute related operations, the tally operation aiming at the warehouse location can be completed; therefore, the problems of low tally efficiency and low tally accuracy caused by manual operation in the related technology can be solved; in addition, the goods checking module can acquire the goods codes of the goods stored in the warehouse at present in real time, so that the equipment can also acquire the warehouse in-warehouse out and warehouse in-out information of each goods in the warehouse in time.

In order to further embody the object of the present application, the above embodiment of the present application will be further described with reference to the background service system being a WMS system.

Fig. 6A is a flow chart of a warehouse management method according to an embodiment of the present application, which can be applied to the warehouse management device shown in fig. 1A, as shown in fig. 6A, and includes the following steps:

Step 300: after the equipment is electrified, receiving a cargo management task and a preset cargo code set aiming at a target warehouse position, which are issued by a WMS system, and controlling the moving mechanism to move to the target warehouse position;

step 301: identifying a library position identifier of the target library position, and adjusting the gesture of the moving mechanism according to the identification result so that the moving mechanism is opposite to the target library position;

step 302: acquiring the cargo codes of all cargoes currently stored in the target library position to obtain a current cargo code set;

Step 303: and comparing the preset cargo code set with the current cargo code set to determine a target cargo code set.

It should be noted that, in the foregoing embodiments, the interaction between the device and the background service system and the process of implementing the cargo handling operation based on the device have been described, and in order to avoid repetition, a description is omitted here.

Fig. 6B is a flow chart of another warehouse management method according to an embodiment of the application, as shown in fig. 6B, the method includes the following steps:

Step 40: the device is powered up.

Illustratively, the device is first powered up before the task begins.

Step 41: and judging whether charging is needed or not.

Illustratively, after the device is powered on, it is first determined whether the device needs to be charged; specifically, judging whether the current electric quantity of the equipment is lower than a threshold electric quantity, if so, moving the equipment to a charging area for charging; otherwise, no charging of the device is required, at which point step 42 is performed.

Step 42: and receiving a tally task.

Illustratively, receiving a tally task issued by the WMS system and controlling the device to move to a target bin; here, the tally task may represent a task of adjusting the cargo position in the target stock location.

Step 43: starting a library position identification module; step 43 may include the following steps:

step 430: and adopting an OCR recognition unit to recognize the library bit identification.

Step 431: and identifying the library bit identification by adopting an RFID identification unit.

It should be noted that, step 430 and step 431 are two alternative implementations, and only one of the steps needs to be executed during the execution process; the determination may be specifically made based on a library identification of the target library.

Step 432: and adjusting the posture of the moving mechanism.

Illustratively, the mobile mechanism pose is correspondingly adjusted according to the recognized bin code of the bin identifier.

Step 433: and judging whether the set condition is met.

The method comprises the steps of judging whether the adjusted equipment posture accords with an example, if so, indicating that the equipment is opposite to a target library position and the distance between the equipment and the target library position accords with a set requirement; otherwise, step 432 is executed again, and the posture of the device is continuously adjusted to meet the set requirement, so as to perform the subsequent processing.

Step 44: and opening the goods checking module.

Step 45: and opening the cargo identification module.

Step 46: and executing the tally action.

Step 47: and judging whether the tally task is finished. If yes, the finishing of the tally task is indicated, and at the moment, the tally flow is finished, and the control equipment returns to the rest area; otherwise, step 43 is performed again; and continuing to execute the operation on the next library position until finishing the tallying task.

The process of steps 44 to 46 is exemplarily described below by fig. 6C. Fig. 6C is a flow chart illustrating a cargo handling operation for a target bin according to an embodiment of the application, and as shown in fig. 6C, the method includes the following steps:

Step 50: a cargo code set C _i of the target library bits is obtained.

Here, the cargo code set { C _i } corresponds to the current cargo code set described above; illustratively, the cargo code of each cargo currently stored in the target library is obtained by the cargo checking module, and the cargo codes form a cargo code set { C _i }.

Step 51: it is determined whether { C _i } belongs to { C _is }.

Here, the cargo code set { C _is } corresponds to the above-mentioned preset cargo code set; judging whether the cargo code set { C _i } belongs to the cargo code set { C _is }, if so, indicating that the target library position does not have the cargo needing to be moved, executing the step 47 at this time, and if not, executing the step 52.

Step 52: a target cargo code set is determined.

Illustratively, the cargo code set { C _i } is compared with the cargo code set { C _is } and a target cargo code set belonging to the cargo code set { C _i } but not belonging to the cargo code set { C _is } is determined based on the comparison.

Step 53: and judging whether the target goods are positioned.

Illustratively, after determining the target cargo code set, locating the current cargo of each target cargo code in the target cargo code set, and determining whether the current cargo is located. If not, step 54 is executed, and if yes, step 55 and step 56 are executed in sequence.

Step 54: and adjusting the posture of the moving mechanism.

Illustratively, step 53 is performed again after adjusting the attitude of the movement mechanism.

Step 55: a current cargo area is determined.

Step 56: and carrying out image recognition on the current goods.

The image recognition unit in the goods recognition module is used for acquiring the picture information of the current goods, and recognizing the picture information to obtain the current appearance attribute of the current goods.

Step 57: and judging whether the current goods are the same as the actual goods. If yes, step 58 and step 59 are sequentially executed, and if no, step 60 and step 55 are sequentially executed.

The comparison result is obtained by comparing the appearance attribute of the current cargo with the preset appearance attribute of the actual cargo corresponding to the cargo code. And determining the current cargo as the target cargo under the condition that the comparison results are the same.

Step 58: and the mechanical arm executes a warehouse moving operation.

If the current cargo is the same as the actual cargo, the current cargo is the cargo that needs to be moved out of the target bin, and the mechanical arm performs the bin moving operation on the current cargo according to the control instruction, and returns to the target bin after the operation is completed, so as to prepare for the next bin moving operation.

Step 59: and judging whether the target goods are moved out or not. If so, step 47 is performed, otherwise, step 52 is performed.

Step 60: the mechanical arm executes the obstacle removing operation.

If the current cargo is different from the actual cargo, the current cargo is not the cargo that needs to be moved out of the target storage location, and the mechanical arm performs the barrier removing operation on the current cargo according to the control instruction, and resets the current cargo to the target storage location after the operation is completed.

Fig. 7 is a flow chart of another warehouse management method according to an embodiment of the present application, as shown in fig. 7, the method includes the following steps:

Step 700: the control module controls the moving mechanism to move to the target warehouse location under the condition of obtaining the tally task of the target warehouse location;

Step 701: the goods checking module identifies the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain a current goods code set;

step 702: the control module obtains a target cargo code set which is not matched with a preset cargo code set in the current cargo code set, and controls the mechanical arm to execute a library moving operation on at least one target cargo based on the target cargo code set; the target cargo code set includes a code of at least one target cargo.

In some embodiments, the control module includes a data processing unit and a remote communication unit, the method further comprising: the remote communication unit receives a preset goods code set issued by a background service system; the data processing unit compares the current cargo code set with the preset cargo code set to determine a target cargo code set which belongs to the current cargo code set and does not belong to the preset cargo code set.

In some embodiments, the above method further comprises: the remote communication unit uploads the current cargo code set to the background service system, so that the background service system compares the current cargo code set with a preset cargo code set to determine a target cargo code set; and receiving the target cargo code set issued by the background service system.

In some embodiments, the warehouse management equipment further comprises a cargo identification module disposed on the mobile mechanism, the method further comprising: the remote communication unit sends the target cargo code set to the cargo identification module; the goods identification module acquires the picture information of the current goods corresponding to each target goods code in the target goods code set, identifies the picture information, obtains the current appearance attribute of the current goods, and feeds back the current appearance attribute to the data processing unit; the data processing unit compares the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module with the preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in at least one target goods.

In some embodiments, the warehouse management device further comprises a warehouse location identification module disposed on the mobile mechanism, the control module further comprising an instruction control unit, the method further comprising: the library position identification module identifies the library position identification of the target library position under the condition that the moving mechanism moves to the target library position, and sends the identification result to the data processing unit in the control module; the data processing unit generates an attitude adjustment instruction according to the identification result and sends the attitude adjustment instruction to the instruction control unit; the instruction control unit adjusts the gesture of the moving mechanism according to the gesture adjustment instruction so that the moving mechanism is opposite to the target library position; and the goods checking module identifies the goods labels of all the goods currently stored in the target library position under the condition that the moving mechanism is opposite to the target library position, so as to obtain the current goods coding set.

In some embodiments, the library position recognition module comprises at least one of an OCR recognition unit and a first RFID recognition unit, the method further comprising: the OCR recognition unit recognizes the library position identification of the target library position and sends the recognition result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is a text label; and the first RFID identification unit identifies the library position identification of the target library position and sends the identification result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is an electronic tag.

In some embodiments, the cargo inventory module includes a target antenna and a second RFID identification unit; the method further comprises the steps of: the target antenna is used for sending columnar radio frequency signals to the target bin to cover the target bin under the condition that the moving mechanism moves to the target bin; the second RFID identification unit is used for identifying the cargo label of each cargo currently stored in the target library position covered by the target antenna to obtain the current cargo code set.

In some embodiments, the control module further comprises a power management unit, and the method further comprises: after the warehouse management equipment is electrified, the power management unit judges whether the current electric quantity of the warehouse management equipment is lower than a threshold electric quantity or not; when the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity, the data processing unit in the control module performs path planning according to the current position of the mobile mechanism and the position of the charging area; the instruction control unit in the control module controls the moving mechanism to move to the charging area according to the planned path.

In some embodiments, functions or modules included in the device provided by the embodiments of the present application may be used to perform the methods described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.

The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.

The methods disclosed in the method embodiments provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.

The features disclosed in the embodiments of the products provided by the application can be combined arbitrarily under the condition of no conflict to obtain new embodiments of the products.

The features disclosed in the embodiments of the method or the device provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new embodiment of the method or the device.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above is only a preferred embodiment of the present application, and is not intended to limit the scope of the present application.

Claims

1. A warehouse management apparatus, characterized in that the warehouse management apparatus comprises: the moving mechanism is used for moving the moving mechanism,

The control module, the goods checking module and the mechanical arm are arranged on the moving mechanism;

The control module is used for controlling the moving 5 mechanism to move to the target bin under the condition of obtaining the tally task of the target bin; obtaining a target cargo code set which is not matched with a preset cargo code set in a current cargo code set, and controlling the mechanical arm to execute a library moving operation on at least one target cargo based on the target cargo code set; the target cargo code set includes a code of the at least one target cargo;

the goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism moves to the target storage position, so as to obtain the current goods 0 coding set.

2. The device of claim 1, wherein the control module comprises a data processing unit and a remote communication unit;

the remote communication unit is used for receiving the preset goods code set issued by the background service system;

The data processing unit is used for comparing the current cargo code set with the preset cargo code set by 5, and determining the target cargo code set which is coded to be the current cargo code set and not to be the preset cargo code set.

3. The apparatus of claim 2, wherein the remote communication unit is further configured to:

Uploading the current cargo code set to the background service system, so that the background service system compares the current cargo code set with the preset cargo code set to determine the target cargo code 0 set;

and receiving the target cargo code set issued by the background service system.

4. The apparatus of claim 2, wherein the warehouse management apparatus further comprises a cargo identification module disposed on the mobile mechanism;

The remote communication unit is used for sending the target cargo code set to the cargo identification module; the goods identification module is used for acquiring the picture information of the current goods corresponding to each target goods code in the target goods code set, identifying the picture information, obtaining the current appearance attribute of the current goods, and feeding back to the data processing unit;

The data processing unit is used for comparing the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module with the preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in the at least one target goods.

5. The apparatus of claim 1, wherein the warehouse management apparatus further comprises a warehouse location identification module disposed on the mobile mechanism, the control module further comprising an instruction control unit;

the library position identification module is used for identifying the library position identification of the target library position under the condition that the moving mechanism moves to the target library position, and sending the identification result to the data processing unit in the control module;

The data processing unit is used for generating an attitude adjustment instruction according to the identification result and sending the attitude adjustment instruction to the instruction control unit;

The instruction control unit is used for adjusting the gesture of the moving mechanism according to the gesture adjustment instruction so that the moving mechanism is opposite to the target library position;

The goods checking module is used for identifying the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism is opposite to the target storage position, so as to obtain the current goods coding set.

6. The apparatus of claim 5, wherein the library level recognition module comprises at least one of an optical character recognition OCR recognition unit and a first radio frequency identification RFID recognition unit;

The OCR recognition unit is used for recognizing the library position identification of the target library position and sending the recognition result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is a text label;

The first RFID identification unit is used for identifying the library position identification of the target library position and sending the identification result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is an electronic tag.

7. The apparatus of claim 1, wherein the inventory module comprises a target antenna and a second RFID identification unit;

The target antenna is used for sending a columnar radio frequency signal to the target bin to cover the target bin under the condition that the moving mechanism moves to the target bin;

The second RFID identification unit is used for identifying the cargo label of each cargo currently stored in the target library position covered by the target antenna to obtain the current cargo code set.

8. The apparatus of claim 1, wherein the control module further comprises a power management unit;

the power management unit is used for judging whether the current electric quantity of the warehouse management equipment is lower than a threshold electric quantity or not after the warehouse management equipment is electrified;

The data processing unit in the control module is used for planning a path according to the current position of the moving mechanism and the position of the charging area when the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity;

and the instruction control unit in the control module is used for controlling the moving mechanism to move to the charging area according to the planned path.

9. A warehouse management method, characterized by being applied to a warehouse management apparatus, the warehouse management apparatus comprising: the device comprises a moving mechanism, a control module, a goods checking module and a mechanical arm, wherein the control module, the goods checking module and the mechanical arm are arranged on the moving mechanism; the method comprises the following steps:

10. The method of claim 9, wherein the control module comprises a data processing unit and a remote communication unit, the method further comprising:

The remote communication unit receives the preset goods code set issued by the background service system;

The data processing unit compares the current cargo code set with the preset cargo code set to determine the target cargo code set of which the code belongs to the current cargo code set and does not belong to the preset cargo code set.

11. The method according to claim 10, wherein the method further comprises:

The remote communication unit uploads the current cargo code set to the background service system, so that the background service system compares the current cargo code set with the preset cargo code set to determine the target cargo code set;

12. The method of claim 10, wherein the warehouse management equipment further comprises a cargo identification module disposed on the mobile mechanism, the method further comprising:

the remote communication unit sends the target cargo code set to the cargo identification module;

The goods identification module acquires the picture information of the current goods corresponding to each target goods code in the target goods code set, identifies the picture information, obtains the current appearance attribute of the current goods, and feeds back the current appearance attribute to the data processing unit;

The data processing unit compares the current appearance attribute corresponding to each target cargo code fed back by the cargo identification module with a preset appearance attribute to obtain a comparison result; and under the condition that the comparison results are the same, determining the current goods corresponding to each target goods code as the target goods in the at least one target goods.

13. The method of claim 9, wherein the warehouse management equipment further comprises a warehouse location identification module disposed on the mobile mechanism, the control module further comprising an instruction control unit, the method further comprising:

The library position identification module identifies the library position identification of the target library position under the condition that the moving mechanism moves to the target library position, and sends an identification result to a data processing unit in the control module;

The data processing unit generates an attitude adjustment instruction according to the identification result and sends the attitude adjustment instruction to the instruction control unit;

The instruction control unit adjusts the gesture of the moving mechanism according to the gesture adjustment instruction so that the moving mechanism is opposite to the target library position;

And the goods checking module identifies the goods labels of all the goods currently stored in the target storage position under the condition that the moving mechanism is opposite to the target storage position, so as to obtain the current goods coding set.

14. The method of claim 13, wherein the library bit recognition module comprises at least one of an OCR recognition unit and a first RFID recognition unit, the method further comprising:

The OCR recognition unit recognizes the library position identification of the target library position and sends the recognition result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is a text label;

and the first RFID identification unit identifies the library position identification of the target library position and sends the identification result to the data processing unit under the condition that the moving mechanism is opposite to the target library position and the library position identification is an electronic tag.

15. The method of claim 9, wherein the inventory module includes a target antenna and a second RFID identification unit; the method further comprises the steps of:

16. The method of claim 9, wherein the control module further comprises a power management unit, the method further comprising:

after the warehouse management equipment is electrified, the power management unit judges whether the current electric quantity of the warehouse management equipment is lower than a threshold electric quantity or not;

When the current electric quantity of the warehouse management equipment is lower than the threshold electric quantity, the data processing unit in the control module performs path planning according to the current position of the moving mechanism and the position of the charging area;

And an instruction control unit in the control module controls the moving mechanism to move to the charging area according to a planned path.