TW202332640A - Material box stocktaking method and apparatus, dispatching device, robot, and warehousing system - Google Patents

Material box stocktaking method and apparatus, dispatching device, robot, and warehousing system Download PDF

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TW202332640A
TW202332640A TW112101839A TW112101839A TW202332640A TW 202332640 A TW202332640 A TW 202332640A TW 112101839 A TW112101839 A TW 112101839A TW 112101839 A TW112101839 A TW 112101839A TW 202332640 A TW202332640 A TW 202332640A
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inventory
bin identification
area
bin
unit
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陳銳東
章政
鄭楷鋒
莊棟軍
佘俏
張沂陽
李文彬
邱海洋
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中國大陸商深圳市庫寶軟件有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

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Abstract

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

Description

料箱盤點方法、裝置、調度設備、機器人及倉儲系統Box counting methods, devices, dispatching equipment, robots and warehousing systems

本公開涉及倉儲系統技術領域，尤其涉及一種料箱盤點方法、裝置、調度設備、機器人及倉儲系統。The present disclosure relates to the technical field of warehousing systems, and in particular to a box inventory method, device, dispatching equipment, robot and warehousing system.

基於機器人的倉儲系統採用智慧作業系統，通過系統指令實現物品的自動取出和存放，同時可以24小時不間斷運行，代替了人工管理和操作，提高了倉儲的效率，受到了廣泛地應用和青睞。The robot-based warehousing system adopts an intelligent operating system, which realizes the automatic removal and storage of items through system instructions. It can also operate 24 hours a day, replacing manual management and operations, improving the efficiency of warehousing, and has been widely used and favored.

在倉儲系統的日常運營中，需要對存儲貨架各個庫位元上存放的物料進行盤點，如定期盤點或隨機盤點，從而覆核各個庫位上存放的物料的情況。In the daily operation of the warehousing system, it is necessary to inventory the materials stored in each location of the storage shelves, such as regular inventory or random inventory, so as to review the status of the materials stored in each location.

傳統的盤點方式，多為單點盤點，基於以庫位元為單位進行盤點，由機器人將庫位上存放的料箱搬運至操作臺，從而在操作臺處對所搬運的料箱以及料箱內存放的物料進行盤點。上述盤點方式盤點效率較低，無法適用於倉儲體量較大的倉庫。The traditional inventory method is mostly a single-point inventory, which is based on the inventory unit of the storage location. The robot transports the material boxes stored in the storage location to the operation console, so that the transported material boxes and material boxes are inspected at the operation console. Inventory of materials stored inside. The above-mentioned inventory counting method has low inventory efficiency and cannot be applied to warehouses with large storage volumes.

本公開提供一種料箱盤點方法、裝置、調度設備、機器人及倉儲系統，實現了以盤點區域為單位的批量盤點的盤點方式，大大提高了料箱盤點的效率。The present disclosure provides a box inventory method, device, scheduling equipment, robot and warehousing system, which realizes a batch inventory method based on the inventory area as a unit, and greatly improves the efficiency of box inventory.

第一方面，本公開實施例提供了一種料箱盤點方法，應用于調度設備，該方法包括：生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料，其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列；接收所述盤點資料；根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。In a first aspect, embodiments of the present disclosure provide a box inventory method, which is applied to scheduling equipment. The method includes: generating an inventory instruction for the inventory area, and sending the inventory instruction to an inventory robot, where the inventory instruction is used to control The inventory robot performs inventory on the inventory area to obtain inventory data corresponding to the inventory area, where the inventory area includes a plurality of storage locations, and the inventory data includes a queue of bin identification codes; receiving all Describe the inventory data; determine whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data in the inventory area.

可選的，所述料箱識別碼佇列由所述盤點機器人對所述盤點區域進行盤點所採集到的所有料箱識別碼進行去重後得到。Optionally, the queue of bin identification codes is obtained by deduplicating all the bin identification codes collected by the inventory robot during inventory in the inventory area.

可選的，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述料箱識別碼佇列中時，則確定所述盤點區域不存在所述待檢查庫位。Optionally, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: when each material box corresponding to the inventory area in the inventory data When the identification codes all exist in the queue of container identification codes, it is determined that the inventory location to be inspected does not exist in the inventory area.

可選的，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的庫存資料中是否存在缺失料箱識別碼；若所述盤點區域的庫存資料中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，缺失料箱識別碼不存在於所述料箱識別碼佇列。Optionally, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and the inventory corresponding to the inventory area data to determine whether there is a missing bin identification code in the inventory data in the inventory area; if there is a missing bin identification code in the inventory data in the inventory area, it is determined that the inventory location to be inspected exists in the inventory area; wherein , the missing bin identification code does not exist in the bin identification code queue.

可選的，待檢查庫位包括：在所述庫存資料中，與所述缺失料箱識別碼對應的庫位。Optionally, the storage location to be checked includes: the storage location corresponding to the missing bin identification code in the inventory data.

可選的，待檢查庫位包括：在所述庫存資料中，所述缺失料箱識別碼對應的庫位附近預設範圍內的庫位。Optionally, the storage locations to be checked include: in the inventory data, storage locations within a preset range near the storage location corresponding to the missing bin identification code.

可選的，根據所述盤點資料和所述盤點區域的庫存資料，確定所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的料箱識別碼佇列中是否存在錯放料箱識別碼；若所述料箱識別碼佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。Optionally, determining whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data in the inventory area includes: judging based on the inventory data and the inventory data corresponding to the inventory area. Whether there is a misplaced bin identification code in the bin identification code queue in the inventory area; if there is a misplaced bin identification code in the bin identification code queue, it is determined that the inventory area contains the to-be-inspected Storage location; wherein, the misplaced bin identification code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the misplaced bin identification code corresponds to the inventory data. The distance between the storage location unit and the inventory area exceeds the first preset distance; the storage location to be inspected includes the storage location unit or unit corresponding to the identification code of the misplaced bin in the inventory data.

可選的，所述盤點指令用於控制所述盤點機器人對所述盤點區域以盤點單元為單位進行盤點，所述盤點單元包括多個庫位元；所述料箱識別碼佇列由多個料箱識別碼集合組成，所述料箱識別碼集合與所述盤點單元一一對應。Optionally, the inventory instruction is used to control the inventory robot to inventory the inventory area in units of inventory units. The inventory unit includes multiple storage locations; the container identification code queue consists of multiple inventory units. It consists of a set of bin identification codes, and the set of bin identification codes corresponds one-to-one with the inventory unit.

可選的，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述盤點機器人的料箱識別裝置為間斷地開啟；所述料箱識別裝置在移動至對應的盤點單元的預設位置時被開啟，所述料箱識別碼集合由每次開啟時採集到的料箱識別碼組成。Optionally, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin identification device moves to the corresponding inventory unit. is opened at the preset position, and the set of bin identification codes is composed of the bin identification codes collected each time it is opened.

可選的，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼所對應的採集時間點的差值小於預設值，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。Optionally, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the identification codes of two adjacent collected bins correspond to The difference between the collection time points is less than the preset value, then the two bin identification codes are classified into the same bin identification code set.

可選的，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼被採集時所述料箱識別裝置的位置的距離小於預設距離，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。Optionally, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the identification codes of two adjacent collected bins are collected, When the distance between the positions of the bin identification devices is less than the preset distance, the two bin identification codes are classified into the same bin identification code set.

可選的，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

可選的，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：對於所述盤點區域中的每一盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別集合中，則確定所述盤點單元不存在所述待檢查庫位；若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。Optionally, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: for each inventory unit in the inventory area, when the If the bin identification codes corresponding to the inventory data of the inventory unit are all present in the bin identification set corresponding to the inventory unit, then it is determined that the inventory location does not exist in the inventory unit; if the inventory area If there is no storage location to be inspected in each inventory unit, it is determined that there is no storage location to be inspected in the inventory area.

可選的，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元；若所述盤點區域的各個盤點單元中存在第一單元，則確定所述盤點區域存在待檢查庫位元；其中，第一單元為對應的庫存資料中存在缺失料箱識別碼的盤點單元，所述缺失料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。Optionally, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and the inventory corresponding to the inventory area data to determine whether the first unit exists in each inventory unit of the inventory area; if the first unit exists in each inventory unit of the inventory area, it is determined that the inventory unit exists in the inventory area to be inspected; wherein, the first unit The unit is an inventory unit with a missing bin identification code in the corresponding inventory data. The missing bin identification code does not exist in the bin identification code set corresponding to the first unit. The storage location unit to be inspected includes all Describe each location unit corresponding to the first unit.

可選的，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元；若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元；其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。Optionally, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and the inventory corresponding to the inventory area Data, determine whether the second unit exists in each inventory unit of the inventory area; if the second unit exists in each inventory unit of the inventory area, it is determined that the inventory unit exists in the inventory area to be inspected; wherein, The second unit is an inventory unit for which a misplaced bin identification code exists in the corresponding bin identification set. The misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit. The distance between the storage location element corresponding to the bin identification code in the inventory data and the second unit exceeds the second preset distance, and the storage location element to be inspected includes each storage location element corresponding to the second unit.

可選的，所述盤點資料來自至少兩個盤點機器人，且所述至少兩個盤點機器人對所述盤點區域進行盤點的盤點順序及盤點路徑中的至少一項不同。Optionally, the inventory data comes from at least two inventory robots, and at least one of the inventory order and inventory path used by the at least two inventory robots to inventory the inventory area is different.

可選的，所述料箱識別裝置為電子標籤識別裝置或圖像識別裝置。Optionally, the bin identification device is an electronic label identification device or an image identification device.

第二方面，本公開實施例還提供了一種料箱盤點方法，所述方法應用于盤點機器人，所述方法包括：接收盤點區域的盤點指令，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點；基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料；發送所述盤點資料；其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。In a second aspect, embodiments of the present disclosure also provide a method for counting boxes. The method is applied to an inventory robot. The method includes: receiving an inventory instruction from the inventory area, and the inventory instruction is used to control the inventory robot to perform the inventory on all items. Perform inventory in the inventory area; inventory the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area; send the inventory data; wherein the inventory area includes multiple storage locations, and the inventory area includes a plurality of storage locations. The inventory data includes a queue of bin identification codes, and the inventory data is used to compare with the inventory data in the inventory area to determine whether there is a storage location to be inspected in the inventory area.

可選的，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括：基於所述盤點指令對所述盤點區域進行盤點；對所述盤點區域進行盤點所採集到的所有料箱識別碼進行去重處理，得到所述盤點區域對應的盤點資料。Optionally, inventory the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area, including: inventorying the inventory area based on the inventory instruction; inventorying all items in the inventory area. All collected bin identification codes are deduplicated to obtain inventory data corresponding to the inventory area.

可選的，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括：基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼；根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合；基於所述盤點區域的各個盤點單元對應的料箱識別碼集合，生成所述盤點區域對應的盤點資料；其中，所述盤點單元包括一個或多個庫位，所述料箱識別碼集合與所述盤點單元一一對應。Optionally, inventory the inventory area based on the inventory instruction and generate inventory data corresponding to the inventory area, including: controlling the bin identification device of the inventory robot based on the inventory instruction, with the inventory unit as a unit. Collect the bin identification codes of the bins placed in each inventory unit in the inventory area; according to the collected bin identification codes, obtain a set of bin identification codes corresponding to each inventory unit; based on each inventory unit in the inventory area The corresponding set of bin identification codes generates inventory data corresponding to the inventory area; wherein the inventory unit includes one or more storage locations, and the set of bin identification codes corresponds to the inventory unit one-to-one.

可選的，基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼，包括：針對每個盤點單元，基於所述盤點指令在移動至所述盤點單元的預設位置時，開啟所述盤點機器人的所述料箱識別裝置，採集所述盤點單元內放置的料箱的料箱識別碼。Optionally, the bin identification device of the inventory robot is controlled based on the inventory instruction, and the bin identification codes of the bins placed in each inventory unit of the inventory area are collected in units of inventory units, including: for each inventory The unit, when moving to a preset position of the inventory unit based on the inventory instruction, turns on the bin identification device of the inventory robot and collects the bin identification codes of the bins placed in the inventory unit.

可選的，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括：若採集的相鄰兩個料箱識別碼對應的採集時間點的差值小於預設值，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, according to the collected bin identification codes, a bin identification code set corresponding to each inventory unit is obtained, including: if the difference between the collection time points corresponding to the collected two adjacent bin identification codes is less than the preset value, the two bin identification codes are classified into the same bin identification code set.

可選的，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括：若採集的相鄰兩個料箱識別碼對應的所述料箱識別裝置的位置的距離小於預設距離，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, according to the collected bin identification codes, a bin identification code set corresponding to each inventory unit is obtained, including: if the collected bin identification codes correspond to the positions of the bin identification devices If the distance is less than the preset distance, the two bin identification codes are classified into the same bin identification code set.

可選的，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

可選的，所述方法還包括：若採集的料箱標識碼的強度值低於預設強度，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the method further includes: if the intensity value of the collected bin identification code is lower than the preset intensity, then deleting the bin identification code from the corresponding bin identification code set.

可選的，所述方法還包括：確定所採集的料箱標識碼對應的位置；若所採集的料箱標識碼對應的位置超出對應的盤點單元的範圍，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the method further includes: determining the position corresponding to the collected container identification code; if the position corresponding to the collected container identification code exceeds the range of the corresponding inventory unit, then from the corresponding container identification code set Delete the bin identification code.

協力廠商面，本公開實施例還提供了一種料箱盤點裝置，所述裝置應用于調度設備，所述裝置包括：指令發送模組，用於生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料，所述盤點區域包括多個庫位元，其中，所述盤點資料包括料箱識別碼佇列；盤點資料接收模組，用於接收所述盤點資料；異常判定模組，用於根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。For third parties, embodiments of the present disclosure also provide a container inventory device. The device is used in scheduling equipment. The device includes: an instruction sending module, used to generate an inventory instruction for the inventory area, and send the inventory instruction to the third party. Sent to the inventory robot, the inventory instruction is used to control the inventory robot to inventory the inventory area to obtain inventory data corresponding to the inventory area. The inventory area includes multiple storage locations, wherein, the The inventory data includes a queue of material box identification codes; an inventory data receiving module is used to receive the inventory data; an abnormality determination module is used to determine the inventory area based on the inventory data and the inventory data of the inventory area Whether there is a location to be checked.

第四方面，本公開實施例還提供了一種料箱盤點裝置，所述裝置應用于盤點機器人，所述裝置包括：指令接收模組，用於接收盤點區域的盤點指令，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點；盤點資料生成模組，用於基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料；盤點資料發送模組，用於發送所述盤點資料；所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。In a fourth aspect, embodiments of the present disclosure also provide a bin inventory device, which device is applied to an inventory robot. The device includes: an instruction receiving module for receiving inventory instructions in the inventory area, and the inventory instructions are used to Control the inventory robot to inventory the inventory area; an inventory data generation module is used to inventory the inventory area based on the inventory instruction and generate inventory data corresponding to the inventory area; an inventory data sending module, Used to send the inventory data; the inventory area includes multiple storage locations, the inventory data includes a queue of bin identification codes, and the inventory data is used to compare with the inventory data in the inventory area, so as to Determine whether there is a storage location to be inspected in the inventory area.

第五方面，本公開實施例還提供了一種調度設備，包括：記憶體和至少一個處理器；所述記憶體存儲電腦執行指令；至少一個處理器執行所述記憶體存儲的電腦執行指令，使得所述至少一個處理器執行本公開第一方面對應的任意實施例提供的料箱盤點方法。In a fifth aspect, embodiments of the present disclosure also provide a scheduling device, including: a memory and at least one processor; the memory stores computer execution instructions; and at least one processor executes the computer execution instructions stored in the memory, so that The at least one processor executes the bin inventory method provided by any embodiment corresponding to the first aspect of the present disclosure.

第六方面，本公開實施例還提供了一種盤點機器人，包括：記憶體和至少一個處理器；所述記憶體存儲電腦執行指令；至少一個處理器執行所述記憶體存儲的電腦執行指令，使得所述至少一個處理器執行本公開第二方面對應的任意實施例提供的料箱盤點方法。In a sixth aspect, embodiments of the present disclosure also provide an inventory robot, including: a memory and at least one processor; the memory stores computer execution instructions; and at least one processor executes the computer execution instructions stored in the memory, so that The at least one processor executes the bin inventory method provided by any embodiment corresponding to the second aspect of the present disclosure.

第七方面，本公開實施例還提供了一種倉儲系統，包括存儲貨架、本公開第五方面對應的實施例提供的調度設備以及本公開第六方面對應的實施例提供的盤點機器人。In a seventh aspect, an embodiment of the present disclosure also provides a warehousing system, including storage shelves, a dispatching device provided by a corresponding embodiment of the fifth aspect of the present disclosure, and an inventory robot provided by a corresponding embodiment of the sixth aspect of the present disclosure.

第八方面，本公開實施例還提供了一種電腦可讀存儲介質，所述電腦可讀存儲介質中存儲有電腦執行指令，當處理器執行所述電腦執行指令時，實現如本公開任意實施例提供的料箱盤點方法。In an eighth aspect, embodiments of the present disclosure also provide a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, any embodiment of the present disclosure is implemented. Provided bin inventory method.

第九方面，本公開實施例還提供了一種電腦程式產品，包括電腦程式，所述電腦程式被處理器執行時實現如本公開任意實施例提供的料箱盤點方法。In a ninth aspect, an embodiment of the present disclosure also provides a computer program product, including a computer program. When the computer program is executed by a processor, the bin inventory method as provided in any embodiment of the present disclosure is implemented.

本公開實施例提供的料箱盤點方法、裝置、調度設備、機器人及倉儲系統，基於盤點區域的盤點指令控制盤點機器人進行該盤點區域的盤點，得到該盤點區域的盤點資料，該盤點資料包括所盤點的多個庫位上存放的料箱的料箱識別碼組成的料箱識別碼佇列；在盤點完畢時，基於該盤點區域的盤點資料以及預先存儲的該盤點區域的庫位元資料，判斷該盤點區域是否存在需要進一步檢查的待檢查庫位，從而實現了基於區域的批量盤點，提高了盤點效率，同時，通過盤點實現了對存在放錯的料箱的盤點區域的覆核，從而保證料箱出庫任務順利無誤地進行，提高了出庫任務的作業效率。The container counting method, device, dispatching equipment, robot and warehousing system provided by the embodiments of the present disclosure control the counting robot based on the counting instructions of the counting area to carry out the counting of the stocking area, and obtain the stocktaking data of the stocktaking area. The stocktaking data includes all A queue of container identification codes composed of the container identification codes of the containers stored in multiple inventory locations; when the inventory is completed, based on the inventory data of the inventory area and the pre-stored inventory location metadata of the inventory area, Determine whether there are uninspected storage locations in the inventory area that need further inspection, thereby realizing area-based batch inventory and improving inventory efficiency. At the same time, through inventory, the inventory area with misplaced boxes can be reviewed, thus It ensures that the outgoing task of the material boxes is carried out smoothly and without any errors, and the efficiency of the outgoing task is improved.

這裡將詳細地對示例性實施例進行說明，其示例表示在附圖中。下面的描述涉及附圖時，除非另有表示，不同附圖中的相同數字表示相同或相似的要素。以下示例性實施例中所描述的實施方式並不代表與本公開相一致的所有實施方式。相反，它們僅是與如所附申請專利範圍中所詳述的、本公開的一些方面相一致的裝置和方法的例子。Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the present disclosure as detailed in the appended claims.

下面以具體地實施例對本公開的技術方案以及本公開的技術方案如何解決上述技術問題進行詳細說明。下面這幾個在一個實施例中實施例可以相互結合，對於相同或相似的概念或過程可能在某些實施例中不再贅述。下面將結合附圖，對本公開的實施例進行描述。The technical solution of the present disclosure and how the technical solution of the present disclosure solves the above technical problems will be described in detail below with specific embodiments. The following embodiments may be combined with each other in one embodiment, and the same or similar concepts or processes may not be described again in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

下面對本公開實施例的應用場景進行解釋： 圖1為本公開實施例提供的料箱盤點方法的一種應用場景圖，如圖1所示，倉儲系統時常會出現存儲貨架上存放的料箱有誤的情況，如料箱對應的庫位發生錯亂，尤其是對於人機混場的倉儲系統（即操作人員和機器人共同進行作業的倉儲系統）而言，由於人工的介入，更容易導致倉儲系統的存儲貨架110上存放的料箱有誤，如料箱對應的庫位發生錯亂，故而需要在取放貨作業的間隙，對倉儲系統的各存儲貨架110上存放的料箱進行盤點。 The application scenarios of the embodiments of the present disclosure are explained below: Figure 1 is an application scenario diagram of the material box inventory method provided by the embodiment of the present disclosure. As shown in Figure 1, the warehousing system often encounters the situation where the material boxes stored on the storage shelves are incorrect. For example, the storage location corresponding to the material box fails. Chaos, especially for a warehousing system where humans and machines are mixed (that is, a warehousing system in which operators and robots work together), due to manual intervention, it is more likely to cause the wrong material boxes to be stored on the storage shelves 110 of the warehousing system. If the storage locations corresponding to the material boxes are disordered, it is necessary to inventory the material boxes stored on each storage shelf 110 of the warehousing system during the gap between picking and placing operations.

在一個實施例中，存儲貨架110包括多層多列的庫位，圖1中以存儲貨架110包括2層6列為例，每個庫位上可以存放一個或多個物料箱。In one embodiment, the storage shelf 110 includes storage locations with multiple layers and multiple columns. In FIG. 1 , the storage shelf 110 includes 2 layers and 6 columns as an example. Each storage location can store one or more material boxes.

在一個實施例中，可以由操作人員基於調度設備或倉儲系統120中存儲的庫存資料，依次對存儲貨架110的各個庫位上存放的料箱進行盤點，人工盤點的方式效率低下，且準確度無法確保。In one embodiment, the operator can sequentially inventory the boxes stored in each location of the storage shelf 110 based on the inventory data stored in the scheduling equipment or the warehousing system 120. The manual inventory method is inefficient and inaccurate. There is no guarantee.

在一個實施例中，可以由機器人130進行庫位上存放的料箱的盤點。具體為：機器人130依次行走至各個庫位，識別該庫位上存放的料箱的料箱識別碼，並發送至調度設備或倉儲系統120，調度設備或倉儲系統120判斷接收到的料箱識別碼與預先存儲的庫存資料中記錄的該庫位元的料箱識別碼是否一致，若不一致，則該庫位上存放的料箱有誤，需要對該料箱進行調整，以免後續的料箱出庫任務出現錯誤。In one embodiment, the robot 130 can perform inventory of the bins stored in the storage location. Specifically: the robot 130 walks to each storage location in sequence, identifies the bin identification code of the bin stored in the location, and sends it to the dispatching device or storage system 120. The dispatching device or storage system 120 determines the received bin identification. Whether the code is consistent with the bin identification code of the storage location recorded in the pre-stored inventory data. If not, the bin stored in the location is incorrect and the bin needs to be adjusted to avoid subsequent bins. An error occurred in the outbound task.

上述基於機器人的盤點方式以庫位元為單位進行盤點，對於庫存量較大的倉儲系統，如存放積木玩具類、汽車零件類物品的倉儲系統，採用以庫位元為單位的單個庫位元盤點的方式，盤點效率較低，耗時較長，無法滿足需求。且長時間的盤點任務會給倉儲系統其它任務產生影響，從而降低其他任務的作業效率。The above-mentioned robot-based inventory method performs inventory in units of storage units. For warehousing systems with large inventory, such as storage systems that store building blocks, toys, and auto parts, a single unit of storage units is used. The inventory method is inefficient, takes a long time, and cannot meet the demand. Moreover, long-term inventory tasks will have an impact on other tasks in the warehousing system, thereby reducing the operating efficiency of other tasks.

為了提高料箱盤點的效率，公開實施例提供了一種料箱盤點方法，該方法的主要構思為：以包括多個庫位元的盤點區域為單位進行批量盤點，在盤點結束後，方通過盤點資料與庫位元資料的比對情況，判斷該盤點區域是否存在需要檢查的庫位元，減少了盤點機器人執行盤點任務的時間，提高了盤點效率，從而降低了盤點任務對其他任務的作業效率的影響。In order to improve the efficiency of bin counting, the disclosed embodiments provide a bin counting method. The main idea of the method is to conduct batch inventory in units of inventory areas including multiple storage locations. After the inventory is completed, the inventory is passed. The comparison between the data and the location data determines whether there is a location that needs to be checked in the inventory area, which reduces the time for the inventory robot to perform the inventory task, improves the efficiency of the inventory, and thereby reduces the efficiency of the inventory task on other tasks. influence.

圖2為本公開一個實施例提供的料箱盤點方法的流程圖，如圖2所示，該料箱盤點方法可以由調度設備或倉儲系統執行，調度設備主要用於進行機器人調度或控制，如為機器人分配盤點任務、取放貨任務等，本實施例提供的料箱盤點方法包括以下步驟： 步驟S201，生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料。 Figure 2 is a flow chart of a material box inventory method provided by an embodiment of the present disclosure. As shown in Figure 2, the material box inventory method can be executed by a dispatching device or a warehousing system. The dispatching device is mainly used for robot scheduling or control, such as Assign inventory tasks, picking and placing tasks, etc. to robots. The bin inventory method provided in this embodiment includes the following steps: Step S201: Generate inventory instructions for the inventory area, and send the inventory instructions to the inventory robot. The inventory instructions are used to control the inventory robot to inventory the inventory area to obtain inventory data corresponding to the inventory area. .

其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列。盤點機器人在盤點對應的盤點區域時，可以以盤點單元為單位進行盤點，該盤點單元可以為一個庫位元或多個庫位。料箱識別碼佇列可以由多個盤點庫位元或多個盤點單元上存放的料箱的料箱識別碼組成。當盤點機器人盤點的各個盤點庫位元或盤點單元上均未存放料箱時，該盤點機器人的盤點資料中的料箱識別碼佇列為空佇列。盤點庫位元為盤點區域需要盤點的庫位元，盤點單元為盤點區域需要盤點的單元。Wherein, the inventory area includes a plurality of storage locations, and the inventory data includes a queue of bin identification codes. When the inventory robot counts the corresponding inventory area, it can take inventory as a unit. The inventory unit can be one storage location or multiple storage locations. The bin identification code queue can be composed of bin identification codes of bins stored in multiple inventory locations or multiple inventory units. When there are no bins stored in each inventory location or unit counted by the inventory robot, the bin identification code queue in the inventory data of the inventory robot will be listed as an empty queue. The inventory location unit is the location unit that needs to be counted in the inventory area, and the inventory unit is the unit that needs to be counted in the inventory area.

在一個實施例中，一個盤點機器人盤點對應的一個盤點區域可以生成一個料箱識別碼佇列。或者一個盤點機器人盤點對應的多個盤點區域可以生成一個料箱識別碼佇列。In one embodiment, an inventory area corresponding to an inventory robot's inventory can generate a queue of bin identification codes. Or multiple inventory areas corresponding to an inventory robot's inventory can generate a queue of bin identification codes.

所述料箱識別碼佇列為所述盤點機器人基於所述盤點指令在所述盤點區域處採集到的料箱識別碼的集合。The bin identification code queue is a collection of bin identification codes collected by the inventory robot at the inventory area based on the inventory instruction.

步驟S202，接收所述盤點資料。Step S202: Receive the inventory data.

在一個實施例中，盤點機器人在執行完對應的盤點任務之後，將生成的盤點資料上傳至倉儲系統或調度設備或倉儲系統。In one embodiment, after the inventory robot completes the corresponding inventory task, it uploads the generated inventory data to the warehousing system or dispatching device or warehousing system.

在一個實施例中，盤點資料還可以包括盤點機器人的機器人標識或盤點區域的區域標識，以基於機器人標識或盤點區域的區域標識，確定各個盤點資料對應的盤點區域。In one embodiment, the inventory data may also include the robot identification of the inventory robot or the area identification of the inventory area, so as to determine the inventory area corresponding to each inventory data based on the robot identification or the area identification of the inventory area.

步驟S203，根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。Step S203: Based on the inventory data and the inventory data in the inventory area, determine whether there is a storage location to be inspected in the inventory area.

其中，待檢查庫位元為盤點區域中可能存在料箱存放異常的庫位。Among them, the storage locations to be inspected are locations in the inventory area where there may be abnormal storage of material boxes.

在一個實施例中，每個盤點區域可以包括多個庫位元。盤點資料可以包括盤點機器人採集或識別或讀到的各個料箱的料箱識別碼。料箱識別碼為用於識別料箱的標識碼，可以為二維碼、條碼、編碼、電子標籤等。In one embodiment, each inventory area may include multiple locations. The inventory data may include the bin identification code of each bin collected or recognized or read by the inventory robot. The bin identification code is an identification code used to identify the bin, which can be a QR code, barcode, code, electronic label, etc.

在一個實施例中，料箱識別碼可以設置在料箱的一個或多個設定側面上，如相對的兩個側面，每個設定側面上可以設置一個或多個料箱識別碼，以便於盤點機器人進行料箱識別碼的採集。盤點機器人可以為無人機、自動引導車等可以移動的設備。In one embodiment, the bin identification code can be set on one or more set sides of the bin, such as two opposite sides, and one or more bin identification codes can be set on each set side to facilitate inventory. The robot collects the identification code of the bin. The inventory robot can be a mobile device such as a drone or an automatic guided vehicle.

在一個實施例中，盤點區域可以包括至少一個倉儲貨架，每個倉儲貨架上可以包括多行多列的庫位，每個庫位可以存放一個料箱。In one embodiment, the inventory area may include at least one storage shelf, and each storage shelf may include storage locations in multiple rows and columns, and each storage location may store a material box.

在一個實施例中，盤點區域可以包括一個倉儲貨架中的一行或多行、一列或多列，也可以包括一個倉儲貨架中的某一部分。In one embodiment, the inventory area may include one or more rows, one or more columns in a storage shelf, or may include a certain part of a storage shelf.

在一個實施例中，盤點區域對應的物理空間可以為連續或不連續的空間。In one embodiment, the physical space corresponding to the inventory area may be a continuous or discontinuous space.

在一個實施例中，盤點機器人對盤點區域以盤點單元為單位進行盤點。盤點單元根據在盤點機器人上設置的料箱識別裝置的識別範圍確定，且一個盤點單元可以包括一個或多個庫位。應該理解，“以盤點單元為單位進行盤點”並不意味著盤點區域必須被劃分為多個盤點單元，而是料箱識別裝置在盤點時以盤點單元為單位進行，即料箱識別裝置或盤點機器人能識別各盤點單元採集對應的料箱識別碼（在其他一些實施例中，例如，盤點機器人以很快速度行走，並且料箱識別裝置一直開啟著、不停地對料箱識別裝置所經過的庫位元採集料箱識別碼，在這種情況下，料箱識別碼可能是被連續採集的，也就是說，料箱識別裝置和盤點機器人可能無法識別出各盤點單元採集對應的料箱識別碼）。當盤點單元為多個庫位元時，各盤點單元之間可以彼此交疊，例如，某一個庫位元可以同時屬於盤點單元A及盤點單元B，只要料箱識別裝置、盤點機器人或用於管理盤點的資訊系統（如調度設備）能夠識別這種交疊即可。In one embodiment, the inventory robot performs inventory on the inventory area in units of inventory units. The inventory unit is determined according to the recognition range of the bin identification device provided on the inventory robot, and one inventory unit may include one or more storage locations. It should be understood that "inventorying is carried out in units of inventory units" does not mean that the inventory area must be divided into multiple inventory units, but that the bin identification device performs inventory in units of inventory units during inventory counting, that is, the bin identification device or inventory The robot can identify each inventory unit and collect the corresponding bin identification code (in some other embodiments, for example, the inventory robot walks at a very fast speed, and the bin identification device is always turned on, and the bin identification device keeps scanning the In this case, the bin identification codes may be collected continuously. That is to say, the bin identification device and the inventory robot may not be able to identify the corresponding bins collected by each inventory unit. identification code). When the inventory unit has multiple storage locations, each inventory unit can overlap with each other. For example, a certain storage location can belong to both inventory unit A and inventory unit B, as long as the bin identification device, inventory robot, or It is sufficient that the information system that manages the inventory (such as the dispatch equipment) can recognize this overlap.

在一個實施例中，對一個盤點區域進行盤點時，可以採用單庫位元模式進行識別，單庫位元模式下，盤點單元為單個庫位元，即盤點機器人以庫位元為單位對盤點區域的各個盤點庫位元進行盤點，盤點庫位元即為盤點區域需要盤點的庫位元。如結合後續的圖3B所詳述，單庫位元模式，即在進行料箱識別碼採集時，若排除掉誤讀、串讀的情況，盤點機器人或盤點機器人上設置的料箱識別裝置一次性讀取通常僅可以讀取一個料箱所對應的料箱識別碼，或者即使一次性讀取到了多於一個料箱所對應的料箱識別碼時，也可以從該多個料箱識別碼中確定盤點庫位的料箱識別碼，即欲盤點的庫位的料箱識別碼。In one embodiment, when taking inventory of an inventory area, the single location unit mode can be used for identification. In the single location unit mode, the inventory unit is a single location unit, that is, the inventory robot counts the inventory unit in units of location units. Each inventory location unit in the area is counted, and the inventory location unit is the location unit that needs to be counted in the inventory area. As described in detail in conjunction with the subsequent Figure 3B, the single warehouse unit mode, that is, when collecting the bin identification codes, if misreading and cross-reading are eliminated, the inventory robot or the bin identification device set on the inventory robot will be used once Permanent reading can usually only read the bin identification code corresponding to one bin, or even if the bin identification code corresponding to more than one bin is read at one time, it can also read the bin identification codes from the multiple bin identification codes. Determine the bin identification code of the inventory location, that is, the bin identification code of the location to be inventoried.

在一個實施例中，對一個盤點區域進行盤點時，可以採用多庫位元模式進行識別，多庫位元模式下，盤點單元為多個庫位元，即盤點機器人以多個庫位元或盤點單元為單位對盤點區域的各個盤點單元進行盤點。如結合後續的圖3C所詳述，即在進行料箱識別碼採集時，即使排除掉誤讀、串讀的情況，盤點機器人或盤點機器人上設置的料箱識別裝置一次性讀取也可以讀取到多於一個料箱所對應的料箱識別碼。In one embodiment, when taking stock of an inventory area, the multi-library location mode can be used for identification. In the multi-library location mode, the inventory unit is multiple bin locations, that is, the inventory robot uses multiple bin locations or The inventory unit is used to count each inventory unit in the inventory area. As detailed in conjunction with the subsequent Figure 3C, when collecting bin identification codes, even if misreading and cross-reading are excluded, the inventory robot or the bin identification device set on the inventory robot can read it in one go. The bin identification code corresponding to more than one bin is obtained.

在一個實施例中，盤點機器人在進行盤點區域內的存儲貨架盤點時，可以採用定點盤點的方式，即行走至需要盤點的存儲貨架的各個設定位置點，從而完成該存儲貨架所有庫位元的盤點。可以在盤點機器人位於設定位置點的預設範圍內或處於設定位置點時開啟盤點機器人的料箱識別裝置，以進行料箱識別碼的採集。其中，設定位置點可以由倉儲系統或調度設備確定，如根據盤點區域的各個盤點單元的分佈情況確定各個設定位置，一個設定位置可以對應一個或多個盤點單元。In one embodiment, when inventorying storage shelves in the inventory area, the inventory robot can adopt a fixed-point inventory method, that is, walk to each set location point of the storage shelf that needs to be inventoryed, thereby completing the inventory of all storage locations of the storage shelf. Take stock. The bin identification device of the inventory robot can be turned on when the inventory robot is within the preset range of the set position point or at the set position point to collect the bin identification code. The set location point can be determined by the warehousing system or dispatching equipment. For example, each set location can be determined based on the distribution of each inventory unit in the inventory area. One set location can correspond to one or more inventory units.

示例性的，以盤點區域為一個存儲貨架為例，該存儲貨架包括5行5列庫位，盤點機器人的料箱識別裝置的工作範圍為1行3列，則設定位置點可以為2個，其中一個位於第2列庫位對應的位置點，另一個則位於第4列庫位對應的位置點，盤點機器人可以在這兩個設定位置點進行往復運動，以及控制料箱識別裝置的高度的方式，實現存儲貨架所有庫位元的掃描。For example, taking the inventory area as a storage shelf, which includes 5 rows and 5 columns of storage locations, and the working range of the inventory robot's bin identification device is 1 row and 3 columns, the set position points can be 2, One of them is located at the position corresponding to the second column of storage, and the other is located at the position corresponding to the fourth column of storage. The inventory robot can reciprocate at these two set positions and control the height of the bin identification device. method to realize scanning of all storage locations of storage shelves.

在一個實施例中，盤點機器人在進行盤點區域內的存儲貨架盤點時，可以以連續行走的方式進行盤點，即，以恒定或不恒定的速度，走過盤點區域內的各庫位元，並使用料箱識別裝置對這些庫位元進行盤點。In one embodiment, when the inventory robot counts the storage shelves in the inventory area, the inventory can be carried out in a continuous walking manner, that is, at a constant or non-constant speed, it walks through each storage location in the inventory area, and Use bin identification devices to count these locations.

應該理解，無論是定點盤點，還是以連續行走的方式進行盤點，都可以使用單庫位或多庫位元的盤點模式。It should be understood that whether it is a fixed-point inventory or a continuous walking method, the inventory mode of a single location or multiple locations can be used.

在一個實施例中，盤點機器人對所述盤點區域進行盤點時，可以使用較快的行走速度，並且將料箱識別裝置持續開啟。這種情況下，料箱識別裝置將持續地採集到許多料箱識別碼。在一個實施例中，由於料箱識別裝置的採集方式原因，所採集到的各料箱識別碼並沒有嚴格的先後次序，即無法確定先採集到的料箱識別碼A一定對應於料箱識別裝置先經過的庫位元，而後採集到的料箱識別碼B一定對應於料箱識別裝置後經過的庫位元。此時，可以將採集到的所有料箱識別碼視為一個整體，將它們去重後，形成料箱識別碼佇列，直接上報給用於管理盤點的資訊系統，並由資訊系統使用本發明所述的鑒別方法來確定盤點是否成功。例如，對於一個貨架，用這種方法形成一個料箱識別碼佇列，發送給資訊系統後，若資訊系統確定需要在該貨架內的料箱的料箱識別碼都在該料箱識別碼佇列內，則確定盤點成功；若資訊系統發現需要在該貨架內的料箱的料箱識別碼有一個不在該料箱識別碼佇列內，則認為盤點未成功，有料箱不在庫位上，需去檢查該庫位或該庫位及其旁邊的庫位。在這種情況下，料箱識別碼佇列中還會包含一些在該貨架內的料箱的料箱識別碼之外的料箱識別碼（後續簡稱為“多讀到的料箱識別碼”），但這些料箱識別碼的存在不構成盤點失敗，因為它們很可能是其他庫位串讀來的料箱識別碼。在一個實施例中，若資訊系統發現，某個多讀到的料箱識別碼，在庫存資料中所對應的庫位，離正在盤點的貨架距離非常遠（例如，超過一定閾值距離，該閾值距離可以是料箱識別裝置可能採集到的範圍或在此範圍上再疊加一個裕度），則可以確定這一多讀到的料箱識別碼不可能是串讀而來，因此可以確定這一多讀到的料箱識別碼來自一個放錯在該貨架或該貨架附近的料箱，並且將這一多讀到的料箱識別碼記錄下來，因為在後續盤點中，在盤點該料箱識別碼本該在的庫位時，會發現該庫位上沒有箱子，此時可以使用這一被記錄的料箱識別碼來直接定位到它可能所在的貨架，在該貨架內或貨架附近尋找這一箱子。上述這種盤點機器人以較快速度行走、將整個貨架或貨架的一整行、一整列或其他一部分作為一個整體進行盤點的做法，對於追求盤點效率的大型倉庫特別有益，對於使用雙深位貨架的倉庫也特別有益（雙深位貨架的盤點將結合圖3G進行描述）。這種盤點方式通常與多庫位元盤點模式結合，可以獲得較高效率。In one embodiment, when the inventory robot takes inventory of the inventory area, it can use a faster walking speed and keep the bin identification device turned on. In this case, the bin identification device will continuously collect many bin identification codes. In one embodiment, due to the collection method of the bin identification device, the collected bin identification codes are not in strict order, that is, it is impossible to determine that the bin identification code A collected first must correspond to the bin identification code. The storage location element that the device passes through first, and then the bin identification code B collected must correspond to the bin location element that the bin identification device passes after. At this time, all the collected bin identification codes can be regarded as a whole. After deduplicating them, a queue of bin identification codes is formed, which is directly reported to the information system used for inventory management, and the information system uses this The identification method described in the invention is used to determine whether the inventory is successful. For example, for a shelf, use this method to form a queue of bin identification codes. After sending it to the information system, if the information system determines that the bin identification codes of the bins that need to be on the shelf are all in the bin identification code queue. If the information system finds that one of the bin identification codes of the bins that need to be placed in the shelf is not in the bin identification queue, it will be considered that the inventory was not successful and some bins are not in the storage location. You need to check this location or the location next to it. In this case, the bin identification code queue will also contain some bin identification codes other than the bin identification codes of the bins in the shelf (hereinafter referred to as "multi-read bin identification codes" ), but the existence of these bin identification codes does not constitute an inventory failure, because they are likely to be bin identification codes read from other location strings. In one embodiment, if the information system discovers that the location corresponding to a certain over-read bin identification code in the inventory data is very far away from the shelf being counted (for example, it exceeds a certain threshold distance, the threshold The distance can be the range that the bin identification device may collect or a margin is added to this range), then it can be determined that the multiple read bin identification codes cannot be read in series, so it can be determined that this The over-read bin identification code comes from a bin that was misplaced on the shelf or near the shelf, and the over-read bin identification code is recorded, because in the subsequent inventory, the bin identification code is not included in the inventory. When the code book is supposed to be in the storage location, you will find that there is no box in the storage location. At this time, you can use the recorded box identification code to directly locate the shelf where it may be located, and look for the box in or near the shelf. A box. The above-mentioned counting robot walks at a relatively fast speed and counts the entire shelf or an entire row, column or other part of the shelf as a whole. It is particularly beneficial for large warehouses that pursue inventory efficiency. For those who use double-deep shelves Warehouses are also particularly beneficial (the inventory of double-deep racks will be described in conjunction with Figure 3G). This inventory method is usually combined with the multi-location inventory model to achieve higher efficiency.

在一個實施例中，可以根據存儲貨架的位置、存儲貨架所存放的物料的類型等因素中的一項或多項，以存儲貨架或其他物理範圍為單位劃分各個盤點區域，並設置每個盤點區域的區域標識，以基於區域標識識別各個盤點資料對應的盤點區域。In one embodiment, each inventory area can be divided into units of storage shelves or other physical ranges, and each inventory area can be set based on one or more factors such as the location of the storage shelf, the type of materials stored in the storage shelf, etc. The regional identifier is used to identify the inventory area corresponding to each inventory data based on the regional identifier.

在一個實施例中，針對待盤點的各個存儲貨架，根據存儲貨架所存放物料的類型、存儲貨架的位置，將待盤點的多個存儲貨架劃分為一個或多個盤點區域，從而減少盤點機器人在執行對應的盤點區域的盤點任務時的行走距離。In one embodiment, for each storage shelf to be inventoried, the multiple storage shelves to be inventoried are divided into one or more inventory areas according to the type of materials stored in the storage shelf and the location of the storage shelf, thereby reducing the number of inventory robots. The walking distance when performing the inventory task of the corresponding inventory area.

在一個實施例中，物料的類型可以由物料的尺寸、特性、價格等因素中的一個或多個確定。In one embodiment, the type of material may be determined by one or more factors such as size, characteristics, price, etc. of the material.

在一個實施例中，物料類型可以與盤點方式相關，如包括批量盤點類型和非批量盤點類型，批量盤點類型可以細分為單庫位元模式和多庫位元模式兩中類型。本公開所提及的料箱所存放的物料的類型均為批量盤點類型。裝有非批量盤點的物料的料箱在盤點時，需要對料箱內存放的物料的數量進行盤點，不適用本公開提及的料箱盤點方法。In one embodiment, the material type can be related to the inventory method, such as including batch inventory type and non-batch inventory type. The batch inventory type can be subdivided into single storage unit mode and multi-storage location mode. The types of materials stored in the bins mentioned in this disclosure are all batch inventory types. When taking inventory of bins containing materials that are not counted in batches, the quantity of materials stored in the bins needs to be counted, and the bin inventory method mentioned in this disclosure is not applicable.

在一個實施例中，調度設備或倉儲系統可以根據各個盤點區域的盤點需求，生成各個盤點區域的盤點指令。其中，盤點區域的盤點需求可以包括盤點區域的各個盤點庫位元，盤點庫位元可以為盤點區域的存儲貨架的部分或全部的庫位元。盤點指令中可以包括盤點區域的位置，如盤點起點和盤點終點，或者可以包括盤點區域對應的各個存儲貨架的位置。In one embodiment, the dispatching device or the warehousing system can generate inventory instructions for each inventory area based on the inventory requirements of each inventory area. The inventory requirements of the inventory area may include each inventory location unit in the inventory area, and the inventory location units may be part or all of the storage locations of the storage shelves in the inventory area. The inventory instruction may include the location of the inventory area, such as the inventory starting point and the inventory end point, or may include the location of each storage shelf corresponding to the inventory area.

在一個實施例中，盤點指令還可以包括各個盤點節點的位置，以使盤點機器人基於各個盤點節點的位置進行路徑規劃。In one embodiment, the inventory instruction may also include the location of each inventory node, so that the inventory robot can perform path planning based on the location of each inventory node.

在一個實施例中，可以預設進行盤點區域內各個存儲貨架的各個單元或庫位元的盤點。In one embodiment, the inventory of each unit or location of each storage shelf in the inventory area may be preset.

在一個實施例中，每個盤點區域的盤點資料包括一個料箱識別碼佇列，該料箱識別碼佇列為盤點機器人基於盤點指令在對應的盤點區域對應的多個庫位元處採集到的料箱識別碼的集合。料箱識別碼佇列中的各個料箱識別碼可以按照採集順序排序。在一個實施例中，一個盤點區域對應一個料箱識別碼佇列。In one embodiment, the inventory data of each inventory area includes a queue of bin identification codes. The queue of bin identification codes is collected by the inventory robot at multiple storage locations corresponding to the corresponding inventory area based on inventory instructions. A collection of bin identification codes. Each bin identification code in the bin identification code queue can be sorted according to the collection order. In one embodiment, one inventory area corresponds to one queue of bin identification codes.

在一個實施例中，在接收到盤點資料之後，可以對盤點資料中的料箱識別佇列進行去重處理。In one embodiment, after receiving the inventory data, the bin identification queue in the inventory data can be deduplicated.

在一個實施例中，若料箱識別佇列中相鄰的兩個料箱識別碼相同，則需要去除該兩個料箱識別碼中的其中一個。In one embodiment, if two adjacent bin identification codes in the bin identification queue are the same, one of the two bin identification codes needs to be removed.

在一個實施例中，盤點機器人可以對盤點資料進行去重處理，料箱識別碼佇列由盤點機器人對盤點區域進行盤點所採集到的所有料箱識別碼進行去重後得到。如對料箱識別碼佇列中順序連續的多個相同的料箱識別碼進行去重處理，以減少盤點資料的資料量。In one embodiment, the inventory robot can perform deduplication processing on the inventory data, and the bin identification code queue is obtained by deduplicating all bin identification codes collected by the inventory robot during inventory counting in the inventory area. For example, multiple consecutive identical bin identification codes in the bin identification code queue can be deduplicated to reduce the amount of inventory data.

在一個實施例中，盤點機器人以盤點單元為單位進行盤點。例如，盤點機器人以較快速度行走，並且料箱識別裝置持續開啟，以持續地對盤點區域內的各庫位元採集料箱識別碼。此時，料箱識別碼佇列可以是對整個盤點區域或盤點區域一部分（例如，貨架上的一行）採集料箱識別碼完畢後，將所有採集到的料箱識別碼進行去重後，得到的料箱識別碼的組合。此時，整個料箱識別碼佇列對應整個盤點區域或盤點區域一部分，而料箱識別碼佇列內部的料箱識別碼不能準確對應到某個庫位元或盤點單元。In one embodiment, the inventory robot performs inventory in units of inventory units. For example, the inventory robot moves at a relatively fast speed, and the bin identification device is continuously turned on to continuously collect bin identification codes from each storage location in the inventory area. At this time, the bin identification code queuing can be done by collecting the bin identification codes for the entire inventory area or a part of the inventory area (for example, a row on the shelf), and then deduplicating all collected bin identification codes to obtain A combination of bin identification codes. At this time, the entire bin identification code queue corresponds to the entire inventory area or a part of the inventory area, but the bin identification code inside the bin identification code queue cannot accurately correspond to a certain storage location or inventory unit.

在一個實施例中，盤點機器人以盤點單元為單位進行盤點。盤點機器人可以識別，目前是針對某個盤點單元進行盤點，那麼所採集到的料箱識別碼將對應於這一盤點單元。將對應於某個盤點單元的料箱識別碼視為一個料箱識別碼集合，將這些料箱識別碼集合組合起來，就形成了料箱識別碼佇列。In one embodiment, the inventory robot performs inventory in units of inventory units. The inventory robot can identify that it is currently counting a certain inventory unit, so the collected box identification code will correspond to this inventory unit. The bin identification code corresponding to a certain inventory unit is regarded as a bin identification code set, and these bin identification code sets are combined to form a bin identification code queue.

在一個實施例中，料箱識別裝置為間斷地開啟，每次開啟都針對一個採集單元進行採集，則在單次開啟中採集到的所有料箱識別碼被歸入同一個料箱識別碼集合。在一個實施例中，料箱識別裝置為間斷或持續地開啟，當相繼採集到的兩個料箱識別碼所對應的採集時間點的差值小於預設值時，可以認為兩個料箱識別碼來自同一個盤點單元，故該兩個料箱識別碼被歸入同一個料箱識別碼集合。例如，可以設定，採集時間點的差值小於1毫秒的相繼採集到的兩個料箱識別碼，來自同一個盤點單元。在一個實施例中，盤點機器人對所述盤點區域進行盤點時，料箱識別裝置為間斷或持續地開啟，當相繼採集到的兩個料箱識別碼被採集時料箱識別裝置對應的地理位置的差距小於預設值，可以認為兩個料箱識別碼來自同一個盤點單元，故所述兩個料箱識別碼被歸入同一個料箱識別碼集合。例如，可以設定，若相繼採集到的兩個料箱識別碼被採集到時，盤點機器人對應于倉庫平面內的同一地理座標，且安裝料箱識別裝置的機械臂處於同一高度，則認為這兩個料箱識別碼來自同一個盤點單元。In one embodiment, the bin identification device is turned on intermittently, and each time it is turned on, a collection unit is collected, so all the bin identification codes collected in a single opening are classified into the same bin identification code set. . In one embodiment, the bin identification device is turned on intermittently or continuously. When the difference between the collection time points corresponding to the two bin identification codes collected successively is less than a preset value, it can be considered that the two bins are identified. The codes come from the same inventory unit, so the two bin identification codes are classified into the same bin identification code set. For example, it can be set that two consecutively collected bin identification codes whose difference in collection time point is less than 1 millisecond come from the same inventory unit. In one embodiment, when the inventory robot takes inventory of the inventory area, the bin identification device is turned on intermittently or continuously. When the two bin identification codes collected successively are collected, the geographical location corresponding to the bin identification device is The difference is less than the preset value, it can be considered that the two bin identification codes come from the same inventory unit, so the two bin identification codes are classified into the same bin identification code set. For example, it can be set that if the inventory robot corresponds to the same geographical coordinates in the warehouse plane when two bin identification codes are collected successively, and the robotic arm installing the bin identification device is at the same height, then the two bin identification codes will be considered to be the same. The individual bin identification codes come from the same inventory unit.

在一個實施例中，為了提高盤點效率，盤點機器人在盤點時僅需識別料箱的料箱識別碼，無需識別料箱所存放庫位元的庫位元標識碼，即盤點資料中可以不包括所盤點的庫位或盤點庫位元的庫位元標識碼。In one embodiment, in order to improve the efficiency of inventory, the inventory robot only needs to identify the bin identification code of the bin when taking inventory, and does not need to identify the location element identification code of the bin stored in the bin. That is, the inventory data may not include The inventory location or location identification code of the inventory location.

在一個實施例中，若盤點區域記憶體在一個空庫位元，即未存放料箱的庫位，則該庫位對應的料箱識別碼為空或為空碼。In one embodiment, if the inventory area memory is in an empty location, that is, a location where no bins are stored, then the bin identification code corresponding to the bin is empty or an empty code.

在一個實施例中，若盤點區域內的各個庫位元均未放置料箱，則該盤點區域對應的料箱識別碼佇列為空佇列或為空碼佇列，即該料箱識別碼佇列內的料箱識別碼的數量為0。In one embodiment, if no bins are placed in each storage location in the inventory area, the bin identification code queue corresponding to the inventory area is an empty queue or an empty queue, that is, the bin identification code The number of bin identification codes in the queue is 0.

在一個實施例中，料箱識別碼的集合可以為盤點機器人識別不同的存儲貨架的庫位元得到的，還可以為識別同一存儲貨架的不同層或不同列的多個庫位得到的，還可以為識別物理空間上不連續或離散的多個庫位得到。In one embodiment, the set of bin identification codes can be obtained by the inventory robot identifying the location elements of different storage shelves, or it can also be obtained by identifying multiple locations in different layers or different columns of the same storage shelf, or it can be obtained by identifying the location elements of different storage shelves. It can be obtained by identifying multiple locations that are discontinuous or discrete in physical space.

在一個實施例中，每個盤點機器人在執行盤點指令對應的盤點任務時，可以將所採集或識別的料箱的料箱識別碼組成料箱識別碼佇列，並上報至調度設備或倉儲系統。In one embodiment, when each inventory robot performs the inventory task corresponding to the inventory instruction, the bin identification codes of the collected or identified bins can be formed into a bin identification code queue and reported to the dispatching device or warehousing system.

在一個實施例中，盤點機器人在基於對應的盤點指令執行對應的盤點任務之後，將得到的包括料箱識別碼佇列的盤點資料上報至調度設備或倉儲系統。In one embodiment, after the inventory robot performs the corresponding inventory task based on the corresponding inventory instruction, it reports the obtained inventory data including the queue of bin identification codes to the dispatching device or warehousing system.

在一個實施例中，盤點機器人在完成多個區域的盤點後，將多個區域對應的料箱識別碼佇列上報至用於管理盤點的資訊系統，例如調度設備或倉儲系統。In one embodiment, after completing the inventory of multiple areas, the inventory robot queues up and reports the bin identification codes corresponding to the multiple areas to an information system used to manage inventory, such as a dispatching device or a warehousing system.

在一個實施例中，一個盤點區域可以對應一個盤點機器人，或者，可以由一個盤點機器人進行一個盤點區域的盤點。In one embodiment, one inventory area may correspond to one inventory robot, or an inventory robot may perform inventory in one inventory area.

在一個實施例中，一個盤點區域可以對應多個盤點機器人，或者，可以由多個盤點機器人進行同一個盤點區域的盤點。In one embodiment, one inventory area may correspond to multiple inventory robots, or multiple inventory robots may perform inventory in the same inventory area.

在一個實施例中，盤點機器人可以為任意一個空閒的機器人，也可以為專門用於進行料箱盤點的機器人。In one embodiment, the inventory robot can be any idle robot, or a robot specially used for inventory of bins.

在一個實施例中，調度設備或倉儲系統可以根據各個盤點機器人所在的位置，基於就近原則，確定各個盤點區域對應的盤點機器人，進而將各盤點區域的盤點指令下發至對應的盤點機器人。In one embodiment, the dispatching equipment or warehousing system can determine the inventory robot corresponding to each inventory area based on the location of each inventory robot and based on the proximity principle, and then issue the inventory instructions of each inventory area to the corresponding inventory robot.

在一個實施例中，盤點機器人在接收到盤點指令之後，基於盤點指令移動至對應的盤點區域的盤點起點，開啟料箱識別裝置，如讀碼器、圖像感測器等，讀碼器可以讀取電子標籤讀碼器、二維碼或條碼讀碼器等，依次識別盤點區域內各個庫位元上存放的料箱的料箱識別碼，得到該盤點區域的一個料箱識別碼佇列。在一個實施例中，在該盤點區域盤點完畢時，如行走至盤點終點時，則將該盤點區域的料箱識別碼佇列上傳至調度設備或倉儲系統。In one embodiment, after receiving the inventory instruction, the inventory robot moves to the inventory starting point of the corresponding inventory area based on the inventory instruction, and turns on the bin identification device, such as a code reader, an image sensor, etc., and the code reader can Read the electronic label reader, QR code or barcode reader, etc., and sequentially identify the bin identification codes of the bins stored in each storage location in the inventory area, and obtain a bin identification code queue in the inventory area. . In one embodiment, when the inventory in the inventory area is completed, such as when walking to the end of the inventory, the queue of bin identification codes in the inventory area is uploaded to the dispatching device or warehousing system.

進一步地，盤點機器人在接收到盤點指令之後，可以根據盤點指令中盤點區域的位置，或者盤點區域中需要盤點的各個存儲貨架的位置，或者各個盤點節點的位置，進行路徑規劃，基於所規劃的路徑行走至盤點區域以及進行盤點區域內各個庫位元上存放的料箱的盤點。Further, after receiving the inventory instruction, the inventory robot can perform path planning based on the location of the inventory area in the inventory instruction, or the location of each storage shelf that needs to be inventoryed in the inventory area, or the location of each inventory node. Based on the planned Walk the path to the inventory area and inventory the boxes stored in each location in the inventory area.

在一個實施例中，盤點機器人在基於盤點指令進行對應的盤點區域盤點時，可以沿規劃路線勻速行走，在行走期間開啟料箱識別裝置，以採集盤點區域內存放的各個料箱的料箱識別碼。In one embodiment, when the inventory robot carries out inventory in the corresponding inventory area based on the inventory instruction, it can walk at a constant speed along the planned route and turn on the bin identification device during the walking to collect the bin identification of each bin stored in the inventory area. code.

在一個實施例中，如後續結合圖3B與圖3C所詳述，可以根據需求選擇或調整盤點機器人的料箱識別裝置的識別範圍（或稱工作範圍、掃描範圍或盤點精度）。In one embodiment, as described in detail later in conjunction with FIG. 3B and FIG. 3C , the identification range (also called the working range, scanning range or inventory accuracy) of the bin identification device of the inventory robot can be selected or adjusted according to needs.

在一個實施例中，盤點機器人的料箱識別裝置的識別範圍可以為僅一個庫位對應的範圍，此時對應的識別模式為單庫位元模式。In one embodiment, the identification range of the bin identification device of the inventory robot may be a range corresponding to only one location, and in this case, the corresponding identification mode is a single location mode.

在一個實施例中，盤點機器人的料箱識別裝置的識別範圍可以為多個庫位對應的範圍，此時對應的識別模式為多庫位元模式。In one embodiment, the recognition range of the bin identification device of the inventory robot can be a range corresponding to multiple storage locations, and in this case, the corresponding recognition mode is a multi-storage location mode.

示例性的，以料箱識別裝置為電子標籤讀碼器為例，可以通過控制電子標籤讀碼器的功率的方式，調整電子標籤讀碼器的工作範圍。For example, assuming that the bin identification device is an electronic tag reader, the working range of the electronic tag reader can be adjusted by controlling the power of the electronic tag reader.

進一步地，可以根據盤點區域對應的存儲貨架所包括的庫位的行數和列數以及該盤點區域的盤點時間，確定執行該盤點區域的盤點機器人的料箱識別裝置的類型，其中，料箱識別裝置的類型包括單庫位類型和多庫位類型。單庫位元類型的料箱識別裝置一次掃描可以僅識別一個庫位上存放的料箱的料箱識別碼，即料箱識別裝置的識別範圍為單個庫位；多庫位元類型的料箱識別裝置一次掃描可以識別多個庫位元上存放的料箱的料箱識別碼，即料箱識別裝置的識別範圍為多個庫位。Further, the type of the bin identification device of the inventory robot that executes the inventory area can be determined based on the number of rows and columns of storage locations included in the storage shelves corresponding to the inventory area and the inventory time of the inventory area, where the bins The types of identification devices include single location type and multi-location type. The bin identification device of a single location type can only identify the bin identification code of the bins stored in one location in one scan, that is, the recognition range of the bin identification device is a single location; bins of multiple bin types The identification device can identify the bin identification codes of the bins stored in multiple bins in one scan, that is, the identification range of the bin identification device is multiple bin locations.

進一步地，多庫位類型的料箱識別裝置又可以劃分為第一類型、第二類型和第三類型，第一類型的料箱識別裝置一次掃描可以識別一列多行的庫位上存放的料箱的料箱識別碼，第二類型的料箱識別裝置一次掃描可以識別多列一行的庫位上存放的料箱的料箱識別碼，第三類型的料箱識別裝置一次掃描可以識別多行多列的庫位上存放的料箱的料箱識別碼。Further, multi-storage location type bin identification devices can be divided into first type, second type and third type. The first type bin identification device can identify materials stored in multiple rows of bin locations in one scan. The box identification code of the box. The second type of box identification device can identify the box identification code of the boxes stored in multiple columns and rows in one scan. The third type of box identification device can identify multiple rows in one scan. The bin identification code of the bins stored in multiple rows of storage locations.

參照圖3A，不同類型的料箱識別裝置輸出的射束或視野範圍不同。圖3A為本公開圖2所示實施例中料箱識別裝置的射束的示意圖，如圖3A所示，射束r1在豎直平面的投影的形狀為橢圓形，對應的料箱識別裝置的類型為第一類型，以識別一列多行個庫位；射束r2在豎直平面的投影的形狀為橢圓形，對應的料箱識別裝置的類型為第二類型，以識別多列一行庫位，射束r3在豎直平面的投影的形狀為圓形，對應的料箱識別裝置的類型為第三類型，以識別多列多行個庫位，射束r4豎直平面的投影的形狀為圓形或橢圓形，對應的料箱識別裝置的類型為單庫位類型，以識別單個庫位。應該理解，對應第三類型的射束r3也可以是橢圓形。Referring to FIG. 3A , different types of bin identification devices output different beams or field of view ranges. Figure 3A is a schematic diagram of the beam of the material box identification device in the embodiment shown in Figure 2 of the present disclosure. As shown in Figure 3A, the shape of the projection of the beam r1 on the vertical plane is an ellipse, and the corresponding material box identification device The type is the first type to identify one column and multiple rows of storage locations; the shape of the projection of beam r2 on the vertical plane is elliptical, and the corresponding type of bin identification device is the second type to identify multiple columns and one row of storage locations. , the shape of the projection of beam r3 on the vertical plane is circular, and the corresponding type of bin identification device is the third type to identify multiple columns and rows of storage locations. The shape of the projection of beam r4 on the vertical plane is Round or oval, the corresponding type of bin identification device is a single location type to identify a single location. It should be understood that the beam r3 corresponding to the third type may also be elliptical.

在一個實施例中，可以選擇具有合適射束（或視野）的料箱識別裝置，從而實現上述各種類型的料箱識別裝置。In one embodiment, a bin identification device with a suitable beam (or field of view) can be selected to implement the various types of bin identification devices described above.

在一個實施例中，可以通過調整料箱識別裝置的週邊裝置，來調整料箱識別裝置的射束（或視野）的形狀，從而實現上述各種類型的料箱識別裝置。In one embodiment, the shape of the beam (or field of view) of the bin identification device can be adjusted by adjusting peripheral devices of the bin identification device, thereby realizing various types of bin identification devices mentioned above.

在一個實施例中，該週邊裝置可以包括擋板，以改變料箱識別裝置的射束（或視野）的形狀。In one embodiment, the peripheral device may include baffles to alter the shape of the beam (or field of view) of the bin identification device.

示例性的，該週邊裝置可以對料箱識別裝置的識別範圍產生限制作用。例如，當料箱識別裝置為相機時，該週邊裝置可以為限制視野範圍的擋板。又例如，如當料箱識別裝置為電子標籤讀碼器時，該週邊裝置可以為阻擋和/或吸收某個方向射束的設施。For example, the peripheral device may limit the identification range of the bin identification device. For example, when the bin identification device is a camera, the peripheral device can be a baffle that limits the field of view. For another example, when the bin identification device is an electronic tag reader, the peripheral device may be a facility that blocks and/or absorbs beams from a certain direction.

在一個實施例中，可以通過調整電子標籤讀碼器的天線的內部結構，調整電子標籤讀碼器的射束的形狀。In one embodiment, the shape of the beam of the electronic tag reader can be adjusted by adjusting the internal structure of the antenna of the electronic tag reader.

在一個實施例中，可以通過調整電子標籤讀碼器的功率，來調整電子標籤讀碼器的射束的識別範圍，以實現相應的識別模式。In one embodiment, the recognition range of the beam of the electronic tag reader can be adjusted by adjusting the power of the electronic tag reader to achieve a corresponding recognition mode.

在一個實施例中，可以通過調整料箱識別裝置與存儲貨架之間的距離，來調整電子標籤讀碼器在該存儲貨架所放置料箱上設置的料箱識別碼所在平面上的識別範圍。In one embodiment, the identification range of the electronic tag reader on the plane where the bin identification code set on the bin placed on the storage shelf can be adjusted by adjusting the distance between the bin identification device and the storage shelf.

在一個實施例中，存儲貨架上所放置的料箱上設置的各料箱識別碼大體上處於同一個豎直平面，即，若料箱上設置的料箱識別碼不完全處於同一個豎直平面，彼此所處於的豎直平面也相距較近。此時，通過調整料箱識別裝置與存儲貨架之間的距離，可以調整料箱識別裝置在該豎直平面上的識別範圍。將盤點機器人在盤點存儲貨架時料箱識別裝置與該存儲貨架的距離，記為第一距離。當上述第一距離在一定範圍內增大時，盤點機器人的料箱識別裝置的識別範圍隨之增大。當上述第一距離在大於一定範圍內增大時，盤點機器人的料箱識別裝置的識別範圍則隨之縮小。In one embodiment, the bin identification codes set on the bins placed on the storage shelves are substantially in the same vertical plane. That is, if the bin identification codes set on the bins are not entirely in the same vertical plane, Planes and vertical planes are also relatively close to each other. At this time, by adjusting the distance between the bin identification device and the storage shelf, the identification range of the bin identification device on the vertical plane can be adjusted. The distance between the bin identification device and the storage shelf when the inventory robot counts the storage shelf is recorded as the first distance. When the above-mentioned first distance increases within a certain range, the identification range of the bin identification device of the inventory robot increases accordingly. When the above-mentioned first distance increases within a certain range, the identification range of the bin identification device of the inventory robot decreases accordingly.

在一個實施例中，若盤點機器人的料箱識別裝置的識別範圍較小，使得料箱識別裝置一次掃描僅可以識別一個庫位上存放的料箱的料箱識別碼，即料箱識別裝置的識別範圍為單個庫位，則第一距離可以為大於或等於安全距離的任意值，如0.1m、0.2m、0.3m或者其他值。其中，安全距離為盤點機器人在盤點時需要與存儲貨架或者盤點物件保持的距離。In one embodiment, if the identification range of the bin identification device of the inventory robot is small, the bin identification device can only identify the bin identification code of the bins stored in one storage location in one scan, that is, the bin identification code of the bin identification device If the identification range is a single location, the first distance can be any value greater than or equal to the safety distance, such as 0.1m, 0.2m, 0.3m or other values. Among them, the safety distance is the distance that the inventory robot needs to keep from the storage shelves or inventory objects when taking inventory.

在一個實施例中，若盤點機器人的料箱識別裝置的識別範圍較大，使得料箱識別裝置一次掃描可以識別多個庫位元上存放的料箱的料箱識別碼，即料箱識別裝置的識別範圍為多個庫位，如一行多列個庫位、多行一列庫位或多行多列庫位，則第一距離可以為一個較遠的距離，如0.5m、0.8m。In one embodiment, if the identification range of the bin identification device of the inventory robot is large, the bin identification device can identify bin identification codes of bins stored in multiple storage locations in one scan, that is, the bin identification device The recognition range is multiple locations, such as one row and multiple columns, multiple rows and one column, or multiple rows and multiple columns. The first distance can be a farther distance, such as 0.5m or 0.8m.

在一個實施例中，盤點機器人可以通過調整盤點機器人的位置和/或姿態，或者調整其上設置的料箱識別裝置的位置，從而調整料箱識別裝置與所盤點的存儲貨架之間的距離（即上述第一距離）。In one embodiment, the inventory robot can adjust the position and/or attitude of the inventory robot, or adjust the position of the bin identification device provided on it, thereby adjusting the distance between the bin identification device and the inventoryed storage shelf ( That is, the first distance mentioned above).

參見圖3B，圖3B為本公開圖2所示實施例中盤點機器人採用單庫位元模式盤點的示意圖，如圖3B所示，盤點機器人320的掃描範圍為單個庫位元。存儲貨架的高度為5m，所包括的庫位的層數為15層，相鄰兩個存儲貨架之間的巷道的寬度為1m，該寬度無法允許兩個盤點機器人並行通過。盤點機器人320的料箱識別裝置321與存儲貨架310的距離可以為一個較近的距離，如0.1m，從而避免距離較遠而導致識別失敗的現象。圖3B中的虛線用於表示料箱識別裝置321的掃描範圍。盤點機器人320可以先將料箱識別裝置321與存儲貨架310的第一行第一列庫位對準，沿行所在方向行走，從而識別存儲貨架310第一行的各個庫位。當對一行庫位識別完畢，盤點機器人320可以將料箱識別裝置321升高以與存儲貨架310的第二行最後一列庫位對準，沿行所在方向行走，從而識別存儲貨架310第二行的各個庫位。類似地，通過往復行走以及改變料箱識別裝置321的高度的方式，遍歷存儲貨架310的所有庫位元，以實現對存儲貨架310的盤點，得到存儲貨架310的盤點資料。Referring to FIG. 3B , FIG. 3B is a schematic diagram of the inventory robot in the embodiment shown in FIG. 2 of the present disclosure using a single location mode for inventory. As shown in FIG. 3B , the scanning range of the inventory robot 320 is a single location. The height of the storage shelf is 5m, the number of storage levels included is 15, and the width of the lane between two adjacent storage shelves is 1m. This width cannot allow two inventory robots to pass in parallel. The distance between the bin identification device 321 of the inventory robot 320 and the storage shelf 310 can be a relatively short distance, such as 0.1m, to avoid identification failure caused by a long distance. The dotted line in FIG. 3B is used to indicate the scanning range of the bin identification device 321. The inventory robot 320 can first align the bin identification device 321 with the storage locations in the first row and column of the storage shelf 310 and walk in the direction of the row, thereby identifying each storage location in the first row of the storage shelf 310 . After identifying a row of storage locations, the inventory robot 320 can raise the bin identification device 321 to align with the last column of storage locations in the second row of the storage shelf 310, and walk in the direction of the row, thereby identifying the second row of the storage shelf 310. of each location. Similarly, by reciprocating and changing the height of the bin identification device 321, all storage locations of the storage shelf 310 are traversed to implement inventory of the storage shelf 310, and obtain inventory data of the storage shelf 310.

在一個實施例中，盤點機器人320掃描某一行貨架時為持續行走狀態，當盤點機器人320行走至所需盤點的庫位的設定範圍內時才開啟料箱識別裝置321，離開該設定範圍後又關閉料箱識別裝置321，直到行走至所需盤點的庫位的設定範圍內時再次開啟料箱識別裝置321。In one embodiment, the inventory robot 320 is in a continuous walking state when scanning a certain row of shelves. The inventory robot 320 only turns on the bin identification device 321 when it walks within the set range of the storage location to be counted. After leaving the set range, it turns on again. The bin identification device 321 is turned off, and the bin identification device 321 is turned on again when walking within the set range of the required inventory location.

在一個實施例中，盤點機器人320可以先識別或確定自身所在的當前位置，進而基於該當前位置確定是否行走至所需盤點的庫位的設定範圍內。In one embodiment, the inventory robot 320 can first identify or determine its current location, and then determine whether to walk within the set range of the required inventory location based on the current location.

在一個實施例中，盤點機器人320可以根據行走速度及庫位元尺寸，自動按一定時間週期開啟及關閉料箱識別裝置321，以實現料箱識別裝置321只在行走至所需盤點的庫位的設定範圍內時才被開啟。In one embodiment, the inventory robot 320 can automatically turn on and off the bin identification device 321 in a certain time period according to the walking speed and the size of the storage location, so that the bin identification device 321 can only move to the location required for inventory. is turned on only if it is within the setting range.

在一個實施例中，盤點機器人320掃描某一行貨架時為間斷的行走狀態，即行走至所需盤點的庫位前時暫停行走，即在該所需盤點的庫位前停下來，讀取或識別該庫位上存放的料箱的料箱識別碼後再次開始行走，直到到達下一所需盤點的庫位前，依次類推，以間斷行走的方式進行需要盤點的各個庫位元或各個盤點庫位上存放的料箱的料箱識別碼的識別或讀取。In one embodiment, the inventory robot 320 is in an intermittent walking state when scanning a certain row of shelves, that is, it pauses when walking in front of the required inventory location, that is, it stops in front of the required inventory location, reads or After identifying the bin identification code of the bins stored in the location, start walking again until reaching the next location required for inventory, and so on, in an intermittent walking manner to carry out each location unit or each inventory that needs to be inventoried. Identification or reading of the bin identification codes of the bins stored in the storage location.

在一個實施例中，盤點機器人320為速度有波動的行走狀態，即盤點機器人320以較快的速度行走，直至行走至所需盤點的庫位元前，降低行走速度，讀取該庫位上存放的料箱的料箱識別碼，之後再次以較快速度行走，直到到達下一所需盤點的庫位前。In one embodiment, the inventory robot 320 is in a walking state with fluctuating speed, that is, the inventory robot 320 walks at a faster speed until it reaches the storage location required for inventory, then reduces the walking speed and reads the information on the storage location. The container identification code of the stored container is then walked again at a faster speed until it reaches the next storage location required for inventory.

在一個實施例中，存儲貨架上各料箱具有已知的、規範的尺寸，且各料箱上設置的料箱識別碼具有已知的、固定的位置，即存儲貨架存放的料箱均為標準料箱或規範料箱。此時，料箱識別裝置321的識別範圍可以比較小，以能準確捕捉到料箱識別碼。這樣可以減少對鄰近庫位上存放的料箱的料箱識別碼的串讀，又可以減少料箱識別裝置321的功率消耗，延長盤點機器人320的續航時間。In one embodiment, each material box on the storage shelf has a known and standardized size, and the material box identification code set on each material box has a known and fixed position, that is, the material boxes stored on the storage shelf are all Standard material box or standard material box. At this time, the identification range of the bin identification device 321 can be relatively small to accurately capture the bin identification code. This can reduce the cross-reading of bin identification codes of bins stored in adjacent storage locations, reduce the power consumption of the bin identification device 321, and extend the battery life of the inventory robot 320.

在一個實施例中，料箱識別裝置321為電子標籤讀碼器，料箱識別碼為RFID等電子標籤。In one embodiment, the bin identification device 321 is an electronic tag reader, and the bin identification code is an electronic tag such as RFID.

在一個實施例中，料箱識別裝置321為照相機，料箱識別碼為二維碼等視覺識別碼。In one embodiment, the bin identification device 321 is a camera, and the bin identification code is a visual identification code such as a two-dimensional code.

在一個實施例中，若料箱識別裝置321的串讀嚴重，可以根據鄰近庫位元以及該庫位的鄰近庫位讀取到的料箱識別碼，識別出該庫位上真正讀到的料箱識別碼。In one embodiment, if the cross-reading of the bin identification device 321 is serious, the bin identification codes actually read on the bin identification device 321 can be identified based on the bin identification codes read from the adjacent bin locations and the bin locations adjacent to the bin location. Bin identification code.

在一個實施例中，可以通過鄰近庫位以及該庫位的鄰近庫位所讀取的料箱識別碼的交集，確定該庫位上存放的料箱的料箱識別碼。例如，盤點機器人沿巷道方向行走，以單庫位元模式對一行所有庫位元進行批量盤點時，在當前庫位讀到料箱識別碼為A、B、C，在其同行前一庫位讀到A、B、D，在其同行後一庫位讀到B、C、E、F。將當前庫位與前一庫位讀到的料箱識別碼取交集，得到A、B。將當前庫位與後一庫位讀到的料箱識別碼取交集，得到B、C。最後，將這兩次交集結果再取交集，得到B，即為該庫位所存放料箱的料箱識別碼。若料箱識別裝置321的串讀嚴重導致最後交集結果包含一個以上的料箱識別碼，例如，最後交集所得結果為B、X，則可以通過判斷該庫位上本應放置的料箱B是否存在於交集結果中，來確定本次盤點是否成功。這是因為，採用上述取交集的方法，還是可以將與該庫位在某些方向上不相關的料箱識別碼去除掉，留下與該庫位最相關的料箱識別碼。所以，若最後交集結果仍包含一個以上的料箱識別碼，則說明為在另一些方向上串讀到的料箱識別碼。例如，在上述實施例中，由於機器人沿著貨架橫向走動，以上取交集後足以排除在貨架橫向方向上串讀到的料箱識別碼，故可以判斷為在豎直方向或在貨架深度方向上串讀到的料箱識別碼。可以理解，根據這一思路，技術人員很容易設計合適演算法，對具有常見識別範圍的料箱識別裝置321所進行的盤點解決串讀問題，以識別出庫位存放料箱的料箱識別碼。在一個實施例中，可以使用工作在多庫位元模式下的盤點機器人，例如一次性讀取同一行三個庫位的盤點機器人，來實施上述盤點，並通過上述取交集的方法來準確確定某庫位上料箱識別碼。In one embodiment, the bin identification code of the bin stored in the bin can be determined through the intersection of the bin identification codes read by the neighboring bins and the bins adjacent to the bin location. For example, when the inventory robot walks along the lane and performs batch inventory of all storage locations in a row in single location mode, it reads the bin identification codes A, B, and C at the current location and the bin identification codes at the previous location in the same row. Reads A, B, D, and reads B, C, E, F in the next bin. Intersect the bin identification codes read from the current location and the previous location to obtain A and B. Take the intersection of the bin identification codes read from the current location and the next location to get B and C. Finally, the two intersection results are intersected again to obtain B, which is the bin identification code of the bin stored in this location. If the cross-reading of the bin identification device 321 is serious and the final intersection result contains more than one bin identification code, for example, the final intersection results are B and Exists in the intersection result to determine whether this inventory is successful. This is because, using the above intersection method, the bin identification codes that are not relevant to the location in some directions can still be removed, leaving the bin identification codes that are most relevant to the location. Therefore, if the final intersection result still contains more than one bin identification code, it means that the bin identification codes are read in series in other directions. For example, in the above embodiment, since the robot moves horizontally along the shelf, the intersection of the above is enough to exclude the bin identification codes read in the horizontal direction of the shelf, so it can be judged to be in the vertical direction or in the depth direction of the shelf. The bin identification code read by the string. It can be understood that based on this idea, technicians can easily design a suitable algorithm to solve the cross-reading problem by counting the bin identification devices 321 with common identification ranges, so as to identify the bin identification codes of the bins stored in the storage location. In one embodiment, an inventory robot working in multi-storage location mode, such as an inventory robot that reads three locations in the same row at one time, can be used to implement the above inventory, and the above-mentioned intersection method can be used to accurately determine The identification code of the loading box of a certain storage location.

在一個實施例中，若料箱識別裝置321的串讀嚴重，可以根據在庫位元上讀取到的料箱識別碼的信號強度，識別出該庫位上真正讀到的料箱識別碼。例如，料箱識別裝置321的識別範圍為單庫位識別，在某庫位處讀取的料箱識別碼為A、B、C，其信號強度分別為0.4、1.2與0.5，則可確定該庫位處存放料箱的料箱識別碼為B；若該料箱識別裝置321在另一庫位處讀到的料箱識別碼為E、F，其信號強度分別為0.3和0.2，則可以確定該庫位沒有存放料箱。In one embodiment, if the cross-reading of the bin identification device 321 is serious, the bin identification code actually read on the bin identification code can be identified based on the signal strength of the bin identification code read on the bin identification unit. For example, the identification range of the bin identification device 321 is single location identification, and the bin identification codes read at a certain location are A, B, and C, and their signal strengths are 0.4, 1.2, and 0.5 respectively, then it can be determined that the bin identification codes are A, B, and C. The bin identification code of the bin stored at the storage location is B; if the bin identification codes read by the bin identification device 321 at another storage location are E and F, and their signal strengths are 0.3 and 0.2 respectively, then it can Make sure there are no bins stored in this location.

在一個實施例中，若料箱識別裝置321的串讀嚴重，可以將多個庫位的料箱識別碼讀取完畢後，作為一個整體、不區分彼此先後順序，與庫存資料中預存的這些庫位本應放置的料箱的料箱識別碼進行比對。In one embodiment, if the cross-reading of the bin identification device 321 is serious, after the bin identification codes of multiple storage locations are read, they can be used as a whole without distinguishing the order of each other, and the bin identification codes pre-stored in the inventory data can be The bin identification code of the bin that should be placed in the storage location is compared.

在一個實施例中，若料箱識別裝置321的橫向串讀嚴重（沿巷道方向），可以先將一行庫位的料箱識別碼全部讀取完畢。然後，將讀到的所有料箱識別碼去重，得到若干料箱識別碼組成佇列，再與庫存資料中預存的該行庫位本應放置的料箱的料箱識別碼進行比對。若該庫位本應放置的料箱的料箱識別碼都在該佇列內找到，則認為盤點成功，無需檢查。若該庫位本應放置的料箱的料箱識別碼存在未在該佇列內找到的，記為缺失料箱識別碼，則將該缺失料箱識別碼的料箱原本所在庫位，確定為待檢查單元。In one embodiment, if the horizontal cross-reading of the bin identification device 321 is severe (along the lane direction), all bin identification codes of a row of storage locations can be read first. Then, all the bin identification codes read are deduplicated, and a number of bin identification codes are obtained to form a queue, and then compared with the bin identification codes of the bins that should be placed in the row of storage locations pre-stored in the inventory data. If the bin identification codes of the bins that should be placed in this location are all found in the queue, the inventory is considered successful and no inspection is required. If the bin identification code of the bin that should be placed in the storage location is not found in the queue, it is recorded as a missing bin identification code, and the bin with the missing bin identification code is originally located in the bin to determine is the unit to be inspected.

在一個實施例中，由於料箱有可能放錯在鄰近庫位上，故可以將該缺失料箱識別碼原本所在庫位及其附近一定範圍內的一個或多個庫位，確定為待檢查單元，該範圍可以根據需要確定。 在一個實施例中，若料箱識別裝置321的豎向串讀嚴重（豎直方向），可以先將一列庫位的料箱識別碼全部讀取完畢，再作為一個整體、不區分彼此先後順序，與庫存資料中預存的該列庫位本應放置的料箱的料箱識別碼進行比對。 In one embodiment, since the bin may be misplaced in an adjacent location, the location where the missing bin identification code was originally located and one or more locations within a certain range nearby can be determined to be inspected. unit, the range can be determined as needed. In one embodiment, if the vertical cross-reading of the bin identification device 321 is serious (vertical direction), all the bin identification codes of a column of storage locations can be read first, and then the bin identification codes of a column of storage locations can be read as a whole without distinguishing the order of each other. , and compare it with the bin identification code of the bin that should be placed in this column of storage locations pre-stored in the inventory data.

在一個實施例中，若料箱識別裝置321的橫向及豎向串讀都很嚴重，可以先一個存儲貨架上所有庫位元的料箱識別碼全部讀取完畢，再作為一個整體、不區分彼此先後順序，與庫存資料中預存的該存儲貨架所有庫位元上本應放置的料箱的料箱識別碼進行比對。In one embodiment, if the horizontal and vertical cross-reading of the bin identification device 321 is serious, the bin identification codes of all storage locations on the storage shelf can be read first, and then the bin identification codes can be read as a whole without distinction. The order of each other is compared with the bin identification codes of the bins that should be placed on all locations of the storage shelf pre-stored in the inventory data.

在一個實施例中，優先選取至少在某一個方向上基本沒有串讀的料箱識別裝置321，來進行批量盤點。In one embodiment, the bin identification device 321 that has substantially no cross-reading in at least one direction is preferably selected for batch counting.

參見圖3C，圖3C為本公開圖2所示實施例中盤點機器人採用多庫位元方式盤點的示意圖，如圖3C所示，盤點機器人340的掃描範圍為一列多行個庫位，圖3C中以1列5行為例，盤點機器人340的料箱識別裝置341的工作範圍可以是1m~2m，與存儲貨架330的距離可以為0.5m~0.8m，以免工作範圍過小，導致一次掃描無法識別多行的庫位。這樣也可以避免料箱識別裝置341有過多工作範圍處於貨架後面的空間，從而對其後面存儲貨架的庫位元上存放的料箱的料箱識別碼造成較多串讀。可以理解的是，上述的料箱識別裝置341工作範圍及與存儲貨架330的距離為示例，可以根據需要進行調整。Referring to Figure 3C, Figure 3C is a schematic diagram of the inventory robot using a multi-location inventory method in the embodiment shown in Figure 2 of the present disclosure. As shown in Figure 3C, the scanning range of the inventory robot 340 is one column, multiple rows, and multiple locations. Figure 3C Taking 1 row and 5 rows as an example, the working range of the bin identification device 341 of the inventory robot 340 can be 1m~2m, and the distance from the storage shelf 330 can be 0.5m~0.8m, so as to avoid the working range being too small, resulting in inability to identify in one scan. Multiple rows of locations. This can also prevent the bin identification device 341 from having too much working range in the space behind the shelf, thereby causing more cross-reading of the bin identification codes of the bins stored in the storage locations of the storage shelves behind it. It can be understood that the above-mentioned working range of the bin identification device 341 and the distance from the storage shelf 330 are examples and can be adjusted as needed.

圖3C中，虛線用於表示料箱識別裝置321的工作範圍。料箱識別裝置341的工作範圍為一列五行。盤點機器人340可以先將料箱識別裝置341與存儲貨架330的第一列第三行庫位對準，沿行所在方向行走，從而識別存儲貨架330第一行至第五行的各個庫位，進而將料箱識別裝置341升高以與存儲貨架330的第八行最後一列的庫位對準，沿行所在方向行走，從而識別存儲貨架330第六行至第十行的各個庫位，進而將料箱識別裝置341升高以與存儲貨架330的第十二行第一列的庫位對準，沿行所在方向行走，從而識別存儲貨架330第十二行至第十五行的各個庫位。這樣，只走三趟，即可實現對存儲貨架330所有庫位元的盤點。對比圖3B和圖3C可知，採用多個庫位元的方式大大提高了盤點效率。In FIG. 3C , the dotted line is used to indicate the working range of the bin identification device 321 . The working range of the bin identification device 341 is one column and five rows. The inventory robot 340 can first align the bin identification device 341 with the storage locations in the first column and third row of the storage shelf 330, and walk along the row direction, thereby identifying each storage location from the first row to the fifth row of the storage shelf 330, and then Raise the bin identification device 341 to align with the storage location in the eighth row and last column of the storage shelf 330, and walk in the direction of the row, thereby identifying each storage location in the sixth to tenth rows of the storage shelf 330, and then The bin identification device 341 is raised to align with the storage locations in the twelfth row and the first column of the storage shelf 330 and walks along the direction of the row, thereby identifying each storage location in the twelfth row to the fifteenth row of the storage shelf 330 . In this way, only three trips can be taken to inventory all the storage locations of the storage shelves 330. Comparing Figure 3B and Figure 3C, it can be seen that the use of multiple storage locations greatly improves the efficiency of inventory counting.

在一個實施例中，識別範圍為一列五行的料箱識別裝置341在某次開啟時，可以識別某一列五行庫位上存放的料箱的料箱識別碼，如可以讀到五個料箱識別碼。In one embodiment, when the bin identification device 341 with an identification range of one column and five rows is turned on at a certain time, it can identify the bin identification codes of the bins stored in a certain column of five rows. For example, it can read the bin identification codes of five bins. code.

在一個實施例中，盤點機器人340不對某次開啟所讀取的料箱識別碼進行區分，將該次開啟讀到的料箱識別碼與該次開啟所對應的時間、順序號、料箱識別裝置341所在地理位置等能夠標識該次開啟的資訊（後面簡稱“該次開啟標識資訊”）關聯起來，並加入料箱識別碼佇列中。此種情況下，系統將該次開啟讀到的料箱識別碼與庫存資料中該次開啟對應的庫位上本應放置的料箱識別碼進行比對，若比對結果為一致，則無需檢查次開啟對應的庫位，若比對結果為不一致，則將該次開啟對應的庫位元一同列為待檢查單元，由人工或機器人對待檢查單元，即該次開啟對應的庫位，進行進一步檢查核驗。In one embodiment, the inventory robot 340 does not distinguish the bin identification code read by a certain opening, and compares the bin identification code read by the opening with the time, sequence number, and bin identification corresponding to the opening. The geographical location of the device 341 and other information that can identify the opening (hereinafter referred to as "the opening identification information") are associated and added to the container identification code queue. In this case, the system compares the bin identification code read during the opening with the bin identification code that should have been placed at the location corresponding to the opening in the inventory data. If the comparison result is consistent, there is no need to Check the location corresponding to the opening. If the comparison result is inconsistent, the location units corresponding to the opening will be listed as units to be inspected. The inspection unit, that is, the location corresponding to the opening, will be inspected manually or by a robot. Further inspection and verification.

在一個實施例中，該次開啟讀到的料箱識別碼與庫存資料中該次開啟對應的庫位上本應放置的料箱識別碼一致，並不意味著該次開啟對應的庫位上所存放的料箱都放在準確的位置上，例如，該次開啟對應的庫位上所存放的料箱之間有可能互換了庫位或位置，但多庫位盤點並不對該問題進行核查，這一問題可以通過優化機器人取料箱方法來解決，從而確保料箱盤點的效率。例如，當機器人取料箱時，發現庫位上存放的料箱不對，則先核查在盤點中被一同盤點的另四個庫位，都未找到所需取料箱，向系統發送“取貨出錯”資訊。In one embodiment, the identification code of the bin read during the opening is consistent with the identification code of the bin that should have been placed at the location corresponding to the opening in the inventory data. This does not mean that the identification code for the bin corresponding to the opening is consistent. The stored material boxes are placed in the correct location. For example, the material boxes stored in the corresponding location of the opening may have exchanged locations or positions, but the multi-location inventory does not check this issue. , this problem can be solved by optimizing the robot picking method to ensure the efficiency of box counting. For example, when the robot picks up the material box and finds that the wrong material box is stored in the storage location, it first checks the other four warehouse locations that were counted together in the inventory. If the required picking box is not found, a "pick up" message is sent to the system. Error" message.

在一個實施例中，盤點機器人340根據某次開啟所讀取的各個料箱識別碼的信號強度，確定出該次開啟所讀取的各個料箱識別碼的具體對應的庫位，例如，當料箱識別裝置341為RFID等電子標籤讀碼器時。In one embodiment, the inventory robot 340 determines the specific corresponding storage location of each bin identification code read based on the signal strength of each bin identification code read during a certain opening. For example, when When the bin identification device 341 is an electronic tag reader such as RFID.

在一個實施例中，盤點機器人340根據某次開啟所讀取的料箱識別碼在識別範圍內的位置，確定出該次開啟所讀取的各個料箱識別碼的具體對應的庫位，例如，當料箱識別裝置341為攝像機等圖像識別設備時。In one embodiment, the inventory robot 340 determines the specific corresponding storage location of each bin identification code read in a certain opening based on the position of the bin identification code read in the identification range, such as , when the bin recognition device 341 is an image recognition device such as a camera.

在一個實施例中，可以將盤點機器人在各次開啟所讀取的料箱識別碼與具體庫位元資訊相關聯，並加入料箱識別碼佇列中。In one embodiment, the bin identification codes read by the inventory robot each time it is opened can be associated with specific location information and added to the bin identification code queue.

在一個實施例中，盤點機器人340將各次開啟所讀取的料箱識別碼與該次開啟對應的標識資訊關聯起來，並且根據所讀取的料箱識別碼的信號強度，為所讀取的料箱識別碼設定內部序號。In one embodiment, the inventory robot 340 associates the container identification code read each time it is opened with the identification information corresponding to the opening, and based on the signal strength of the read container identification code, the read The bin identification code sets the internal serial number.

在一個實施例中，由盤點機器人340根據該次開啟對應的標識資訊及該內部序號，確定該次開啟所讀取的料箱識別碼對應的庫位，並將這該次開啟所讀取的料箱識別碼與對應的庫位關聯起來，上報倉儲系統或調度設備或倉儲系統。In one embodiment, the inventory robot 340 determines the storage location corresponding to the bin identification code read in the opening based on the identification information corresponding to the opening and the internal serial number, and stores the bin identification code read in the opening. The bin identification code is associated with the corresponding warehouse location and reported to the warehousing system or scheduling equipment or warehousing system.

在一個實施例中，盤點機器人340將該次開啟對應的標識資訊及該內部序號上報倉儲系統或調度設備或倉儲系統，由倉儲系統或調度設備或倉儲系統確定該次開啟所讀取的料箱識別碼對應的庫位。In one embodiment, the inventory robot 340 reports the identification information and the internal serial number corresponding to the opening to the warehousing system or the dispatching equipment or the warehousing system, and the warehousing system, scheduling equipment or warehousing system determines the material read in the opening. The storage location corresponding to the box identification code.

在一個實施例中，由於發生了串讀，識別範圍為一列五行的料箱識別裝置341在某次開啟時，可能讀到多於五個庫位上存放的料箱的料箱識別碼，例如讀取到六個料箱識別碼。In one embodiment, due to cross-reading, the bin identification device 341 with an identification range of one column and five rows may read bin identification codes of more than five bins stored in five storage locations when it is turned on at a certain time, for example Six bin identification codes were read.

在一個實施例中，盤點機器人340不對發生串讀的某次開啟讀取的料箱識別碼做區分，將該次開啟讀到的料箱識別碼與該次開啟對應的標識資訊關聯起來，作為一個料箱識別碼集合，加入料箱識別碼佇列中。此種情況下，倉儲系統或調度設備或倉儲系統將該次開啟讀到的料箱識別碼與庫存資料中預存的、該次開啟對應的庫位上本應放置的料箱識別碼（最多為五個）相比對，若該次開啟對應的庫位上本應放置的料箱識別碼均在該次開啟讀到的料箱識別碼內，則無需檢查該次開啟對應的庫位；若該次開啟對應的庫位上本應放置的料箱識別碼存在未在該次開啟讀到的料箱識別碼內的，記為缺失料箱識別碼，則將該該次開啟對應的庫位元一同列為待檢查單元，由人工或機器人對該次開啟對應的庫位進行進一步檢查核驗。In one embodiment, the inventory robot 340 does not distinguish the bin identification code read in a certain opening when cross reading occurs, and associates the bin identification code read in the opening with the identification information corresponding to the opening, as A collection of bin identification codes is added to the bin identification queue. In this case, the warehousing system or dispatching equipment or warehousing system compares the bin identification code read by the opening with the bin identification code pre-stored in the inventory data that should be placed in the location corresponding to the opening (up to Five) Comparatively, if the identification codes of the bins that should be placed in the location corresponding to the opening are all within the bin identification codes read in the opening, there is no need to check the location corresponding to the opening; if If the bin identification code that should be placed in the storage location corresponding to the opening is not included in the bin identification code read in the opening, it will be recorded as a missing bin identification code, and the bin identification code corresponding to the opening will be The units are listed together as units to be inspected, and further inspection and verification will be carried out manually or by robots for the corresponding warehouse location opened this time.

在一個實施例中，對於缺失料箱識別碼對應的料箱，可以先核查該料箱是否位於與該次開啟對應的庫位附近一定範圍內的庫位，例如在鄰近列、鄰近貨架等，該範圍可以根據需要確定，例如依據需要的效率與準確度之間的平衡。In one embodiment, for the bin corresponding to the missing bin identification code, you can first check whether the bin is located in a storage location within a certain range near the storage location corresponding to the opening, such as in an adjacent column, adjacent shelf, etc. The range may be determined as desired, for example based on the desired balance between efficiency and accuracy.

在一個實施例中，若缺失料箱識別碼對應的料箱未處於與該次開啟對應的庫位鄰近的庫位元，則可以記錄該缺失料箱識別碼，並與該次開啟對應的庫位元的位置資訊或標識資訊關聯起來（因為經檢查後，確認該缺失料箱識別碼所對應庫位上缺失未放箱子後，則庫存資訊可能會被更新，則該缺失料箱識別碼所對應的庫位元資訊會丟失，因此可以將此關聯關係提前記錄下來），供其他區域盤點中發現或查找缺失料箱識別碼對應的料箱使用。In one embodiment, if the bin corresponding to the missing bin identification code is not in a location adjacent to the bin location corresponding to the opening, the missing bin identification code can be recorded, and the bin corresponding to the opening can be recorded. The location information or identification information of the bits is associated (because after checking, it is confirmed that the missing box is missing and unplaced in the location corresponding to the missing box identification code, the inventory information may be updated, and the missing box identification code is The corresponding location information will be lost, so this association can be recorded in advance) for use in other area inventories to find or find the boxes corresponding to the missing box identification codes.

在一個實施例中，可以由多個盤點機器人對同一個盤點區域進行盤點。In one embodiment, multiple inventory robots can inventory the same inventory area.

在一個實施例中，每個盤點區域的盤點資料來自至少兩個盤點機器人，且同一盤點區域的盤點機器人盤點順序不同。通過多個盤點機器人以不同的盤點順序進行同一盤點區域的盤點，通過多個盤點機器人的盤點資料的整合，即通過多個盤點機器人的盤點範圍的交叉，可以更全面、準確地定位存放料箱有誤的單元或庫位元。In one embodiment, the inventory data of each inventory area comes from at least two inventory robots, and the inventory order of the inventory robots in the same inventory area is different. Through multiple inventory robots carrying out inventory in the same inventory area in different inventory orders, through the integration of inventory data from multiple inventory robots, that is, through the intersection of the inventory ranges of multiple inventory robots, storage bins can be positioned more comprehensively and accurately. Wrong unit or location.

在一個實施例中，同一存儲貨架由兩個盤點機器人進行盤點，且兩個盤點機器人在不同的巷道上對該存儲貨架進行盤點，巷道為存儲貨架之間或者貨架與其他物體之間設置的供機器人行走的道路。In one embodiment, the same storage shelf is inventoried by two inventory robots, and the two inventory robots inventory the storage shelf in different lanes. The lanes are supply lines set between storage shelves or between shelves and other objects. The path the robot walks on.

在一個實施例，存儲貨架為長條形，相鄰設置的兩個存儲貨架之間設置有用於供機器人行走的巷道，巷道與存儲貨架的長邊平行，一個存儲貨架對應兩條巷道。料箱相對的兩個側面上均設置有料箱識別碼，在將料箱存放於庫位元上時，需要將設置有料箱識別碼的一面朝向巷道。為了提高倉儲系統的空間利用率，巷道通常設置較窄，僅可以允許一個機器人通過，則為了避免兩個機器人在同一盤點區域內盤點時發生碰撞或路線衝突，可以設置兩個盤點機器人在對同一存儲貨架盤點時，在該存儲貨架對應的不同的巷道上行走。In one embodiment, the storage shelves are elongated, and a lane for the robot to walk is provided between two adjacent storage shelves. The lanes are parallel to the long sides of the storage shelves, and one storage shelf corresponds to two lanes. The two opposite sides of the material box are provided with material box identification codes. When storing the material box in the storage unit, the side with the material box identification code needs to face the lane. In order to improve the space utilization of the warehousing system, the lanes are usually narrow and can only allow one robot to pass. In order to avoid collisions or route conflicts between two robots when taking inventory in the same inventory area, two inventory robots can be set up to When taking inventory of storage shelves, walk in different lanes corresponding to the storage shelves.

在一個實施例中，進行同一存儲貨架盤點的兩個盤點機器人採用鏡像的方式進行該存儲貨架的盤點，即兩個盤點機器人在盤點時的位置以及取放貨裝置的高度相對於存儲貨架對稱，從而得到該存儲貨架對應的兩組盤點資料。In one embodiment, two inventory robots that perform inventory on the same storage shelf use a mirror image to inventory the storage shelf, that is, the positions of the two inventory robots during inventory and the height of the picking and placing device are symmetrical relative to the storage shelf. Thus, two sets of inventory data corresponding to the storage shelf are obtained.

在一個實施例中，在一個實施例中可以通過同一存儲貨架對應的兩組盤點資料取交集的方式，刪除由於盤點機器人工作範圍過大而導致串讀的其他存儲貨架上存放的料箱的料箱識別碼，從而提高盤點資料的準確度。In one embodiment, the intersection of two sets of inventory data corresponding to the same storage shelf can be used to delete the bins of bins stored on other storage shelves that are caused by cross-reading due to the excessive working range of the inventory robot. identification code to improve the accuracy of inventory data.

進一步地，為了減少進行同一盤點區域盤點的多個盤點機器人之間的干擾，可以通過控制指令為同一盤點區域的多個盤點機器人設置不同的盤點起點。盤點起點可以為盤點區域的存儲貨架一端對應的位置。當盤點區域對應多個存儲貨架時，不同的盤點機器人對應的存儲貨架的盤點順序不同。Furthermore, in order to reduce interference between multiple inventory robots performing inventory in the same inventory area, different inventory starting points can be set for multiple inventory robots in the same inventory area through control instructions. The starting point of inventory can be the position corresponding to one end of the storage shelf in the inventory area. When the inventory area corresponds to multiple storage shelves, the storage shelves corresponding to different inventory robots have different inventory orders.

示例性的，若盤點區域O1對應兩個存儲貨架，即存儲貨架H1和存儲貨架H2，盤點區域O1對應盤點機器人為盤點機器人R1和盤點機器人R2。通過控制指令可以控制盤點機器人R1先盤點存儲貨架H1，再盤點存儲貨架H2，以及控制盤點機器人R2先盤點存儲貨架H2，再盤點存儲貨架H2。For example, if the inventory area O1 corresponds to two storage shelves, namely storage shelf H1 and storage shelf H2, the inventory robots corresponding to the inventory area O1 are the inventory robot R1 and the inventory robot R2. Through the control instructions, the inventory robot R1 can be controlled to first inventory the storage shelf H1, and then the storage shelf H2, and the inventory robot R2 can be controlled to first inventory the storage shelf H2, and then inventory the storage shelf H2.

在一個實施例中，所述盤點指令用於指示同一盤點區域的其中兩個盤點機器人採用相向行走的方式依次進行對所述存儲貨架的各單元的盤點，以得到所述存儲貨架的兩組盤點資料，以使所述兩組盤點資料的盤點順序不同。In one embodiment, the inventory instruction is used to instruct two inventory robots in the same inventory area to sequentially inventory each unit of the storage shelf by walking in opposite directions to obtain two sets of inventory of the storage shelf. data so that the order of counting of the two sets of inventory data is different.

在一個實施例中，盤點同一存儲貨架的兩個盤點機器人可以採用沿該存儲貨架平行的兩條巷道相向行走的方式進行同一存儲貨架的盤點。在一個實施例中盤點同一盤點區域的多個盤點機器人採用相向行走的方式，可以大大減少盤點機器人作業範圍重疊的現象，從而減少盤點機器人之間的干擾。In one embodiment, two inventory robots that inventory the same storage shelf can use the method of walking toward each other along two parallel lanes of the storage shelf to inventory the same storage shelf. In one embodiment, multiple inventory robots that inventory the same inventory area walk in opposite directions, which can greatly reduce the overlap of the inventory robots' working ranges, thereby reducing interference between the inventory robots.

進一步地，同一盤點區域內盤點的兩個盤點機器人，在對同一個存儲貨架進行盤點時，可以在存儲貨架兩側進行盤點，即行走在該存儲貨架對應的兩條平行的巷道上，以相向行走的方式行走，即行走方向相反的方式行走，從而減少盤點機器人之間的干擾。Furthermore, two inventory robots taking inventory in the same inventory area can, when inventorying the same storage shelf, perform inventory on both sides of the storage shelf, that is, walking on two parallel lanes corresponding to the storage shelf, facing each other. Walking in a walking manner, that is, walking in opposite directions, thereby reducing interference between inventory robots.

在一個實施例中，同一盤點區域內盤點的兩個盤點機器人的所行走的巷道平行，且該兩個機器人在所行走的平行的巷道上行走方向相反。In one embodiment, the two inventory robots taking inventory in the same inventory area walk in parallel lanes, and the two robots walk in opposite directions on the parallel lanes they walk on.

參見圖3D，圖3D為本公開圖2所示實施例中兩個盤點機器人交叉盤點的示意圖，如圖3D所示，盤點機器人350和盤點機器人360負責對同一盤點區域進行盤點，如對同一存儲貨架，即存儲貨架370進行盤點。在盤點時，盤點機器人350和盤點機器人可以分別沿存儲貨架370兩側的巷道行走，採用單庫位元模式或多庫位元模式進行存儲貨架370的各個庫位的盤點。在圖3D中，盤點機器人350在盤點時沿存儲貨架370與牆體之間的巷道行走，盤點機器人360在盤點時則沿存儲貨架370與另一存儲貨架之間的巷道行走。Referring to Figure 3D, Figure 3D is a schematic diagram of cross-taking of two inventory robots in the embodiment shown in Figure 2 of the present disclosure. As shown in Figure 3D, the inventory robot 350 and the inventory robot 360 are responsible for inventorying the same inventory area, such as the same storage area. The shelves, that is, the storage shelves 370, are inventoried. During the inventory, the inventory robot 350 and the inventory robot can walk along the lanes on both sides of the storage shelf 370 respectively, and use single location mode or multi-location mode to inventory each location of the storage shelf 370 . In FIG. 3D , the inventory robot 350 walks along the lane between the storage shelf 370 and the wall when taking inventory, and the inventory robot 360 walks along the lane between the storage shelf 370 and another storage shelf when taking stock.

在一個實施例中，盤點同一存儲貨架的兩個盤點機器人，如盤點機器人350和盤點機器人360，可以採用相同的模式進行對應的盤點區域的盤點，如均採用單庫位元模式或均採用多庫位元模式。In one embodiment, two inventory robots that inventory the same storage shelf, such as the inventory robot 350 and the inventory robot 360, can use the same mode to inventory the corresponding inventory areas, such as single storage unit mode or multiple storage locations. Location model.

在一個實施例中，盤點同一區域的多個盤點機器人，對所讀到的料箱識別碼可以採用上述實施例中的處理方式進行處理，並將處理後的料箱識別碼上報倉儲系統或調度設備或倉儲系統。例如，對於存儲貨架370，盤點機器人350得到的料箱識別碼為A1~A10、B1~B5，盤點機器人360得到的料箱識別碼為A1~A10、C1~C6，則將兩組料箱識別碼取交集，得到A1~A10即為存儲貨架370的料箱識別碼。而通過取交集排除掉的料箱識別碼B1~B5，為盤點機器人350從一側盤點時串讀到的存儲貨架370背後的料箱的識別碼，因為盤點機器人350的射束會一定程度上擴散至存儲貨架370的背後，對後排貨架上放置的料箱進行串讀。同樣，通過取交集排除掉的料箱識別碼C1~C6，為盤點機器人360從另一側盤點時串讀到的貨架背後的料箱的識別碼。In one embodiment, when multiple inventory robots take stock of the same area, the bin identification codes they read can be processed using the processing method in the above embodiment, and the processed bin identification codes are reported to the warehousing system or Scheduling equipment or warehousing systems. For example, for the storage shelf 370, the bin identification codes obtained by the inventory robot 350 are A1~A10, B1~B5, and the bin identification codes obtained by the inventory robot 360 are A1~A10, C1~C6, then the two groups of bins will be identified The codes are intersected, and A1 to A10 are obtained, which are the bin identification codes of the storage shelf 370. The identification codes B1~B5 of the bins excluded by taking the intersection are the identification codes of the bins behind the storage shelf 370 that the inventory robot 350 reads when taking inventory from one side, because the beam of the inventory robot 350 will be emitted to a certain extent. Spread to the back of the storage shelf 370, and perform cross-reading on the material boxes placed on the rear shelf. Similarly, the identification codes C1 to C6 of the bins eliminated by taking the intersection are the identification codes of the bins behind the shelf that the inventory robot 360 reads when taking inventory from the other side.

在一個實施例中，盤點機器人350和360同時從兩側分別對存儲貨架370進行盤點。在一個實施例中，盤點機器人350先從存儲貨架370的一側對它進行盤點，在盤點結束後的另一時刻，盤點機器人360再從另一側對存儲貨架370進行盤點。In one embodiment, the inventory robots 350 and 360 inventory the storage shelves 370 from both sides simultaneously. In one embodiment, the inventory robot 350 first inventory the storage shelf 370 from one side, and at another moment after the inventory is completed, the inventory robot 360 inventory the storage shelf 370 from the other side.

示例性的，圖3E為本公開圖2所示實施例中存儲貨架盤點的示意圖，如圖3E所示，以盤點區域僅包括存儲貨架610和存儲貨架620，盤點區域由盤點機器人601和盤點機器人602進行盤點為例，則盤點機器人601可以在巷道1、主幹道1以及巷道3上行走，行走方向如圖3E中的箭頭所示，從而使得盤點機器人601在存儲貨架610和存儲貨架620的一側採集存儲貨架610和存儲貨架620各個庫位元上存放的料箱的料箱識別碼，盤點機器人602則可以在巷道2、主幹道1以及巷道4上行走，行走方向如圖3E中的箭頭所示，從而在存儲貨架610和存儲貨架620的另一側採集存儲貨架610和存儲貨架620各個庫位元上存放的料箱的料箱識別碼。Exemplarily, FIG. 3E is a schematic diagram of storage shelf inventory in the embodiment shown in FIG. 2 of the present disclosure. As shown in FIG. 3E, the inventory area only includes storage shelves 610 and 620. The inventory area is composed of an inventory robot 601 and an inventory robot. Taking inventory 602 as an example, the inventory robot 601 can walk on the lane 1, the main road 1 and the lane 3, and the walking direction is shown by the arrow in Figure 3E, so that the inventory robot 601 can move between the storage shelf 610 and the storage shelf 620. Collect the bin identification codes of the bins stored in each storage location of the storage shelf 610 and the storage shelf 620. The inventory robot 602 can walk on the lane 2, the main road 1 and the lane 4. The walking direction is as shown by the arrow in Figure 3E. As shown, the bin identification codes of the bins stored in each storage location of the storage shelf 610 and the storage shelf 620 are collected on the other side of the storage shelf 610 and the storage shelf 620 .

在一個實施例中，盤點機器人601和盤點機器人602從兩側分別對存儲貨架610和存儲貨架620進行盤點後，對所讀到的料箱識別碼可以採用上述實施例中的處理方式進行處理，並將處理後的料箱識別碼上報倉儲系統或調度設備或倉儲系統。In one embodiment, after the inventory robot 601 and the inventory robot 602 inventory the storage shelves 610 and 620 from both sides respectively, the read bin identification codes can be processed using the processing method in the above embodiment. And report the processed container identification code to the warehousing system or dispatching equipment or warehousing system.

類似的，盤點機器人601和盤點機器人602分別得到的料箱識別碼可以取交集，以得到排除了串讀後的、存儲貨架610和存儲貨架620的料箱識別碼。盤點機器人601和盤點機器人602對存儲貨架610和存儲貨架620的盤點可以是同時或者不同時的。Similarly, the bin identification codes respectively obtained by the inventory robot 601 and the inventory robot 602 can be intersected to obtain the bin identification codes of the storage shelf 610 and the storage shelf 620 after excluding cross reading. The inventory of the storage shelves 610 and 620 by the inventory robot 601 and the inventory robot 602 may be performed at the same time or not at the same time.

在一個實施例中，步驟S203可以替換為步驟S204，步驟S204具體包括： 根據所述盤點區域的盤點資料和所述盤點區域的庫存資料，確定所述盤點區域的待檢查單元，以對所述待檢查單元進行檢查。 In one embodiment, step S203 can be replaced by step S204. Step S204 specifically includes: According to the inventory data of the inventory area and the inventory data of the inventory area, the unit to be inspected in the inventory area is determined to inspect the unit to be inspected.

在一個實施例中，待檢查單元可以以盤點機器人的盤點精度（即識別範圍）為單位。當盤點機器人的盤點精度為單個庫位，如料箱識別裝置為單庫位元模式，則待檢查單元僅包括一個庫位元，盤點機器人的盤點精度為多個庫位，如料箱識別裝置為多庫位元模式，則待檢查單元包括多個庫位元。In one embodiment, the unit to be inspected may be based on the inventory accuracy (ie, identification range) of the inventory robot. When the inventory counting accuracy of the inventory robot is a single location, such as the bin identification device is in single location mode, the unit to be inspected only includes one location unit, and the inventory accuracy of the inventory robot is multiple locations, such as the bin identification device If it is multi-location mode, the unit to be inspected includes multiple locations.

示例性的，待檢查單元可以為位於存儲貨架同一行或同一層的一個或多個庫位。For example, the unit to be inspected may be one or more storage locations located in the same row or on the same level of the storage shelf.

示例性的，待檢查單元可以為位於存儲貨架同一列的一個或多個庫位。For example, the unit to be inspected may be one or more storage locations located in the same column of the storage shelf.

示例性的，待檢查單元可以為位於多行多列的多個庫位，如2行3列的多個庫位、3行3列的多個庫位等。For example, the units to be inspected may be multiple warehouse locations located in multiple rows and multiple columns, such as multiple warehouse locations in 2 rows and 3 columns, multiple warehouse locations in 3 rows and 3 columns, etc.

在一個實施例中，調度設備或倉儲系統可以按照盤點區域，依次確定各個盤點區域的待檢查單元。針對每個盤點區域，比對該盤點區域的盤點資料以及預先存儲的該盤點區域的庫存資料，根據比對結果確定該盤點區域的待檢查單元。In one embodiment, the dispatching device or the warehousing system can sequentially determine the units to be inspected in each inventory area according to the inventory area. For each inventory area, compare the inventory data of the inventory area with the pre-stored inventory data of the inventory area, and determine the units to be inspected in the inventory area based on the comparison results.

在一個實施例中，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述料箱識別碼佇列中時，則確定所述盤點區域不存在所述待檢查庫位。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: when each location corresponding to the inventory area in the inventory data is When all the bin identification codes exist in the queue of bin identification codes, it is determined that the inventory location to be inspected does not exist in the inventory area.

在一個實施例中，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的庫存資料中是否存在缺失料箱識別碼；若所述盤點區域的庫存資料中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，缺失料箱識別碼不存在於所述料箱識別碼佇列。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and all the inventory data corresponding to the inventory area. The inventory data is used to determine whether there is a missing bin identification code in the inventory data in the inventory area; if there is a missing bin identification code in the inventory data in the inventory area, it is determined that the inventory location to be inspected exists in the inventory area. ; Among them, the missing bin identification code does not exist in the bin identification code queue.

在一個實施例中，該方法還包括，確定所述待檢查庫位包括：在所述庫存資料中，與所述缺失料箱識別碼對應的庫位。或者，確定所述待檢查庫位包括：在所述庫存資料中，所述缺失料箱識別碼對應的庫位附近預設範圍內的庫位。預設範圍可以人為設定，或採用默認範圍。In one embodiment, the method further includes determining the storage location to be inspected including: in the inventory data, the storage location corresponding to the missing bin identification code. Alternatively, determining the storage location to be inspected includes: in the inventory data, the storage location within a preset range near the storage location corresponding to the missing bin identification code. The default range can be set manually or the default range can be used.

在一個實施例中，根據所述盤點資料和所述盤點區域的庫存資料，確定所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的料箱識別碼佇列中是否存在錯放料箱識別碼；若所述料箱識別碼佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。In one embodiment, determining whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data in the inventory area includes: based on the inventory data and the inventory data corresponding to the inventory area , determine whether there is a misplaced bin identification code in the bin identification code queue of the inventory area; if there is a misplaced bin identification code in the bin identification code queue, it is determined that the inventory area contains the misplaced bin identification code The storage location to be inspected; wherein, the identification code of the misplaced bin does not exist in the identification code of each bin corresponding to the inventory area in the inventory data, and the identification code of the misplaced bin is in the inventory data. The distance between the corresponding storage location unit and the inventory area exceeds the first preset distance; the storage location to be inspected includes the storage location unit or unit corresponding to the misplaced bin identification code in the inventory data.

在一個實施例中，若盤點區域的盤點資料或料箱識別碼佇列中僅存在錯放料箱識別碼，可以確定該盤點區域不存在待檢查庫位，並為該盤點區域添加預設標記，以標識該盤點區域中存在錯放料箱識別碼，並將該錯放料箱識別碼與該盤點區域的庫存資料關聯，以便於進行該錯放料箱識別碼對應的料箱出庫時，可以基於錯放料箱識別碼與盤點區域的庫存資料的關聯關係，定位該錯放料箱識別碼對應的料箱。In one embodiment, if there are only misplaced bin identification codes in the inventory data or bin identification code queue in the inventory area, it can be determined that there is no location to be inspected in the inventory area, and a preset mark is added to the inventory area. , to identify that there is a misplaced bin identification code in the inventory area, and associate the misplaced bin identification code with the inventory data in the inventory area, so that when the bin corresponding to the misplaced bin identification code is shipped out of the warehouse, The bin corresponding to the misplaced bin identification code can be located based on the correlation between the misplaced bin identification code and the inventory data in the inventory area.

在一個實施例中，還可以確定各個盤點庫位元或盤點單元在盤點資料中的庫位元，若盤點區域內的其中一個單元或庫位元在盤點資料以及庫存資料中的料箱識別碼不一致，則確定該單元、該庫位元所在的單元或該庫位元為待檢查單元，其中，庫位元所在的單元為包括該庫位元的單元，單元對應的範圍即為盤點機器人在進行盤點時的識別範圍。In one embodiment, the location of each inventory location or inventory unit in the inventory data can also be determined. If one of the units or storage locations in the inventory area has a bin identification code in the inventory data and inventory data, If they are inconsistent, it is determined that the unit, the unit where the storage location unit is located, or the storage location unit is the unit to be inspected. Among them, the unit where the storage location unit is located is the unit that includes the storage location unit, and the range corresponding to the unit is where the inventory robot is located. The scope of identification when taking inventory.

在一個實施例中，盤點資料以及庫存資料中的料箱識別碼不一致可以為庫存資料中的料箱識別碼未存在於盤點資料中。In one embodiment, the inconsistency between the bin identification codes in the inventory data and the inventory data may be due to the fact that the bin identification codes in the inventory data do not exist in the inventory data.

在一個實施例中，單元在盤點資料以及庫存資料中的料箱識別碼不一致可以包括單元在盤點資料以及庫存資料中對應的料箱識別碼的數量不一致，例如，對於識別範圍相對確定的料箱識別裝置，例如，用作圖像採集設備的照相機，並且盤點機器人等用於控制該料箱識別裝置的設施運作都非常穩定，使得在進行該單元盤點時，發生串讀的可能性很小，則當在該單元對應的位置處讀取到的料箱識別碼與庫存資料中對應的料箱識別碼的數量不一致時，則可以確定該單元在盤點資料以及庫存資料中的料箱識別碼不一致。In one embodiment, the inconsistency in the unit's bin identification codes in the inventory data and inventory data may include the inconsistency in the number of the unit's corresponding bin identification codes in the inventory data and inventory data. For example, for bins with a relatively certain identification range The identification device, such as a camera used as an image acquisition device, and the facilities such as inventory robots used to control the bin identification device operate very stably, so that the possibility of cross-reading is very small when the unit is inventoried. Then when the quantity of the bin identification code read at the corresponding position of the unit is inconsistent with the quantity of the corresponding bin identification code in the inventory data, it can be determined that the bin identification code of the unit in the inventory data and inventory data is inconsistent. .

在一個實施例中，單元在盤點資料以及庫存資料中的料箱識別碼不一致可以包括：單元在盤點資料中對應的多個料箱識別碼中的至少一個與單元在庫存資料中對應的多個料箱識別碼不一致，例如，當料箱識別裝置為RFID等電子標籤讀碼器時，很容易發生串讀，則可以通過這種方式確定單元在盤點資料以及庫存資料中的料箱識別碼不一致。In one embodiment, the inconsistency between the bin identification codes of the unit in the inventory data and the inventory data may include: at least one of the multiple bin identification codes corresponding to the unit in the inventory data and the multiple bin identification codes corresponding to the unit in the inventory data. The bin identification codes are inconsistent. For example, when the bin identification device is an electronic tag reader such as RFID, cross reading can easily occur. In this way, it can be determined that the bin identification codes of the unit in the inventory data and inventory data are inconsistent. .

示例性的，以單元包括2行2列的庫位，即4個庫位元為例，庫存資料中單元001對應的料箱識別碼為LX01、LX02、LX10和LX11，盤點資料中單元001對應的料箱識別碼為LX01、LX02、LX10和LX12，由於LX11和LX12不一致，則確定單元001內的各庫位為待檢查庫位，或者確定LX11或LX12對應的庫位為其中一個待檢查庫位。For example, taking the unit including 2 rows and 2 columns of storage locations, that is, 4 storage locations, the bin identification codes corresponding to unit 001 in the inventory data are LX01, LX02, LX10 and LX11, and the corresponding bin identification codes for unit 001 in the inventory data The bin identification codes are LX01, LX02, LX10 and LX12. Since LX11 and LX12 are inconsistent, determine each location in unit 001 as the location to be inspected, or determine the location corresponding to LX11 or LX12 as one of the locations to be inspected. Bit.

在一個實施例中在一個實施例中，可以針對每個盤點區域的各個盤點庫位元，比對該盤點庫位元在盤點資料和庫存資料中對應的料箱識別碼，判斷兩者是否一致，若不一致，即盤點庫位元在盤點資料和庫存資料中對應的料箱識別碼不一致，則確定該盤點庫位元所在的單元為待檢查單元。其中，盤點庫位元為盤點區域中被盤點機器人盤點的庫位元，可以由倉儲系統、調度設備或倉儲系統或者由操作人員確定各個盤點區域的盤點庫位元。In one embodiment, for each inventory location in each inventory area, the bin identification code corresponding to the inventory location in the inventory data and inventory data can be compared to determine whether the two are consistent. , if they are inconsistent, that is, the corresponding bin identification codes of the inventory location unit in the inventory data and inventory data are inconsistent, then the unit where the inventory location unit is located is determined to be the unit to be inspected. Among them, the inventory location is the location that is counted by the inventory robot in the inventory area. The inventory location of each inventory area can be determined by the warehousing system, dispatching equipment or warehousing system or by the operator.

在一個實施例中，針對每個盤點單元，若某個盤點單元在盤點資料中對應的料箱識別碼集合中，有某個料箱識別碼未存在於該盤點單元在庫存資料中對應的料箱識別碼內（該盤點單元在庫存資料中對應的料箱識別碼可以為一個或多個，這視乎盤點單元包含的庫位元數量），並且該料箱識別碼不是在該盤點單元附近放置的料箱識別碼（例如，該未存在的料箱識別碼對應的庫位元離該盤點單元或該盤點單元所在的盤點區域超過閾值距離，該閾值距離可以是料箱識別裝置可能採集到的範圍或在此範圍上再疊加一個裕度），則確定該料箱識別碼為錯放料箱識別碼。可以將該錯放料箱識別碼記錄下來用於後續查找料箱，也可以將庫存資料中錯放料箱識別碼本應存放的庫位確定為待檢查庫位。In one embodiment, for each inventory unit, if a certain inventory unit is in the corresponding bin identification code set in the inventory data, there is a bin identification code that does not exist in the inventory data corresponding to the inventory unit. Within the box identification code (the box identification code corresponding to the inventory data in the inventory data can be one or more, depending on the number of locations included in the inventory unit), and the box identification code is not near the inventory unit The placed bin identification code (for example, the location corresponding to the non-existent bin identification code is more than a threshold distance from the inventory unit or the inventory area where the inventory unit is located. The threshold distance can be the bin identification device that may collect it. range (or a margin is added to this range), then the bin identification code is determined to be a misplaced bin identification code. The identification code of the misplaced bin can be recorded for subsequent search of the bin, or the location where the identification code of the misplaced bin should be stored in the inventory data can be determined as the location to be inspected.

在一個實施例中，若同一錯放料箱識別碼存在於多個待檢查單元，則確定該多個待檢查單元的交集為待檢查範圍，待檢查範圍內的各個庫位為待檢查庫位，以對該待檢查範圍內的各個庫位進行檢查，以確定存放錯亂的料箱。In one embodiment, if the same misplaced bin identification code exists in multiple units to be inspected, the intersection of the multiple units to be inspected is determined to be the range to be inspected, and each location within the range to be inspected is the location to be inspected. , to inspect each storage location within the scope to be inspected to determine the disordered storage of bins.

示例性的，圖3F為本公開圖2所示實施例中待檢查範圍確定的示意圖，如圖3F所示，已經確定單元381和單元382中均存在錯放料箱識別碼，即單元381和單元382均為待檢查單元，單元381和單元382包括的庫位元參見圖3E所示，單元381和單元382的交集為庫位K31和庫位K32，則可以確定待檢查範圍為庫位K31和庫位K32。Exemplarily, Figure 3F is a schematic diagram of the determination of the scope to be inspected in the embodiment shown in Figure 2 of the present disclosure. As shown in Figure 3F, it has been determined that misplaced bin identification codes exist in both units 381 and 382, that is, units 381 and 382 Units 382 are both units to be inspected. The location elements included in unit 381 and unit 382 are shown in Figure 3E. The intersection of unit 381 and unit 382 is location K31 and location K32, then it can be determined that the range to be inspected is location K31. and location K32.

在一個實施例中，調度設備或倉儲系統在接收到各個盤點區域的盤點資料之後，還可以根據盤點資料中的料箱識別碼佇列，確定盤點資料中各個料箱識別碼對應的庫位。其中，料箱識別碼佇列包括盤點資料中的各個料箱識別碼。In one embodiment, after receiving the inventory data of each inventory area, the dispatching equipment or the warehousing system can also determine the storage location corresponding to each container identification code in the inventory data based on the queue of container identification codes in the inventory data. Among them, the bin identification code queue includes each bin identification code in the inventory data.

由於盤點機器人在執行盤點指令，即對對應的盤點區域進行盤點的過程是盤點機器人自發進行的，調度設備或倉儲系統無需即時控制盤點機器人所盤點的庫位，而是由盤點機器人基於所設置的盤點程式以及接收的盤點指令，自行進行盤點區域的盤點。故而，由於盤點機器人的行走控制精度的波動、料箱識別裝置的識別範圍過大等，導致盤點資料中可能會存在一個庫位對應多個料箱識別碼的現象。則調度設備或倉儲系統在接收到盤點資料之後，還可以根據盤點資料中各個料箱識別碼對應的信號強度，確定各個盤點庫位元在盤點資料中對應的料箱識別碼。Since the inventory robot is executing the inventory instructions, that is, the process of inventorying the corresponding inventory area is carried out spontaneously by the inventory robot, the dispatching equipment or warehousing system does not need to control the inventory location of the inventory robot in real time, but the inventory robot is based on the set location. The inventory program and the inventory instructions received will automatically perform inventory in the inventory area. Therefore, due to fluctuations in the walking control accuracy of the inventory robot and the excessive recognition range of the bin identification device, there may be a phenomenon in the inventory data that one location corresponds to multiple bin identification codes. After receiving the inventory data, the dispatching equipment or warehousing system can also determine the bin identification code corresponding to each inventory location unit in the inventory data based on the signal strength corresponding to each bin identification code in the inventory data.

在一個實施例中，針對在盤點資料中對應多個料箱識別碼的盤點庫位，可以刪除該盤點庫位元在盤點資料中信號強度小於第一強度閾值的料箱識別碼。其中，第一強度閾值可以根據現場測試值而確定。In one embodiment, for the inventory location corresponding to multiple bin identification codes in the inventory data, the bin identification code whose signal strength is less than the first intensity threshold in the inventory data can be deleted. Wherein, the first intensity threshold can be determined based on field test values.

進一步地，針對在盤點資料中對應多個料箱識別碼的盤點庫位元，可以根據盤點庫位元的位置以及盤點庫位元在盤點資料中對應的多個料箱識別碼的信號強度，對盤點庫位元在盤點資料中對應的多個料箱識別碼進行篩選，以減少盤點庫位元在盤點資料中對應的料箱識別碼的數量。Further, for the inventory location unit corresponding to multiple bin identification codes in the inventory data, the location of the inventory location unit and the signal strength of the multiple bin identification codes corresponding to the inventory location unit in the inventory data can be used. Filter the multiple bin identification codes corresponding to the inventory location units in the inventory data to reduce the number of bin identification codes corresponding to the inventory location units in the inventory data.

例如，盤點機器人採用多庫位元模式進行盤點，料箱識別裝置為RFID採集器，盤點單元為2行2列的庫位（此時盤點機器人的識別範圍大致為2行2列個庫位）。經測試，當料箱識別裝置對準一個盤點單元時，採集到的來自盤點單元上放置料箱的RFID標籤的信號強度在0.5-1.2之間波動，則可以設置信號強度閾值為0.3。當收到信號強度低於0.3的料箱識別碼時，可以確定它並非來自正在採集的盤點單元，而應屬串讀而來的料箱識別碼，可以直接將它刪除。For example, the inventory robot uses a multi-storage location mode to perform inventory. The bin identification device is an RFID collector, and the inventory unit is a location with 2 rows and 2 columns (at this time, the identification range of the inventory robot is roughly 2 rows and 2 columns). . After testing, when the bin identification device is aimed at an inventory unit, the collected signal strength from the RFID tag placed on the bin on the inventory unit fluctuates between 0.5-1.2, then the signal strength threshold can be set to 0.3. When a bin identification code with a signal strength lower than 0.3 is received, it can be determined that it does not come from the inventory unit being collected, but should be a bin identification code read serially, and it can be deleted directly.

在一個實施例中，可以根據盤點庫位元的位置與設定位置點的最小距離，確定盤點庫位對應的料箱識別碼的信號強度範圍。在一個實施例中，設定位置點是採集器所在位置。在一個實施例中，設定位置點是一個根據採集器所在位置而設定的位置點，例如，系統並不獲取採集器所在位置，但能獲取到一個參數，該參數對應採集器應在的大體位置。基於盤點庫位對應的料箱識別碼的信號強度範圍對盤點庫位元在盤點資料中對應的多個料箱識別碼進行篩選，以刪除超出對應的信號強度範圍的料箱識別碼。In one embodiment, the signal strength range of the bin identification code corresponding to the inventory location can be determined based on the minimum distance between the location of the inventory location and the set location point. In one embodiment, the set location point is the location of the collector. In one embodiment, the set location point is a location point set based on the location of the collector. For example, the system does not obtain the location of the collector, but can obtain a parameter that corresponds to the general location where the collector should be. . Based on the signal strength range of the bin identification codes corresponding to the inventory location, filter the multiple bin identification codes corresponding to the inventory location in the inventory data to delete bin identification codes that exceed the corresponding signal strength range.

為了提高庫位元檢查的效率，待檢查單元可以包括盤點資料與庫存資料中料箱識別碼不一致的各個問題庫位，以及料箱識別碼佇列中問題庫位元對應的料箱識別碼前後一個或多個料箱識別碼對應的庫位。In order to improve the efficiency of inventory location inspection, the units to be inspected can include each problematic location where the bin identification codes in the inventory data are inconsistent with the inventory data, as well as the bin identification codes before and after the bin identification codes corresponding to the problematic bin locations in the bin identification code queue. The storage location corresponding to one or more bin identification codes.

在一個實施例中，選擇具有適當識別範圍的料箱識別裝置341，以使得基於信號強度足以排除串讀，則可以將盤點資料與庫存資料中料箱識別碼不一致的庫位確定為問題庫位。In one embodiment, the bin identification device 341 with an appropriate identification range is selected so that based on the signal strength being sufficient to exclude cross reading, the location where the bin identification code in the inventory data is inconsistent with the inventory data can be determined as a problem location. .

在一個實施例中，料箱識別裝置341的識別範圍為小於或基本等於一個料箱的物理尺寸，以使得串讀得到的料箱識別碼的信號強度遠低於放置在該庫位上的料箱的料箱識別碼強度，則可以將盤點資料與庫存資料中料箱識別碼不一致的庫位確定為問題庫位。In one embodiment, the identification range of the bin identification device 341 is less than or substantially equal to the physical size of a bin, so that the signal strength of the bin identification code obtained by serial reading is much lower than that of the bin identification code placed on the storage location. If the strength of the bin identification code of the box is determined, the location where the bin identification code in the inventory data is inconsistent with the inventory data can be determined as a problem location.

在一個實施例中，料箱識別裝置為圖像識別設備，例如照相機。此時，料箱識別裝置根據識別範圍（即視野）內採集到的料箱識別碼（即條碼、二維碼等圖形標識碼）來確定是否存在相應料箱，且料箱識別裝置具有較為確定的識別範圍。因此，可以通過採集到的料箱識別碼在識別範圍內的位置，來確定是否處於串讀而來的料箱識別碼。例如，盤點為單庫位元模式，經測試，當料箱識別裝置對準某庫位元時，採集到的料箱識別碼都位於以識別範圍為圓心、3釐米為半徑的圓內，則可以確定一預設位置範圍為以識別範圍中心為圓心、5釐米為半徑的圓，超過這一識別範圍的料箱識別碼為串讀到的料箱識別碼，可以直接從採集結果中刪除。又例如，盤點為多庫位元模式，盤點單元為同一行三個庫位元，料箱識別裝置的識別範圍大致為同一行三個庫位。經測試，當料箱識別裝置對準一個盤點單元時，採集到的料箱識別碼都位於以識別範圍中心為中心，以10釐米為長、3釐米為寬的長方形內，則可以確定一預設位置範圍為以識別範圍中心為中心，以15釐米為長、5釐米為寬的長方形，超過這一識別範圍的料箱識別碼為串讀到的料箱識別碼，可以直接從採集結果中刪除。在一個實施例中，識別範圍為長方形的圖像識別設備可以通過遮擋視野的一部分來實現。應該理解，上述識別範圍及預設位置範圍僅為示例，其形狀、大小可以根據實際情況而確定。In one embodiment, the bin recognition device is an image recognition device, such as a camera. At this time, the bin identification device determines whether there is a corresponding bin based on the bin identification code (i.e. barcode, QR code and other graphic identification codes) collected within the identification range (i.e. the field of view), and the bin identification device has a relatively certain recognition range. Therefore, whether the collected bin identification code is in the identification range can be determined by the position of the collected bin identification code. For example, the inventory is in single storage unit mode. After testing, when the bin identification device is aimed at a certain bin location, the collected bin identification codes are all located within a circle with the identification range as the center and a radius of 3 cm. Then A preset position range can be determined as a circle with the center of the recognition range as the center and a radius of 5 cm. The bin identification codes exceeding this recognition range are the bin identification codes read by the string and can be directly deleted from the collection results. For another example, if the inventory is in multi-location mode, the inventory unit is three locations in the same row, and the identification range of the bin identification device is roughly three locations in the same row. After testing, when the bin identification device is aligned with an inventory unit, the collected bin identification codes are all located within a rectangle with the center of the identification range as the center and a length of 10 cm and a width of 3 cm, then a predetermined bin identification code can be determined. Assume that the location range is a rectangle with the center of the identification range as the center and 15 cm as the length and 5 cm as the width. The bin identification codes beyond this identification range are the bin identification codes read by the string, which can be directly obtained from the collection results. delete. In one embodiment, recognizing an image recognition device with a rectangular range can be achieved by blocking a part of the field of view. It should be understood that the above recognition range and preset position range are only examples, and their shape and size can be determined according to actual conditions.

在一個實施例中在一個實施例中，在確定各個目標庫位元之後，可以根據各個目標庫位元的位置座標，生成檢查機器人的檢查指令，以控制一個或多個檢查機器人進行目標庫位元上存放的料箱的檢查。在一個實施例中，檢查機器人可以為任意一個空閒的機器人，如上述盤點機器人，或者可以為與盤點機器人類型不同的機器人，還可以為專門設置的用於進行庫位檢查的機器人。In one embodiment, after each target storage location is determined, an inspection instruction for the inspection robot can be generated according to the position coordinates of each target storage location to control one or more inspection robots to carry out the target storage location. Inspection of material boxes stored on the unit. In one embodiment, the inspection robot can be any idle robot, such as the above-mentioned inventory robot, or it can be a robot of a different type than the inventory robot, or it can also be a robot specially configured for inventory location inspection.

本公開實施例提供的料箱盤點方法，基於盤點區域的盤點指令控制盤點機器人進行該盤點區域的盤點，得到該盤點區域的盤點資料，該盤點資料包括所盤點的多個庫位上存放的料箱的料箱識別碼組成的料箱識別碼佇列；在盤點完畢時，基於該盤點區域的盤點資料以及預先存儲的該盤點區域的庫位元資料，判斷該盤點區域是否存在需要進一步檢查的待檢查庫位，從而實現了基於區域的批量盤點，提高了盤點效率，同時，通過盤點實現了對存在放錯的料箱的盤點區域的覆核，從而保證料箱出庫任務順利無誤地進行，提高了出庫任務的作業效率。The material box inventory method provided by the embodiment of the present disclosure controls the inventory robot to perform inventory of the inventory area based on the inventory instructions of the inventory area, and obtains inventory data of the inventory area. The inventory data includes the inventory of materials stored in multiple storage locations. The container identification code queue consists of the container identification code of the box; when the inventory is completed, based on the inventory data of the inventory area and the pre-stored location metadata of the inventory area, it is judged whether there are items in the inventory area that need further inspection. The inventory location to be inspected has been implemented to implement area-based batch inventory, which improves inventory efficiency. At the same time, the inventory can be used to review the inventory areas where misplaced bins exist, thereby ensuring that the task of shipping out bins goes smoothly. Improved the efficiency of outbound tasks.

一些倉庫使用多深位元貨架，以提高存儲密度，如使用雙深位貨架。圖3G為本公開一個實施例提供的多深位貨架的批量盤點的示意圖，如圖3G所示，在圖3G所示的多深位貨架390中，一行貨架上放置著四排料箱，無論從貨架哪一側進行取貨，機器人都必須挪開一個料箱，才能取到位於貨架深處的料箱。對多深位貨架進行盤點時，當料箱識別裝置的識別範圍能夠精準確定時，可以精準確定識別範圍會涉及哪些料箱，則可以以盤點單元為單位，對多深位元貨架進行盤點，如圖3G所示。此時的“盤點單元”為立體的，可以包括位於貨架深處的庫位，如包括貨架深度(D)、長度和高度(H)三個互相垂直的方向的庫位。Some warehouses use multi-deep racks to increase storage density, such as double-deep racks. Figure 3G is a schematic diagram of batch inventory of a multi-depth shelf provided by an embodiment of the present disclosure. As shown in Figure 3G, in the multi-depth shelf 390 shown in Figure 3G, four rows of bins are placed on one row of shelves. To pick up goods from any side of the shelf, the robot must move a box to get to the box deep in the shelf. When inventorying multi-depth shelves, when the identification range of the bin identification device can be accurately determined, and which bins will be involved in the identification range, the inventory of multi-depth shelves can be carried out based on the inventory unit. As shown in Figure 3G. At this time, the "inventory unit" is three-dimensional and can include storage locations located deep in the shelf, such as storage locations that include three mutually perpendicular directions of shelf depth (D), length, and height (H).

當難以準確確定料箱識別裝置的識別範圍時，即，難以確定料箱識別裝置在某次識別中的識別範圍涉及哪些料箱時，則可以以整個貨架或貨架的一部分為單位，將所採集到的料箱識別碼作為一個整體，去重後形成料箱識別碼佇列，直接發送給資訊系統。When it is difficult to accurately determine the identification range of the bin identification device, that is, when it is difficult to determine which bins are involved in the identification range of the bin identification device in a certain identification, the collected bins can be collected based on the entire shelf or a part of the shelf. The received bin identification codes are taken as a whole, and after deduplication, a queue of bin identification codes is formed and sent directly to the information system.

在一個實施例中，料箱識別裝置為RFID識別裝置，且該料箱識別裝置的天線經設計，以使得識別範圍能包含同一行在貨架深處的一到兩個料箱，但不會涉及放置在其他行的料箱，則可以以貨架的一整行為單位，將對這一整行盤點採集到的料箱識別碼為一個整體，去重後形成料箱識別碼佇列，直接發送給資訊系統。應該理解，對雙深位貨架同一行庫位的盤點，可以只在貨架的一側進行，也可以分別從貨架的兩側。並且，從貨架兩側分別進行盤點可以為：從貨架的一側盤點完所有行後，再繞到貨架另一側盤點完所有行，由機器人或資訊系統對採集到的料箱識別碼按行進行拼接，再根據拼接所得的料箱識別碼佇列判斷盤點是否成功。In one embodiment, the bin identification device is an RFID identification device, and the antenna of the bin identification device is designed so that the identification range can include one or two bins in the same row deep in the shelf, but will not involve For bins placed in other rows, the bin identification codes collected from the inventory of this entire row can be combined into a whole in the unit of a whole row of the shelf. After deduplication, a queue of bin identification codes is formed and sent directly to information systems. It should be understood that the inventory of the same row of double-deep shelves can be carried out only on one side of the shelf, or from both sides of the shelf. Moreover, the inventory from both sides of the shelf can be: after counting all the rows from one side of the shelf, then going around to the other side of the shelf to complete the inventory of all rows, the robot or information system will sort the collected box identification codes by row. Carry out splicing, and then queue up to determine whether the inventory is successful based on the spliced bin identification codes.

應該理解，上述關於雙深位貨架的盤點方法，同樣適用於其他多深位貨架。It should be understood that the above inventory method for double-deep shelves is also applicable to other multi-deep shelves.

圖3H為本公開一個實施例提供的多深位貨架的交叉盤點的示意圖，如圖3H所示，在對多深位貨架進行盤點時，為了盤點到貨架深處的庫位，往往需使用識別範圍較大的料箱識別裝置，使得串讀通常較為嚴重。為了提高盤點的準確度，可以使用交叉盤點的方法，去除掉串讀的料箱識別碼。例如，使用識別範圍足以覆蓋同一行上位於所有深度的料箱，從貨架一側對貨架進行盤點後，再從貨架另一側對貨架進行盤點，再將兩次盤點而得的料箱識別碼佇列取交集，得到較為準確的貨架上存放料箱的料箱識別碼。此時的盤點一般為多庫位元模式，即盤點指令控制盤點機器人對盤點區域以盤點單元為單位進行盤點，則料箱識別碼佇列由多個料箱識別碼集合組成，每個料箱識別碼集合對應於一個盤點單元，或料箱識別碼集合與所述盤點單元一一對應，盤點單元由料箱識別裝置的識別範圍確定。在這種情況下，對兩次盤點得到的料箱識別碼佇列取交集，是對相對應的料箱識別碼集合分別取交集。也就是說，在兩次盤點得到的兩個料箱識別碼佇列中，每一個盤點單元都應該對應著兩個料箱識別碼集合，將這樣兩個料箱識別碼集合取交集，稱取交集後得到的結果為交叉料箱識別碼集合，再將各交叉料箱識別碼集合組合起來，得到交叉盤點佇列。這一交叉盤點佇列就是對貨架進行交叉盤點得到的結果，是後續確定是否存在待檢查庫位的依據。應該理解，上述的交叉盤點方法適用於所有多庫位元模式盤點，而不僅限於對多深位貨架的盤點。Figure 3H is a schematic diagram of cross-inventory of multi-deep shelves provided by an embodiment of the present disclosure. As shown in Figure 3H, when taking inventory of multi-deep shelves, in order to inventory the storage locations deep in the shelf, it is often necessary to use identification The larger range of bin identification devices makes cross-reading usually more serious. In order to improve the accuracy of the inventory, the cross-count method can be used to remove the cross-read bin identification codes. For example, using an identification range sufficient to cover bins at all depths on the same row, count the shelves from one side of the shelf, then count the shelves from the other side, and then use the bin identification codes obtained from the two counts Queue and intersect to obtain a more accurate identification number of the bins stored on the shelf. The inventory at this time is generally in the multi-unit mode, that is, the inventory instruction controls the inventory robot to inventory the inventory area in units of inventory units. The bin identification code queue is composed of multiple bin identification code sets. Each bin The identification code set corresponds to an inventory unit, or the bin identification code set corresponds to the inventory unit one-to-one, and the inventory unit is determined by the identification range of the bin identification device. In this case, the intersection of the queues of bin identification codes obtained from two counts is the intersection of the corresponding bin identification code sets. That is to say, in the two queues of bin identification codes obtained by two counts, each inventory unit should correspond to two bin identification code sets. The intersection of these two bin identification code sets is called The result obtained after the intersection is a set of cross-bin identification codes, and then the cross-bin identification code sets are combined to obtain a cross-count queue. This cross-count queue is the result of cross-counting the shelves, and is the basis for subsequent determination of whether there is a storage location to be inspected. It should be understood that the above-mentioned cross-counting method is applicable to all multi-location model counting, and is not limited to counting of multi-deep shelves.

在一個實施例中，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述盤點機器人的料箱識別裝置為間斷地開啟；所述料箱識別裝置在移動至對應的盤點單元的預設位置時被開啟，所述料箱識別碼集合由每次開啟時採集到的料箱識別碼組成。In one embodiment, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin identification device moves to the corresponding The inventory unit is opened at a preset position, and the bin identification code set is composed of bin identification codes collected each time it is opened.

在一個實施例中，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼所對應的採集時間點的差值小於預設值，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。In one embodiment, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the identification codes of two adjacent bins are collected, If the difference between the corresponding collection time points is less than the preset value, the two bin identification codes are classified into the same bin identification code set.

在一個實施例中，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼被採集時所述料箱識別裝置的位置的距離小於預設距離，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。In one embodiment, when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the identification codes of two adjacent bins are collected, If the distance between the positions of the bin identification devices when being collected is less than the preset distance, then the two bin identification codes are classified into the same bin identification code set.

在一個實施例中，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。In one embodiment, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

在一個實施例中，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：對於所述盤點區域中的每一盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別集合中，則確定所述盤點單元不存在所述待檢查庫位；若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: for each inventory unit in the inventory area, when If the bin identification codes corresponding to the inventory unit in the inventory data are all present in the bin identification set corresponding to the inventory unit, then it is determined that the inventory location does not exist in the inventory location to be inspected; if the If the storage location to be inspected does not exist in each inventory counting unit in the inventory counting area, it is determined that there is no storage location to be inspected in the inventory counting area.

在一個實施例中，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元；若所述盤點區域的各個盤點單元中存在所述第一單元，則確定所述盤點區域存在待檢查庫位元；其中，第一單元為對應的庫存資料中存在缺失料箱識別碼的盤點單元，所述缺失料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and all the inventory data corresponding to the inventory area. The inventory data is used to determine whether the first unit exists in each inventory unit of the inventory area; if the first unit exists in each inventory unit of the inventory area, it is determined that there is a storage location unit to be inspected in the inventory area; Among them, the first unit is an inventory unit with a missing bin identification code in the corresponding inventory data. The missing bin identification code does not exist in the bin identification code set corresponding to the first unit. The library to be inspected The bit units include each bin unit corresponding to the first unit.

在一個實施例中，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元；若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元；其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data corresponding to the inventory area includes: based on the inventory data and all the inventory data corresponding to the inventory area. Described inventory data is used to determine whether the second unit exists in each inventory unit of the inventory area; if the second unit exists in each inventory unit of the inventory area, it is determined that there is a storage location unit to be inspected in the inventory area; Wherein, the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the The distance between the storage location element corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds the second preset distance, and the storage location element to be inspected includes each storage location element corresponding to the second unit.

在一些實施例中，當確定盤點區域存在待檢查庫位元時，該方法還包括確定該盤點區域的待檢查庫位元或待檢查單元的步驟。具體為，根據該盤點區域對應的盤點資料和庫存資料，確定該盤點區域的待檢查庫位元或待檢查單元。In some embodiments, when it is determined that a storage location to be inspected exists in the inventory area, the method further includes the step of determining a storage location to be inspected or a unit to be inspected in the inventory area. Specifically, based on the inventory data and inventory data corresponding to the inventory area, the storage locations or units to be inspected in the inventory area are determined.

可選的，圖4為本公開一個實施例提供的確定待檢查單元步驟的流程圖，如圖4所示，確定待檢查單元的步驟，即上述步驟S204可以具體包括以下步驟： 步驟S401，根據所述盤點區域的盤點資料中各個料箱識別碼的採集順序，確定所述盤點區域內各個盤點單元分別對應的料箱識別碼。 Optionally, Figure 4 is a flow chart of the steps of determining the unit to be inspected provided by an embodiment of the present disclosure. As shown in Figure 4, the step of determining the unit to be inspected, that is, the above-mentioned step S204, may specifically include the following steps: Step S401: Determine the bin identification codes corresponding to each inventory unit in the inventory area according to the collection sequence of each bin identification code in the inventory data in the inventory area.

其中，採集順序為盤點機器人的料箱識別裝置採集或識別各個料箱識別碼的順序。The collection sequence is the order in which the bin identification device of the inventory robot collects or identifies the identification codes of each bin.

在一個實施例中，盤點資料中可以包括各個料箱識別碼的採集順序。In one embodiment, the inventory data may include the collection sequence of each bin identification code.

在一個實施例中，針對每個盤點區域的盤點資料，根據該盤點資料或該盤點資料的料箱識別碼佇列中各個料箱識別碼的採集順序，確定該盤點區域的各個單元或者各個庫位元對應的料箱識別碼。In one embodiment, for the inventory data of each inventory area, each unit or each library of the inventory area is determined based on the inventory data or the collection order of each bin identification code in the bin identification code queue of the inventory data. The bin identification code corresponding to the bit.

在一個實施例中，採集順序中的一個次序可能對應一個或多個料箱識別碼。In one embodiment, one order in the collection sequence may correspond to one or more bin identification codes.

在一個實施例中，可以由盤點機器人確定各個料箱識別碼的採集順序，並按照採集順序將所採集或識別的料箱識別碼組成一個料箱識別碼佇列。In one embodiment, the inventory robot can determine the collection sequence of each bin identification code, and form a bin identification code queue with the collected or recognized bin identification codes according to the collection order.

進一步地，盤點機器人可以根據各個料箱識別碼的採集或識別的時間，確定各個料箱識別碼的採集順序。Further, the inventory robot can determine the collection order of each bin identification code based on the time of collection or identification of each bin identification code.

進一步地，可以根據盤點機器人採集該料箱識別碼時，盤點機器人當前的位置座標以及取放貨裝置當前的高度，確定每個料箱識別碼在採集順序中的次序。 表1 料箱識別碼佇列中的料箱識別碼表 盤點機器人0045 採集順序 001 002 003 004 005 006 料箱識別碼 LXA01 LXA02 LXA03 LXA02 LXA03 LXA04 LXA05 LXA06 Further, the order of each container identification code in the collection sequence can be determined based on the current position coordinates of the inventory robot and the current height of the picking and placing device when the inventory robot collects the container identification code. Table 1 Bin identification code table in the bin identification code queue Inventory robot 0045 Collection order 001 002 003 004 005 006 Bin identification code LXA01 LXA02 LXA03 LXA02 LXA03 LXA04 LXA05 LXA06

示例性的，表1為料箱識別碼佇列中的料箱識別碼表，如表1所示，盤點機器人0045所需盤點的庫位或對應的盤點庫位為庫位001至庫位006，盤點機器人0045，上報的盤點資料中的料箱識別碼佇列為LXA01、LXA02和LXA03、LXA02和LXA03、LXA04、LXA05和LXA06，料箱識別碼中的“LX”代表所標識的是料箱，料箱識別碼中“LX”後面的編碼可以根據料箱內存放的物料確定，如“A”表示積木玩具中的A類型的積木，料箱識別碼中的數字可以為一個不重複的亂數或自增數，還可以根據生產批次或物料到達倉儲系統的時間確定。For example, Table 1 is a table of bin identification codes in the bin identification code queue. As shown in Table 1, the inventory locations required by inventory robot 0045 or the corresponding inventory locations are location 001 to location 006. , inventory robot 0045, the material box identification codes in the reported inventory data are listed as LXA01, LXA02 and LXA03, LXA02 and LXA03, LXA04, LXA05 and LXA06. The "LX" in the material box identification code means that the material identified is box. The code after "LX" in the box identification code can be determined according to the materials stored in the box. For example, "A" represents the A-type building blocks in building block toys. The number in the box identification code can be a non-repeating number. Random numbers or self-increasing numbers can also be determined based on the production batch or the time when the material arrives at the warehousing system.

在一個實施例中，可以由調度設備或倉儲系統根據盤點資料中各個料箱識別碼的採集時間確定各個料箱識別碼的採集順序。In one embodiment, the dispatching device or the warehousing system can determine the collection order of each bin identification code based on the collection time of each bin identification code in the inventory data.

在一個實施例中，針對每個盤點區域的盤點資料，調度設備或倉儲系統可以從盤點資料中提取各個料箱識別碼以及各個料箱識別碼的採集順序，進而可以根據該盤點資料中各個料箱識別碼的採集順序，確定各個料箱識別碼對應的單元或各個單元對應的料箱識別碼。In one embodiment, for the inventory data of each inventory area, the dispatching device or the warehousing system can extract each bin identification code and the collection sequence of each bin identification code from the inventory data, and then can extract each bin identification code according to the inventory data. The collection sequence of box identification codes determines the unit corresponding to each box identification code or the box identification code corresponding to each unit.

在一個實施例中，盤點機器人在達到對應的盤點區域時，可以按照預設的盤點順序對盤點區域的各個盤點庫位元或各個單元進行盤點，盤點順序即機器人盤點各個盤點庫位元的順序。In one embodiment, when the inventory robot reaches the corresponding inventory area, it can inventory each inventory location or unit in the inventory area according to the preset inventory sequence. The inventory sequence is the order in which the robot counts each inventory location. .

其中，盤點順序可以包括盤點區域內的各個存儲貨架盤點的順序，以及每個存儲貨架上各個盤點庫位元或單元盤點的順序。The inventory order may include the order of inventory of each storage shelf in the inventory area, and the order of inventory of each storage location or unit on each storage shelf.

在一個實施例中，當盤點區域包括多個存儲貨架時，盤點指令中可以僅包括各個存儲貨架盤點的順序，如指定各個存儲貨架盤點的順序以及各個存儲貨架的盤點起點，以控制盤點機器人依次前往各個存儲貨架的盤點起點，進行各個存儲貨架的盤點。In one embodiment, when the inventory area includes multiple storage shelves, the inventory instruction may only include the order of inventory of each storage shelf, such as specifying the order of inventory of each storage shelf and the starting point of inventory of each storage shelf to control the inventory robot in sequence. Go to the inventory starting point of each storage shelf and conduct an inventory of each storage shelf.

在一個實施例中，盤點順序可以由調度設備或倉儲系統指定，並存儲在盤點指令中。In one embodiment, the inventory order may be specified by the dispatching device or the warehousing system and stored in the inventory instruction.

示例性的，盤點機器人在盤點存儲貨架時可以按層進行，如盤點順序可以為按照庫位元所在的層由高到低、首尾相接的順序，即盤點機器人按照庫位所在的層由高到低、首尾相接的方式依次盤點存儲貨架各層的各個庫位元或依次盤點各個單元。每個存儲貨架的盤點順序還可以按列進行，如盤點順序可以為按照庫位元所在的列由近及遠、首尾相接的順序，即盤點機器人按照庫位所在的列由近及遠、首位相接的方式依次盤點存儲貨架各列的各個庫位元或依次盤點各個單元。For example, the inventory robot can perform inventory by layer when inventorying storage shelves. For example, the inventory sequence can be from high to low and end to end according to the layer where the storage location is located. That is, the inventory robot can perform inventory according to the layer where the storage location is located from high to low. Inventory each location unit on each level of the storage shelf or each unit in sequence in a low-to-low, end-to-end manner. The inventory order of each storage shelf can also be carried out in columns. For example, the inventory order can be from near to far and end to end according to the column where the storage location is located. That is, the inventory robot will follow the column of the storage location from near to far. Inventory each location in each column of the storage shelf sequentially or each unit sequentially in a first-to-first-order manner.

在一個實施例中，可以根據盤點資料中的機器人標識碼確定盤點資料對應的盤點區域。In one embodiment, the inventory area corresponding to the inventory data can be determined based on the robot identification code in the inventory data.

在一個實施例中，針對每個盤點資料，調度設備或倉儲系統可以根據盤點資料中各個料箱識別碼的採集順序以及上報該盤點資料的盤點機器人的盤點順序，確定各個庫位元或各個單元對應的料箱識別碼。In one embodiment, for each inventory data, the dispatching device or the warehousing system can determine each storage location or each location based on the collection sequence of each bin identification code in the inventory data and the inventory sequence of the inventory robot that reports the inventory data. The bin identification code corresponding to the unit.

在一個實施例中，可以通過將盤點順序與採集順序一一對應的方式，確定各個庫位元或各個單元對應的料箱識別碼。即盤點順序和採集順序中次序相同的盤點庫位與料箱識別碼相對應。In one embodiment, the bin identification code corresponding to each storage location or each unit can be determined by one-to-one correspondence between the inventory sequence and the collection sequence. That is, the inventory locations with the same order in the inventory sequence and collection sequence correspond to the bin identification codes.

當盤點機器人的料箱識別裝置的工作範圍產生波動時，將導致串讀的現象，即盤點機器人讀取到限定範圍以外的庫位上存放的料箱的料箱識別碼。為了減弱串讀對盤點的影響，盤點資料中還包括各個料箱識別碼的信號強度，針對所對應的料箱識別碼的數量大於預設數量的各個單元，可以根據各個料箱識別碼的信號強度對盤點資料中該單元對應的料箱識別碼進行篩選。其中，預設數量為單元包括的庫位元的數量，可以為1、2、3、4或者其他值。When the working range of the inventory robot's bin identification device fluctuates, it will lead to the phenomenon of cross reading, that is, the inventory robot reads the bin identification codes of bins stored in storage locations outside the limited range. In order to reduce the impact of serial reading on inventory, the inventory data also includes the signal strength of each bin identification code. For each unit whose corresponding bin identification code number is greater than the preset number, the signal strength of each bin identification code can be Strength filters the bin identification code corresponding to the unit in the inventory data. The preset quantity is the number of storage locations included in the unit, which can be 1, 2, 3, 4 or other values.

步驟S402，根據所述盤點區域內各個庫位元對應的料箱識別碼以及所述盤點區域的庫存資料，確定所述盤點區域的待檢查單元，並確定所述待檢查單元的各個庫位元為所述待檢查庫位。Step S402: Determine the unit to be inspected in the inventory area based on the bin identification code corresponding to each location unit in the inventory area and the inventory data of the inventory area, and determine each location unit of the unit to be inspected. is the storage location to be inspected.

其中，當單元包括多個庫位元時，待檢查單元所包括的各個庫位為待檢查庫位。Wherein, when the unit includes multiple storage locations, each location included in the unit to be inspected is the location to be inspected.

在一個實施例中，針對各個盤點區域的各個單元或各個庫位元，調度設備或倉儲系統可以比對同一單元或同一庫位元在盤點資料和庫存資料中對應的料箱識別碼是否一致，若不一致，則確定該庫位元為其中一個目標庫位元。In one embodiment, for each unit or each location in each inventory area, the dispatching device or warehousing system can compare whether the corresponding bin identification codes of the same unit or the same location in the inventory data and inventory data are consistent. If they are inconsistent, determine that the location is one of the target locations.

在一個實施例中，若各個盤點區域均不存在待檢查單元，則調度設備或倉儲系統標識本輪盤點不存在異常。In one embodiment, if there are no units to be inspected in each inventory area, the dispatching device or the warehousing system identifies that there is no abnormality in this round of inventory.

在一個實施例中，調度設備或倉儲系統可以預設週期發起倉儲系統的盤點任務，進而生成各個盤點區域的盤點指令。預設週期可以為12小時、24小時、2天、5天、7天等。In one embodiment, the scheduling device or the warehousing system can initiate the inventory task of the warehousing system at a preset period, and then generate inventory instructions for each inventory area. The preset period can be 12 hours, 24 hours, 2 days, 5 days, 7 days, etc.

在一個實施例中，調度設備或倉儲系統可以根據倉儲系統正在執行和等待執行的取放貨任務的情況，判斷是否觸發倉儲系統的盤點任務，若觸發，則生成各個盤點區域的盤點指令，以在正在執行和等待執行的取放貨任務較少，或者正在執行的取放貨任務較少，且無等待執行的取放貨任務時，觸發盤點任務。In one embodiment, the scheduling device or the warehousing system can determine whether to trigger the inventory task of the warehousing system based on the pickup and delivery tasks that the warehousing system is executing and waiting to be executed. If it is triggered, an inventory instruction for each inventory area is generated, so as to The inventory task is triggered when there are fewer picking and placing tasks that are being executed and waiting to be executed, or when there are fewer picking and placing tasks that are being executed and there are no picking and placing tasks that are waiting to be executed.

可選的，所述盤點資料還包括所述盤點機器人採集各個料箱識別碼時的位置座標以及所述盤點機器人的取放貨裝置的高度，圖5為本公開另一個實施例提供的確定待檢查單元步驟的流程圖，如圖5所示，確定待檢查單元的步驟可以具體包括以下步驟： 步驟S501，根據所述盤點區域的盤點資料中各個料箱識別碼對應的所述盤點機器人的位置座標以及所述盤點機器人的取放貨裝置的高度，確定所述盤點區域內各個盤點單元分別對應的料箱識別碼。 Optionally, the inventory data also includes the position coordinates when the inventory robot collects the identification codes of each container and the height of the picking and placing device of the inventory robot. Figure 5 shows the determination process provided by another embodiment of the present disclosure. The flow chart of the steps of inspecting the unit is shown in Figure 5. The steps of determining the unit to be inspected may specifically include the following steps: Step S501: Based on the position coordinates of the inventory robot corresponding to the identification code of each container in the inventory data in the inventory area and the height of the pick-and-place device of the inventory robot, determine the corresponding location of each inventory unit in the inventory area. container identification code.

其中，取放貨裝置為用於進行料箱提取或存放的裝置，取放貨裝置上設置有料箱識別裝置，以獲取或識別料箱的料箱識別碼。該取放貨裝置可以通過升降、平移、旋轉等操作與存儲貨架上的各個單元或庫位元對準。Among them, the pick-and-place device is a device used for picking up or storing the material box, and the pick-and-place device is provided with a box identification device to obtain or identify the box identification code of the material box. The picking and placing device can be aligned with each unit or location unit on the storage shelf through operations such as lifting, translation, and rotation.

在一個實施例中，盤點機器人在進行盤點時，如移動至所需盤點的存儲貨架的盤點起點，可以旋轉取放貨裝置，以使料箱識別碼遠離所需盤點的存儲貨架，以避免由於料箱識別碼的工作範圍較大，而導致料箱識別裝置讀取到所需盤點的存儲貨架遠離盤點機器人的一側的存儲貨架。In one embodiment, when the inventory robot is performing inventory, if it moves to the starting point of the inventory of the storage shelf that needs to be inventoried, it can rotate the pick-and-place device so that the box identification code is away from the storage shelf that needs to be inventory, so as to avoid The working range of the bin identification code is relatively large, which causes the bin identification device to read the storage shelf that needs to be inventoried on the side far away from the inventory robot.

在一個實施例中，相鄰的存儲貨架之間供盤點機器人行走的巷道的寬度僅允許一個盤點機器人通過。In one embodiment, the width of the lane for the inventory robot to walk between adjacent storage shelves only allows one inventory robot to pass.

在一個實施例中，盤點機器人在進行存儲貨架盤點時，可以基於當前盤點的單元或庫位元所在的層數，升降盤點機器人的取放貨裝置，從而使得取放貨裝置對準當前盤點的單元或庫位元上存放的料箱設置料箱識別碼的區域。In one embodiment, when the inventory robot performs inventory of storage shelves, it can lift and lower the pickup and placement device of the inventory robot based on the level of the currently counted unit or location unit, so that the pickup and placement device is aligned with the current inventory. The area where the bin identification code is set for the bins stored in the unit or location.

在一個實施例中，存儲貨架各層的高度可調，則調度系統下發的盤點指令中還可以包括存儲貨架各層的高度，以使盤點機器人在盤點時，可以基於所盤點的存儲貨架各層的高度進行取放貨裝置的升降控制，從而與所盤點的存儲貨架各層庫位元的對準。In one embodiment, the height of each layer of the storage shelf is adjustable, and the inventory instruction issued by the dispatching system may also include the height of each layer of the storage shelf, so that the inventory robot can base the inventory on the height of each layer of the storage shelf when taking stock. Control the lifting and lowering of the loading and unloading device to align with the inventory locations of each layer of the storage shelves.

在一個實施例中，存儲貨架各個庫位元的尺寸可調，如庫位的高度和長短可調，長度所在的方向為盤點機器人在進行該存儲貨架盤點時行走的方向。則調度系統下發的盤點指令中還可以包括存儲貨架各個庫位元的尺寸，以使盤點機器人在盤點時，可以基於所盤點的存儲貨架各個庫位元的尺寸進行取放貨裝置的升降以及盤點機器人的行走速度或行走距離的控制，從而使得盤點機器人與所盤點的存儲貨架的各個庫位元對準。In one embodiment, the size of each storage location of the storage shelf is adjustable, such as the height and length of the storage location. The direction of the length is the direction in which the inventory robot walks when inventorying the storage shelf. Then the inventory instructions issued by the dispatching system may also include the dimensions of each location unit of the storage shelf, so that the inventory robot can lift and lower the picking and placing device based on the dimensions of each location unit of the storage shelf being counted. The walking speed or walking distance of the inventory robot is controlled so that the inventory robot is aligned with each location of the inventory storage shelf.

在一個實施例中，盤點機器人在盤點時，可以在存儲貨架對應的巷道上採用往返的方式行走，以進行存儲貨架各層的庫位的盤點。盤點機器人可以在行走時，調整取放貨裝置的高度，從而與存儲貨架的各層對準。採用按層的方式盤點可以減少調整取放貨裝置的次數，提高盤點的安全性。In one embodiment, when taking inventory, the inventory robot can walk back and forth on the lane corresponding to the storage shelf to inventory the storage locations on each layer of the storage shelf. The inventory robot can adjust the height of the pick-and-place device while walking to align with each layer of the storage shelf. Using layer-by-layer inventory can reduce the number of adjustments to the picking and placing devices and improve the safety of inventory.

在一個實施例中，盤點機器人在盤點存儲貨架某一層時，可以不停頓，採用較小的速度勻速行走，從而採集該層的各個單元或庫位元上存放的料箱識別碼。In one embodiment, when taking stock of a certain layer of storage shelves, the inventory robot can walk at a constant speed at a low speed without stopping, thereby collecting the identification codes of the bins stored in each unit or location of the layer.

在一個實施例中，盤點機器人在盤點時，可以在存儲貨架對應的巷道上採用單程的方式行走，以採集該存儲貨架的各個庫位元上存放的料箱的料箱識別碼。In one embodiment, when taking inventory, the inventory robot can walk in a one-way manner on the lane corresponding to the storage shelf to collect the box identification codes of the boxes stored in each location of the storage shelf.

在一個實施例中，盤點機器人在行走至每列庫位對應的位置處時，盤點機器人停止行走，與該列的各個單元或庫位元對準，從而採集該列的各個單元或各個庫位元上存放的料箱識別碼。為了減少取放貨裝置的調整次數，可以採用各列首尾相接的方式盤點。In one embodiment, when the inventory robot walks to the position corresponding to each column of storage locations, the inventory robot stops walking and aligns with each unit or location unit of the column, thereby collecting each unit or each location unit of the column. The identification code of the bin stored on the unit. In order to reduce the number of adjustments of the pick-and-place device, each column can be counted end-to-end.

示例性的，以所需盤點的存儲貨架包括6行6列，盤點機器人的料箱識別碼的工作範圍為3行1列為例，盤點機器人可以在處於該存儲貨架第1列對應的範圍時，控制其取放貨裝置由第一高度升高至第二高度，以在第一高度處時進行第1列1至3行的庫位的盤點，在第二高度處時進行第1列4至6行的庫位的盤點；在處於該存儲貨架第2列對應的範圍時，控制其取放貨裝置由第二高度降低至第一高度，以在第二高度處時進行第2列4至6行的庫位的盤點，在第一高度處時進行第2列1至3行的庫位的盤點，依次類推，以完成該存儲貨架的各行各列的庫位的盤點，得到該存儲貨架對應的盤點資料。其中，第一高度可以為第2行所在的高度，第二高度可以為第5行所在的高度。For example, if the storage shelf to be counted includes 6 rows and 6 columns, and the working range of the inventory robot's bin identification code is 3 rows and 1 column, the inventory robot can be in the range corresponding to the first column of the storage shelf. , control the pick-and-place device to rise from the first height to the second height, so as to conduct inventory of the storage locations in rows 1 to 3 of row 1 at the first height, and to conduct inventory of rows 1 to 3 of row 1 at the second height. Inventory to the 6th row of storage locations; when in the range corresponding to the 2nd column of the storage shelf, control the pick-and-place device to lower from the second height to the first height, so as to perform the 2nd column 4 at the second height After counting the storage locations in the 6th row, at the first height, perform the inventory of the storage locations in the 2nd column, rows 1 to 3, and so on, to complete the inventory of the storage locations in each row and column of the storage shelf, and obtain the storage Inventory data corresponding to the shelves. Among them, the first height can be the height of row 2, and the second height can be the height of row 5.

在一個實施例中，料箱識別裝置可以為電子標籤讀碼器，電子標籤讀碼器輸出的電磁波在垂直平面的投影可以為橢圓形，以一次性讀取一列多行庫位上存放的料箱的料箱識別碼或者一次性讀取一行多列庫位上存放的料箱的料箱識別碼。In one embodiment, the material box identification device can be an electronic label reader. The projection of the electromagnetic wave output by the electronic label reader on a vertical plane can be elliptical, so that materials stored in one column and multiple rows of storage locations can be read at one time. The bin identification code of the bin or the bin identification code of the bins stored in one row and multiple columns of storage locations can be read at one time.

在一個實施例中，電子標籤讀碼器輸出的電磁波在垂直平面的投影可以為圓形，以一次性讀取多列多行庫位上存放的料箱的料箱識別碼。In one embodiment, the projection of the electromagnetic wave output by the electronic tag reader on the vertical plane can be circular, so that the bin identification codes of the bins stored in multiple columns and rows of storage locations can be read at one time.

在一個實施例中，可以通過調整電子標籤讀碼器的天線的內部結構、增加反射板等方式，調整電子標籤讀碼的工作範圍，以滿足盤點需求。In one embodiment, the working range of the electronic tag reading can be adjusted to meet the inventory requirements by adjusting the internal structure of the antenna of the electronic tag reader, adding a reflective plate, etc.

在一個實施例中，盤點機器人在對每個單元進行盤點時，會對該單元或庫位元進行多次料箱識別碼的讀取，從而導致一個庫位對應多個相同的料箱識別碼，則盤點機器人在上報盤點資料之前，還可以對盤點資料中的料箱識別碼進行去重處理，即當前料箱識別碼的後一料箱識別碼或前一料箱識別碼與當前料箱識別碼相同，且當前料箱識別碼的後一料箱識別碼或前一料箱識別碼與當前料箱識別碼的採集時間的間隔小於值，或者當前一組料箱識別碼與後一組料箱識別碼或前一組料箱識別碼相同，且當前一組料箱識別碼的後一組料箱識別碼或前一組料箱識別碼與當前一組料箱識別碼的採集時間的間隔小於預設值，預設值可以為0.1s、0.3s、0.5s等，則刪除後一料箱識別碼或前一料箱識別碼，以及刪除盤點資料中後一料箱識別碼或前一料箱識別碼對應的資料。In one embodiment, when the inventory robot counts each unit, it will read the bin identification code multiple times for the unit or location, resulting in one location corresponding to multiple identical bin identification codes. , then the inventory robot can also deduplicate the bin identification code in the inventory data before reporting the inventory data, that is, the next bin identification code or the previous bin identification code of the current bin identification code is the same as the current bin identification code. The bin identification codes are the same, and the interval between the collection time of the next bin identification code or the previous bin identification code of the current bin identification code and the current bin identification code is less than the value, or the current group of bin identification codes is different from the last bin identification code. The group of bin identification codes or the previous group of bin identification codes are the same, and the collection time of the subsequent group of bin identification codes or the previous group of bin identification codes of the current group of bin identification codes is the same as the collection time of the current group of bin identification codes. If the interval is less than the preset value, which can be 0.1s, 0.3s, 0.5s, etc., then the next bin identification code or the previous bin identification code will be deleted, and the next bin identification code or the next bin identification code in the inventory data will be deleted. The data corresponding to the previous bin identification code.

在一個實施例中，可以由調度設備或倉儲系統在接收到盤點資料之後，對盤點資料中的料箱識別碼進行去重處理，以減少所需處理的資料量，提高盤點結果生成的效率。In one embodiment, after receiving the inventory data, the dispatching device or the warehousing system can perform deduplication processing on the bin identification codes in the inventory data to reduce the amount of data that needs to be processed and improve the efficiency of generating inventory results.

在一個實施例中，調度設備或倉儲系統在接收到盤點機器人上報的盤點資料之後，可以提取盤點資料中的各個料箱識別碼，以及各個料箱標識對應的盤點機器人的位置座標和盤點機器人的取放貨裝置的高度，進而針對每個料箱識別碼，根據該料箱識別碼對應的盤點機器人的位置座標和盤點機器人的取放貨裝置的高度，確定該料箱識別碼對應的單元或庫位元。In one embodiment, after receiving the inventory data reported by the inventory robot, the dispatching device or the warehousing system can extract the identification codes of each bin in the inventory data, as well as the location coordinates and position coordinates of the inventory robot corresponding to each bin identification. The height of the pick-and-place device, and then for each box identification code, determine the unit corresponding to the box identification code based on the position coordinates of the inventory robot corresponding to the box identification code and the height of the inventory robot's pick-and-place device. or location unit.

步驟S502，根據所述盤點區域內各個盤點單元分別對應的料箱識別碼以及所述盤點區域的庫存資料，確定所述盤點區域的待檢查單元，並確定所述待檢查單元的各個庫位元為所述待檢查庫位。Step S502: Determine the units to be inspected in the inventory area based on the bin identification codes corresponding to each inventory unit in the inventory area and the inventory data in the inventory area, and determine the locations of the units to be inspected. is the storage location to be inspected.

可選的，圖6為本公開另一個實施例提供的確定待檢查單元步驟流程圖，如圖6所示，確定待檢查單元的步驟可以具體包括以下步驟： 步驟S601，將所述盤點區域的盤點資料與所述盤點區域的庫存資料進行比對。 Optionally, Figure 6 is a flow chart of the steps of determining the unit to be inspected provided by another embodiment of the present disclosure. As shown in Figure 6, the step of determining the unit to be inspected may specifically include the following steps: Step S601: Compare the inventory data of the inventory area with the inventory data of the inventory area.

具體的，可以將盤點區域的盤點資料與盤點區域的庫存資料這兩個集合中的各個料箱識別碼進行比對，得到比對結果。該比對結果中可以包括盤點區域的盤點資料與庫存資料中不匹配的料箱識別碼。Specifically, the identification codes of each bin in the two sets of inventory data in the inventory area and inventory data in the inventory area can be compared to obtain the comparison result. The comparison results may include bin identification codes that do not match the inventory data in the inventory area and the inventory data.

步驟S602，根據比對結果，確定缺失料箱識別碼。Step S602: Determine the missing bin identification code based on the comparison result.

其中，所述缺失料箱識別碼為所述盤點區域的庫存資料中不屬於所述盤點區域的盤點資料的料箱識別碼。即缺失料箱識別碼存在於該盤點區域的庫存資料中，而不存在於該盤點區域對應的料箱識別碼佇列或盤點資料中。Wherein, the missing bin identification code is the bin identification code of the inventory data in the inventory area that does not belong to the inventory data in the inventory area. That is, the missing bin identification code exists in the inventory data of the inventory area, but does not exist in the bin identification queue or inventory data corresponding to the inventory area.

在一個實施例中，可以在盤點區域的盤點資料中，查找盤點區域的庫存資料中的每個料箱識別碼，若未查找到該料箱識別碼，則確定該料箱識別碼為缺失料箱識別碼。In one embodiment, each bin identification code in the inventory data in the inventory area can be searched in the inventory data in the inventory area. If the bin identification code is not found, it is determined that the bin identification code is missing material. Box identification code.

在一個實施例中，可以基於盤點區域的盤點資料與庫存資料的差集，確定各個缺失料箱識別碼。In one embodiment, the identification code of each missing bin can be determined based on the difference between the inventory data and the inventory data in the inventory area.

步驟S603，根據所述庫存資料中各個所述錯放料箱識別碼的原庫位，確定所述盤點區域的待檢查單元，並確定所述待檢查單元的各個庫位元為待檢查庫位。Step S603: Determine the units to be inspected in the inventory area based on the original storage locations of the misplaced bin identification codes in the inventory data, and determine each location of the units to be inspected as the storage locations to be inspected. .

其中，缺失料箱識別碼的原庫位元為庫存資料中記錄的該缺失料箱識別碼的庫位。Among them, the original storage location of the missing bin identification code is the location of the missing bin identification code recorded in the inventory data.

在一個實施例中，可以直接確定缺失料箱識別碼的原庫位元為待檢查單元或待檢查庫位元。In one embodiment, it can be directly determined that the original storage location of the missing bin identification code is the unit to be inspected or the storage location to be inspected.

在一個實施例中，可以確定缺失料箱識別碼的原庫位以及該原庫位的鄰近庫位元組成的區域為待檢查單元，其中，鄰近庫位可以為該原庫位附近一定範圍內的庫位，例如，與該原庫位直接相鄰的庫位，或者與該原庫位位於同一行或同一列的庫位，或者與該原庫位的距離小於一定距離的庫位。In one embodiment, the area consisting of the original storage location with the missing bin identification code and the adjacent storage locations of the original storage location can be determined as the unit to be inspected, where the adjacent storage location can be within a certain range near the original storage location. For example, a warehouse location that is directly adjacent to the original warehouse location, or a warehouse location that is in the same row or column as the original warehouse location, or a warehouse location that is less than a certain distance from the original warehouse location.

圖7為本公開另一個實施例提供的料箱盤點方法的流程圖，本實施例本實施例提供的料箱盤點方法是在圖2所示實施例的基礎上，對步驟S203的進一步細化，以及在步驟S202之後增加確定採集順序的步驟，如圖7所示，本實施例提供的料箱盤點方法可以包括以下步驟： 步驟S701，生成多個盤點區域的盤點指令，並將各個所述盤點指令發送至各個盤點機器人，以控制各個所述盤點機器人對所述盤點指令對應的盤點區域的每個盤點單元進行盤點，以得到各個所述盤點區域的盤點資料。 Figure 7 is a flow chart of a material box inventory method provided by another embodiment of the present disclosure. The material box inventory method provided by this embodiment is based on the embodiment shown in Figure 2 and further refines step S203. , and add the step of determining the collection sequence after step S202. As shown in Figure 7, the bin inventory method provided by this embodiment may include the following steps: Step S701: Generate inventory instructions for multiple inventory areas, and send each inventory instruction to each inventory robot to control each inventory robot to inventory each inventory unit in the inventory area corresponding to the inventory instruction, so as to Obtain inventory data for each of the inventory areas.

步驟S702，接收各個所述盤點區域的盤點資料。Step S702: Receive inventory data for each inventory area.

在一個實施例中，調度設備或倉儲系統可以將對應同一盤點區域的盤點指令同時下發至多個盤點機器人。同一盤點區域的盤點機器人可以同時或者不同時回應所接收的盤點指令。In one embodiment, the dispatching device or the warehousing system can issue inventory instructions corresponding to the same inventory area to multiple inventory robots at the same time. Inventory robots in the same inventory area can respond to the received inventory instructions at the same time or not at the same time.

在一個實施例中，若盤點機器人較長時間未回應對應的盤點指令，則將該盤點指令下發至其他的盤點機器人，以由其他的盤點機器人執行該盤點指令。在一個實施例中，盤點機器人在執行盤點指令時，還可以即時上報調度設備或倉儲系統磁片點機器人的位置座標、取放貨裝置的高度、行走速度等參數，還可以上報盤點中斷參數，以通知調度設備或倉儲系統當前執行的盤點任務被其他任務中斷，其中，其他任務可以為避讓任務、取放貨任務、異常維護任務等。避讓任務為盤點機器人避讓其他機器人的任務，具體策略可以為原地等待，行走至巷道口等。In one embodiment, if the inventory robot does not respond to the corresponding inventory instruction for a long time, the inventory instruction is sent to other inventory robots, so that the other inventory robots execute the inventory instruction. In one embodiment, when the inventory robot executes the inventory instruction, it can also immediately report the position coordinates of the dispatching equipment or the warehousing system magnetic chip point robot, the height of the picking and placing device, walking speed and other parameters, and can also report the inventory interruption. Parameters to notify the dispatching equipment or warehousing system that the inventory task currently being executed is interrupted by other tasks, where other tasks can be avoidance tasks, pick-and-place tasks, abnormal maintenance tasks, etc. The avoidance task is the task of the inventory robot to avoid other robots. The specific strategy can be waiting in place, walking to the entrance of the lane, etc.

步驟S703，針對各個盤點區域的盤點資料，根據所述盤點資料中各個料箱識別碼的採集時間點，確定各個料箱識別碼的採集順序。Step S703: For the inventory data of each inventory area, determine the collection order of each bin identification code according to the collection time point of each bin identification code in the inventory data.

在一個實施例中，調度設備或倉儲系統可以根據採集時間點所處的區間，確定盤點資料或料箱識別碼佇列中各個料箱識別碼的採集順序。In one embodiment, the dispatching device or the warehousing system can determine the collection sequence of each bin identification code in the inventory data or bin identification code queue based on the interval where the collection time point is located.

可選的，若所述盤點資料對應的料箱識別碼佇列中相鄰的兩個料箱識別碼的採集時間點的差值小於預設差值，則確定所述相鄰的兩個料箱識別碼的採集順序為同一順序。Optionally, if the difference in the collection time points of two adjacent bin identification codes in the bin identification code queue corresponding to the inventory data is less than a preset difference, then determine that the two adjacent bin identification codes are The collection order of box identification codes is the same order.

其中，預設差值可以為設定的一個較小的值，如0.1s、0.3s、0.5s等。Among them, the preset difference value can be a set smaller value, such as 0.1s, 0.3s, 0.5s, etc.

在一個實施例中，預設差值可以根據盤點機器人在採集時的最快速度確定，如可以為盤點區域長度對端的庫位的長度與機器人採集時的最快速度的比值。In one embodiment, the preset difference value can be determined based on the fastest speed of the inventory robot during collection, for example, it can be the ratio of the length of the inventory location at the opposite end of the length of the inventory area to the fastest speed of the robot during collection.

步驟S704，針對每個盤點區域，根據所述盤點區域對應的所述料箱識別碼佇列中各個料箱識別碼的採集順序以及所述盤點機器人採集各個料箱識別碼時的位置座標，確定所述盤點區域內各個盤點單元分別對應的料箱識別碼。Step S704, for each inventory area, determine according to the collection order of each bin identification code in the bin identification code queue corresponding to the inventory area and the position coordinates when the inventory robot collects each bin identification code. The identification codes of the bins corresponding to each inventory unit in the inventory area.

在一個實施例中，針對每個盤點區域，由於盤點機器人在進行該盤點區域的盤點順序已知，可以根據該盤點區域對應的料箱識別碼佇列中各個料箱識別碼的採集順序，確定各個料箱識別碼對應的盤點單元。進而結合盤點資料或料箱識別碼佇列中記錄的在採集或識別各個料箱識別碼時盤點機器人的位置座標，對各個料箱識別碼對應的盤點單元進行覆核。In one embodiment, for each inventory area, since the inventory order of the inventory robot in the inventory area is known, it can be determined based on the collection order of each bin identification code in the bin identification code queue corresponding to the inventory area. The inventory unit corresponding to each bin identification code. Then, combined with the position coordinates of the inventory robot recorded in the inventory data or bin identification code queue when collecting or identifying each bin identification code, the inventory unit corresponding to each bin identification code is reviewed.

在一個實施例中，盤點機器人在進行庫位元盤點時，需要移動至盤點單元或盤點庫位元對應的位置，從而通過升降取放貨裝置與盤點單元或盤點庫位元對準。故而，根據盤點機器人在採集料箱識別碼時的位置座標，可以確定各個料箱識別碼對應的料箱所在的庫位元所在的單元。通過基於位置座標確定的料箱識別碼對應的庫位元所在的單元對通過採集順序確定的料箱識別碼對應的盤點單元進行覆核，以提高料箱識別碼對應的盤點單元確定的準確度。In one embodiment, when the inventory robot performs inventory of storage locations, it needs to move to a position corresponding to the inventory unit or inventory location, and then align it with the inventory unit or inventory location by lifting and lowering the pick-and-place device. Therefore, based on the position coordinates of the inventory robot when collecting the bin identification codes, the unit where the bin corresponding to each bin identification code is located can be determined. The inventory unit corresponding to the bin identification code determined through the collection sequence is reviewed through the unit where the bin location unit corresponding to the bin identification code determined based on the location coordinates is located, in order to improve the accuracy of determining the inventory unit corresponding to the bin identification code. .

進一步地，若料箱識別碼對應的盤點單元未通過覆核，則將該料箱識別碼對應的盤點單元確定為其中一個待檢查單元。或者若料箱識別碼對應的庫位未通過覆核，則調度設備或倉儲系統生成二次盤點指令，以控制其他盤點機器人按照該盤點機器人的盤點順序對該料箱識別碼對應的存儲貨架的各個盤點單元進行盤點，得到該存儲貨架的新的盤點資料，以覆蓋該盤點機器人採集的該存儲貨架的盤點資料，以基於新的盤點資料確定該存儲貨架的各個盤點單元對應的料箱識別碼。Further, if the inventory unit corresponding to the bin identification code fails the review, the inventory unit corresponding to the bin identification code is determined to be one of the units to be inspected. Or if the storage location corresponding to the bin identification code does not pass the review, the dispatching equipment or warehousing system generates a secondary inventory instruction to control other inventory robots to follow the inventory sequence of the inventory robot to the storage shelf corresponding to the bin identification code. Each inventory unit performs inventory and obtains new inventory data of the storage shelf to cover the inventory data of the storage shelf collected by the inventory robot, and determine the bin identification code corresponding to each inventory unit of the storage shelf based on the new inventory data. .

步驟S705，針對各個盤點區域的各個盤點單元，判斷所述盤點單元在庫存資料以及在盤點資料中對應的料箱識別碼是否一致。Step S705: For each inventory unit in each inventory area, determine whether the corresponding bin identification codes in the inventory data and the inventory data of the inventory unit are consistent.

在一個實施例中，針對每個盤點區域，可以從調度設備或倉儲系統中存儲的倉儲系統的庫存資料，確定各個盤點區域的庫存資料。庫存資料中可以包括各個庫位上存放的料箱的料箱識別碼，還可以包括各個料箱中存放的物料資訊。In one embodiment, for each inventory area, the inventory information of each inventory area can be determined from the inventory information of the warehousing system stored in the dispatching device or the warehousing system. The inventory data can include the bin identification codes of the bins stored in each bin, and can also include the material information stored in each bin.

在一個實施例中，可以根據盤點區域的庫存資料，確定各個盤點單元對應的預設料箱識別碼集合，針對盤點區域的每個盤點單元，判斷盤點資料中該盤點單元對應的料箱識別碼與該盤點單元對應的預設料箱識別碼集合是否一致，若不一致，則確定該盤點單元為其中一個待檢查單元。當盤點單元為單個庫位元時，預設料箱識別碼集合中的料箱識別碼的數量為1個。其中，預設料箱識別碼集合為在庫存資料中記載的該盤點單元對應的各個庫位元上存放的料箱的料箱識別碼。In one embodiment, the set of preset bin identification codes corresponding to each inventory unit can be determined based on the inventory data in the inventory area, and for each inventory unit in the inventory area, the bin identification code corresponding to the inventory unit in the inventory data can be determined. Whether the set of preset bin identification codes corresponding to the inventory unit is consistent; if not, the inventory unit is determined to be one of the units to be inspected. When the inventory unit is a single location unit, the number of bin identification codes in the default bin identification code set is 1. The preset bin identification code set is the bin identification code of the bins stored in each storage location corresponding to the inventory unit recorded in the inventory data.

在一個實施例中，若盤點單元在盤點資料中對應的料箱識別碼中不包括該盤點單元對應的預設料箱識別碼集合中的某個料箱識別碼，則確定該盤點單元在庫存資料以及在盤點資料中對應的料箱識別碼不一致。In one embodiment, if the inventory unit's corresponding bin identification code in the inventory data does not include a certain bin identification code in the preset bin identification code set corresponding to the inventory unit, then it is determined that the inventory unit is in inventory. The data and the corresponding bin identification codes in the inventory data are inconsistent.

在一個實施例中，若單元在盤點資料中對應的料箱識別碼與該單元對應的預設料箱識別碼集合相同，則確定該單元在庫存資料以及在盤點資料中對應的料箱識別碼一致。In one embodiment, if the bin identification code corresponding to the unit in the inventory data is the same as the preset bin identification code set corresponding to the unit, then the bin identification code corresponding to the unit in the inventory data and the inventory data is determined. consistent.

可選的，若所述盤點單元在庫存資料中對應的料箱識別碼均存在於所述盤點單元在盤點資料中，則確定所述盤點單元在庫存資料以及在盤點資料中對應的料箱識別碼一致。Optionally, if the bin identification codes corresponding to the inventory data of the inventory counting unit are all present in the inventory data of the inventory counting unit, then determine the bin identification corresponding to the inventory data and the inventory data of the inventory counting unit. The codes are consistent.

步驟S706，若所述單元在庫存資料以及在盤點資料中對應的料箱識別碼不一致，則確定所述盤點單元為問題單元。Step S706: If the corresponding bin identification codes of the unit in the inventory data and the inventory data are inconsistent, the inventory unit is determined to be a problem unit.

在一個實施例中，還可以確定存在問題單元的盤點區域，存在待檢查庫位。該待檢查庫位元至少包括問題單元對應的庫位元。In one embodiment, it can also be determined that there is an inventory area where the problematic unit exists, and there is a storage location to be inspected. The storage location to be inspected at least includes the storage location corresponding to the problematic unit.

步驟S707，根據所述問題單元，確定所述盤點區域的待檢查單元，並確定待檢查單元的各個庫位元為待檢查庫位。Step S707: Determine the unit to be inspected in the inventory area based on the problematic unit, and determine each location of the unit to be inspected as the location to be inspected.

在一個實施例中，可以直接確定各個問題單元為各個待檢查單元。In one embodiment, each problematic unit can be directly determined as each unit to be inspected.

在一個實施例中，可以確定各個問題單元以及各個問題單元的鄰近單元為各個待檢查單元。其中，問題單元的鄰近單元可以為與該問題單元的採集順序相鄰的盤點單元，或者與該問題單元的採集順序的差值位於設定的區域的盤點單元，或者與該問題單元相鄰的單元等。In one embodiment, each problematic unit and adjacent units of each problematic unit may be determined as each unit to be inspected. The adjacent units of the problem unit may be inventory units adjacent to the collection sequence of the problem unit, or inventory units whose difference from the collection sequence of the problem unit is located in a set area, or units adjacent to the problem unit. wait.

可選的，根據所述問題單元，確定所述至少一個待檢查單元，包括：針對每個問題單元，確定盤點順序與所述問題單元的盤點順序的差值的絕對值小於第一差值的各個盤點單元為待檢查單元。Optionally, determining the at least one unit to be inspected according to the problem unit includes: for each problem unit, determining that the absolute value of the difference between the inventory order and the inventory order of the problem unit is less than the first difference. Each inventory unit is a unit to be inspected.

其中，第一差值可以為1、2或者其他值。The first difference value may be 1, 2 or other values.

進一步地，若盤點機器人的盤點精度為庫位元，則步驟S605為針對各個盤點區域的各個盤點庫位元，判斷所述盤點庫位元在庫存資料以及在盤點資料中對應的料箱識別碼是否一致，若不一致，則確定該盤點庫位為問題庫位。針對各個所述盤點區域，確定所述盤點區域的盤點資料各個目標採集順序採集的料箱識別碼對應的庫位，為所述盤點區域的目標庫位元。其中，目標採集順序位於預設區間，所述預設區間以問題庫位元在盤點資料中對應的料箱識別碼的採集順序為中點。Further, if the inventory counting accuracy of the inventory counting robot is a storage location unit, step S605 is to determine, for each inventory location unit in each inventory area, the corresponding bin identification code of the inventory location unit in the inventory data and the inventory data. Is it consistent? If not, the inventory location is determined to be the problem location. For each of the inventory areas, the storage location corresponding to the bin identification code collected in each target collection sequence of the inventory data in the inventory area is determined as the target storage location of the inventory area. The target collection sequence is located in a preset interval, and the preset interval takes the collection sequence of the bin identification codes corresponding to the problematic warehouse locations in the inventory data as the midpoint.

在一個實施例中，目標採集順序可以包括問題庫位元在盤點資料中的料箱識別碼的採集順序，即為問題採集順序，以及該問題採集順序的前一採集順序和後一採集順序，或者目標採集順序可以包括問題採集順序，以及與該問題採集順序的鄰近的多個採集順序。In one embodiment, the target collection sequence may include the collection sequence of the bin identification code of the problem bin location in the inventory data, which is the problem collection sequence, as well as the previous collection sequence and the subsequent collection sequence of the problem collection sequence. Or the target collection sequence may include a problem collection sequence, and multiple collection sequences adjacent to the problem collection sequence.

為了降低成本，倉儲系統的存儲貨架上並未設置庫位元標識碼，當料箱識別裝置的識別範圍過大時，盤點資料中會出現一個庫位對應多個料箱識別碼的情況。對應多個料箱識別碼的庫位必然為一個問題庫位，為了更全面、準確地確定各個存放的料箱有誤的庫位，可以將該問題庫位以及該問題庫位元對應的採集順序中鄰近順序的多個料箱識別碼對應的庫位元一併確定為需要檢查的目標庫位元。In order to reduce costs, the storage shelves of the warehousing system are not equipped with location identification codes. When the identification range of the bin identification device is too large, one location will correspond to multiple bin identification codes in the inventory data. The storage location corresponding to multiple bin identification codes must be a problematic location. In order to more comprehensively and accurately determine the location where each stored bin is in error, the problematic location and the corresponding collection of the problematic location elements can be collected The storage location elements corresponding to multiple bin identification codes in adjacent sequences in the sequence are determined together as the target storage location elements that need to be checked.

以料箱識別裝置為電子標籤為例，由於電子標籤讀碼器的功率過大，導致取放貨裝置上的電子標籤讀碼器在同一位置可以讀取多個庫位上存放的料箱上的電子標籤，即出現串讀的情況，導致盤點資料中多個料箱識別碼對應同一個庫位，從而無法確定所串讀的料箱識別碼所在的庫位元，故而需要通過盤點資料中問題庫位元，即串讀的庫位，前後採集的多個料箱識別碼，進行存放的料箱有誤的庫位的定位。Taking the box identification device as an electronic tag as an example, because the power of the electronic tag reader is too large, the electronic tag reader on the pick-and-place device can read the tags on the boxes stored in multiple storage locations at the same location. Electronic tags, that is, cross-reading occurs, resulting in multiple bin identification codes in the inventory data corresponding to the same location. Therefore, it is impossible to determine the bin location where the bin identification code is read. Therefore, it is necessary to solve the problem in the inventory data. The storage location element is the storage location read serially, and the identification codes of multiple bins collected before and after are used to locate the location where the incorrect bins are stored.

示例性的，假設按照採集順序盤點資料中的料箱識別碼依次為：LX001至LX007、LX007、LX008和LX010，對應的庫位依次為：庫位元001至庫位元010，若盤點資料中庫位元001至庫位010對應的料箱識別碼依次為LX001至LX010，則可以通過盤點資料和庫存資料中相同庫位元對應的料箱識別碼，可以確定庫位008和庫位009為問題庫位，為了檢查的全面性，可以一併將庫位007至庫位元0010確定為目標庫位元，以免由於存在串讀的情況，而導致部分存放有誤的庫位無法被檢查到，如實際上，庫位007上並未存放料箱，庫位008上存放料箱LX007，由於串讀或判斷機器人行走距離有誤，導致料箱識別裝置在於庫位元007對準時，讀取到庫位008上存放的料箱LX007的料箱識別碼。For example, assume that the bin identification codes in the inventory data according to the collection sequence are: LX001 to LX007, LX007, LX008 and LX010, and the corresponding storage locations are: location unit 001 to location unit 010. If the inventory data The bin identification codes corresponding to location elements 001 to 010 are LX001 to LX010 in sequence. Then, through the bin identification codes corresponding to the same location elements in the inventory data and inventory data, it can be determined that location 008 and location 009 are For the problem location, for the sake of comprehensiveness of inspection, location 007 to location 0010 can be determined as the target location to prevent some incorrectly stored locations from being inspected due to cross-reading. , for example, in fact, there is no material box stored in the storage location 007, and the material box LX007 is stored in the storage location 008. Due to the error in cross-reading or judging the walking distance of the robot, the material box identification device reads when it is aligned with the storage location 007. The identification code of the material box LX007 stored in storage location 008.

步驟S708，根據各個待檢查單元的位置，生成檢查報告，以對各個待檢查單元的庫位元上存放的料箱進行檢查。Step S708: Generate an inspection report based on the location of each unit to be inspected to inspect the bins stored in the storage locations of each unit to be inspected.

其中，檢查報告中可以包括各個待檢查單元的庫位元的庫位元標識或庫位元編碼，以及各個檢查單元的各個庫位元應當存放的料箱的料箱識別碼。The inspection report may include the location identification or location code of each location unit of the unit to be inspected, and the bin identification code of the bin that should be stored in each location unit of each inspection unit.

在一個實施例中，可以由操作人員或機器人基於該檢查報告對各個檢查單元的各個庫位元上存放的料箱進行檢查。In one embodiment, operators or robots can inspect the bins stored in each storage location of each inspection unit based on the inspection report.

在本實施例中，基於調度設備或倉儲系統生成多個盤點區域的盤點指令，以控制各個盤點機器人進行對應的盤點區域的各個盤點單元的盤點，得到各個盤點區域的盤點資料；在盤點完畢時，基於各個盤點區域的盤點資料中各個料箱識別碼的採集順序以及採集各個料箱識別碼時機器人的位置座標，確定盤點區域內各個單元對應的料箱識別碼，通過比對盤點資料以及預先存儲的庫位元資料中各個單元對應的料箱識別碼，確定各個待檢查單元，以對各個待檢查單元進行覆核，以確定存放有誤的料箱，從而實現了基於區域的批量盤點，提高了盤點效率。In this embodiment, inventory instructions for multiple inventory areas are generated based on the dispatching equipment or warehousing system to control each inventory robot to inventory each inventory unit in the corresponding inventory area to obtain inventory data for each inventory area; when the inventory is completed , based on the collection sequence of each bin identification code in the inventory data of each inventory area and the position coordinates of the robot when collecting each bin identification code, determine the bin identification code corresponding to each unit in the inventory area, and compare the inventory data and pre- The bin identification code corresponding to each unit in the stored location metadata determines each unit to be inspected, so as to review each unit to be inspected to determine the incorrectly stored bins, thus realizing area-based batch inventory. Improved inventory efficiency.

可選的，所述盤點機器人上設置的料箱識別裝置可以為電子標籤讀碼器，所述盤點機器人基於所述電子標籤讀碼器採集各個庫位上存放的料箱的料箱識別碼。Optionally, the bin identification device provided on the inventory robot may be an electronic label reader, and the inventory robot collects bin identification codes of the bins stored in each storage location based on the electronic label reader.

在一個實施例中，上述料箱盤點方法還可以包括，基於調度設備或倉儲系統，關閉盤點機器人上設置的料箱識別裝置，以免盤點機器人的料箱識別裝置誤讀非對應的盤點區域的其他庫位元上存放的料箱的料箱識別碼。In one embodiment, the above-mentioned bin counting method may also include, based on the dispatching equipment or warehousing system, turning off the bin identification device provided on the inventory robot to prevent the bin identification device of the inventory robot from misreading other items in the non-corresponding inventory area. The bin identification code of the bin stored in the location.

可選的，上述料箱盤點方法還包括：在所述盤點機器人執行所接收的盤點指令的期間，獲取所述盤點機器人上傳的位置座標；根據所述機器人當前的位置座標，開啟或關閉所述機器人的料箱識別裝置。Optionally, the above-mentioned bin inventory method also includes: while the inventory robot executes the received inventory instruction, obtain the location coordinates uploaded by the inventory robot; and turn on or off the robot according to the current location coordinates of the robot. Robot bin identification device.

在一個實施例中，調度設備或倉儲系統可以在發送調度指令至盤點機器人之後，接收該盤點機器人即時上傳的位置座標，進而調度設備或倉儲系統可以根據盤點機器人上傳的位置座標，判斷盤點機器人是否進入對應的盤點區域，如是否位於盤點區域的盤點起點的預設範圍內，若是，則開啟盤點機器人的料箱識別裝置。In one embodiment, the dispatching device or the warehousing system can, after sending the dispatching instruction to the inventory robot, receive the location coordinates uploaded by the inventory robot immediately, and then the scheduling device or the warehousing system can determine whether the inventory robot is based on the location coordinates uploaded by the inventory robot. Enter the corresponding inventory area, and if it is within the preset range of the inventory starting point of the inventory area, if so, turn on the box identification device of the inventory robot.

在一個實施例中，調度設備或倉儲系統可以根據盤點機器人當前的位置座標，判斷盤點機器人是否超出對應的盤點區域所在的範圍，若是，則關閉該盤點機器人的料箱識別裝置，以免料箱識別裝置誤讀其他庫位元上存放的料箱的料箱識別碼。In one embodiment, the dispatching equipment or warehousing system can determine whether the inventory robot exceeds the range of the corresponding inventory area based on the current position coordinates of the inventory robot. If so, turn off the bin identification device of the inventory robot to avoid bin identification. The device misreads the bin identification code of a bin stored in another location.

可選的，根據所述機器人當前的位置座標，開啟或關閉所述機器人的料箱識別裝置，包括：根據所述盤點機器人當前的位置座標，確定所述盤點機器人當前的路徑節點；根據所述盤點機器人當前的路徑節點與下一路徑節點對應的行走時間，關閉所述盤點機器人的料箱識別裝置。Optionally, turning on or off the bin identification device of the robot according to the current position coordinates of the robot includes: determining the current path node of the inventory robot according to the current position coordinates of the inventory robot; Count the walking time corresponding to the current path node of the inventory robot and the next path node, and turn off the bin identification device of the inventory robot.

其中，下一路徑節點為當前的路徑節點的下一個路徑節點。Wherein, the next path node is the path node next to the current path node.

在一個實施例中，盤點指令中可以包括盤點機器人的盤點路徑，以及盤點路徑中的各個路徑節點的位置和各個路徑節點之間的關聯關係。In one embodiment, the inventory instruction may include the inventory path of the inventory robot, as well as the positions of each path node in the inventory path and the association between each path node.

在一個實施例中，盤點機器人可以根據所需盤點的各個存儲貨架或者各個盤點庫位的位置，以及盤點機器人對應的盤點區域的盤點起點，自行規劃盤點路徑，並將盤點路徑以及盤點路徑中各個路徑節點的位置上傳至調度設備或倉儲系統。In one embodiment, the inventory robot can plan the inventory path on its own based on the location of each storage shelf or each inventory location that needs to be inventoried, as well as the inventory starting point of the inventory area corresponding to the inventory robot, and assign the inventory path and each inventory location to the inventory path. The location of the route node is uploaded to the dispatching device or warehousing system.

在一個實施例中，調度設備或倉儲系統可以根據盤點機器人當前的位置座標，確定與該當前的位置座標距離最近的且盤點機器人尚未經過的路徑節點為盤點機器人當前的路徑節點，即盤點機器人當前的路徑節點為盤點機器人即將經過的路徑節點。In one embodiment, the dispatching device or the warehousing system can determine, based on the current position coordinates of the inventory robot, that the path node closest to the current position coordinates and that the inventory robot has not passed through is the current path node of the inventory robot, that is, the current path node of the inventory robot The path node is the path node that the inventory robot will pass through.

在一個實施例中，當前的路徑節點與下一路徑節點對應的行走時間可以為當前路徑節點至下一路徑節點的路徑長度，與盤點機器人經過對應的盤點區域的盤點起點之後至當前的位置座標時對應的平均速度的比值。In one embodiment, the walking time corresponding to the current path node and the next path node can be the path length from the current path node to the next path node, and the current position coordinates after the inventory robot passes through the inventory starting point of the corresponding inventory area. is the ratio of the corresponding average speed.

在一個實施例中，若當前的路徑節點與下一路徑節點對應的行走時間小於或等於預設時間時，則保持開啟盤點機器人的料箱識別裝置，若當前的路徑節點與下一路徑節點對應的行走時間大於預設時間時，則關閉盤點機器人的料箱識別裝置，以免在盤點機器人前往下一路徑節點時，料箱識別裝置誤讀其他庫位元上存放的料箱的料箱識別碼。In one embodiment, if the walking time corresponding to the current path node and the next path node is less than or equal to the preset time, the bin identification device of the inventory robot remains turned on. If the current path node corresponds to the next path node When the walking time is greater than the preset time, the bin identification device of the inventory robot is turned off to prevent the bin identification device from misreading the bin identification codes of bins stored in other storage locations when the inventory robot goes to the next path node. .

在一個實施例中，預設時間可以根據調度設備或倉儲系統向盤點機器人下發料箱識別裝置的控制指令的通訊時間以及料箱識別裝置回應該控制指令的時間確定，料箱識別裝置的控制指令用於開啟或關閉料箱識別裝置。In one embodiment, the preset time can be determined based on the communication time when the dispatching equipment or the warehousing system issues the control instruction of the bin identification device to the inventory robot and the time when the bin identification device responds to the control instruction. The control of the bin identification device The command is used to turn on or off the bin identification device.

在一個實施例中，預設時間可以為固定值，如5s、6s或者其他時間。In one embodiment, the preset time may be a fixed value, such as 5s, 6s or other times.

可選的，上述料箱盤點方法還包括：在所述盤點機器人執行所接收的盤點指令的期間，獲取所述盤點機器人上傳的任務參數；根據所述盤點機器人的任務參數，關閉所述盤點機器人的料箱識別裝置。Optionally, the above-mentioned container inventory method also includes: while the inventory robot executes the received inventory instruction, obtain the task parameters uploaded by the inventory robot; and close the inventory robot according to the task parameters of the inventory robot. Box identification device.

其中，任務參數可以包括盤點機器人當前正在執行的任務的類型、正在執行的任務的狀態等參數。Among them, the task parameters may include the type of task currently being performed by the inventory robot, the status of the task being performed, and other parameters.

在一個實施例中，若盤點機器人的任務參數為盤點任務暫停或盤點任務終止，則關閉盤點機器人的料箱識別裝置。In one embodiment, if the task parameter of the inventory robot is that the inventory task is suspended or the inventory task is terminated, the bin identification device of the inventory robot is turned off.

在一個實施例中，若盤點機器人的任務參數為盤點機器人正在執行盤點任務以外的其他任務，如避讓任務、取放貨任務、異常處理任務等，則關閉盤點機器人的料箱識別裝置。In one embodiment, if the task parameters of the inventory robot indicate that the inventory robot is performing tasks other than the inventory task, such as avoidance tasks, pick-and-place tasks, exception handling tasks, etc., the bin identification device of the inventory robot is turned off.

通過基於盤點機器人的位置座標或任務參數的料箱識別裝置的關閉控制，有效減少了盤點機器人誤讀的現象，提高了盤點的準確度。Through the shutdown control of the bin identification device based on the position coordinates or task parameters of the inventory robot, the phenomenon of misreading by the inventory robot is effectively reduced and the accuracy of inventory is improved.

圖8為本公開另一個實施例提供的料箱盤點方法的流程圖，本實施例針對每個盤點區域對應多組盤點資料的情況，如圖8所示，本實施例提供的料箱盤點方法包括以下步驟： 步驟S801，生成盤點區域的盤點指令，並將所述盤點指令發送至至少一個盤點機器人，以控制所述至少一個所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域的至少兩組盤點資料。 Figure 8 is a flow chart of a material box inventory method provided by another embodiment of the present disclosure. This embodiment is aimed at the situation where each inventory area corresponds to multiple sets of inventory data. As shown in Figure 8, the material box inventory method provided by this embodiment Includes the following steps: Step S801: Generate an inventory instruction for the inventory area, and send the inventory instruction to at least one inventory robot to control the at least one inventory robot to inventory the inventory area to obtain at least two items of the inventory area. Group inventory data.

其中，所述盤點區域包括多個庫位元，所述盤點單元為所述盤點區域需要盤點的單元，每個單元包括所述盤點區域的一個或多個庫位，每組所述盤點資料包括一個料箱識別碼佇列，所述料箱識別碼佇列為所述盤點機器人在所述盤點區域處採集到的料箱識別碼的集合。Wherein, the inventory area includes a plurality of storage locations, and the inventory unit is a unit that needs to be inventoryed in the inventory area. Each unit includes one or more storage locations in the inventory area, and each group of the inventory data includes A queue of bin identification codes, the queue of bin identification codes is a collection of bin identification codes collected by the inventory robot in the inventory area.

在一個實施例中，各組盤點資料對應的盤點順序或盤點路徑不同。In one embodiment, the inventory order or inventory path corresponding to each set of inventory data is different.

可選的，將所述盤點指令發送至至少一個盤點機器人，以控制所述至少一個所述盤點機器人對所述盤點區域進行盤點，包括：將所述盤點指令發送至一個盤點機器人，以控制所述盤點機器人對所述盤點區域盤點至少兩次，且所述盤點機器人每次盤點時的盤點順序和盤點路徑中的至少一項不同。Optionally, sending the inventory instruction to at least one inventory robot to control the at least one inventory robot to inventory the inventory area includes: sending the inventory instruction to an inventory robot to control all The inventory robot counts the inventory area at least twice, and at least one of the inventory sequence and inventory path of the inventory robot each time it counts is different.

可選的，所述盤點指令包括第一盤點指令和第二盤點指令，將所述盤點指令發送至至少一個盤點機器人，以控制所述至少一個所述盤點機器人對所述盤點區域進行盤點，包括： 分別將所述第一盤點指令和所述第二盤點指令發送至第一盤點機器人和第二盤點機器人，以控制所述第一盤點機器人和第二盤點機器人對所述盤點區域分別進行盤點。 Optionally, the inventory instruction includes a first inventory instruction and a second inventory instruction, and the inventory instruction is sent to at least one inventory robot to control the at least one inventory robot to inventory the inventory area, including : The first inventory instruction and the second inventory instruction are respectively sent to the first inventory robot and the second inventory robot to control the first inventory robot and the second inventory robot to respectively inventory the inventory area.

可選的，所述第一盤點機器人與所述第二盤點機器人對所述盤點區域進行盤點的盤點順序及盤點路徑中的至少一項不同。Optionally, at least one of the inventory sequence and inventory path used by the first inventory robot and the second inventory robot to inventory the inventory area is different.

其中一個盤點機器人基於盤點指令進行盤點區域一次盤點的具體過程可以參考上述任意實施例中提供的盤點方式，在此不再贅述。The specific process of one of the inventory robots performing an inventory of the inventory area based on the inventory instruction can refer to the inventory method provided in any of the above embodiments, and will not be described again here.

在一個實施例中，第一盤點機器人和第二盤點機器人可以採用在盤點區域的存儲貨架的兩側的巷道上相向行走的方式，進行該存儲貨架的盤點，以減少串讀現象。In one embodiment, the first inventory robot and the second inventory robot can walk toward each other on the lanes on both sides of the storage shelves in the inventory area to inventory the storage shelves to reduce the phenomenon of cross-reading.

步驟S802，接收所述至少兩組盤點資料。Step S802: Receive the at least two sets of inventory data.

其中，每組所述盤點資料分別包括一個料箱識別碼佇列。Each set of inventory data includes a queue of bin identification codes.

步驟S803，將各個所述料箱識別碼佇列取交集，得到交叉盤點佇列。Step S803: Intersect each of the bin identification code queues to obtain a cross inventory queue.

通過多組盤點資料對應的料箱識別碼佇列取交集的方式，減少了由於盤點機器人串讀或誤讀對盤點結果的影響，提高了盤點結果的準確度。By queuing and intersecting the bin identification codes corresponding to multiple sets of inventory data, the impact of cross-reading or misreading by the inventory robot on the inventory results is reduced, and the accuracy of the inventory results is improved.

步驟S804，根據所述交叉盤點佇列以及所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。在一個實施例中，可以基於上述步驟S203的方式，確定盤點區域的待檢查庫位元，僅需將步驟S203以及相關描述中的盤點資料或料箱識別碼佇列替換為交叉盤點佇列即可，在此不再贅述。Step S804: Determine whether there is a storage location to be inspected in the inventory area based on the cross inventory queue and the inventory data in the inventory area. In one embodiment, the inventory location to be inspected in the inventory area can be determined based on the method of step S203 above. It is only necessary to replace the inventory data or bin identification code queue in step S203 and related descriptions with the cross inventory queue. Yes, I won’t go into details here.

在一個實施例中，根據所述交叉盤點佇列以及所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述交叉盤點佇列中，則確定所述盤點區域不存在所述待檢查庫位。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the cross inventory queue and the inventory data of the inventory area includes: when each material corresponding to the inventory area in the inventory data If all the box identification codes exist in the cross-counting queue, it is determined that the storage location to be inspected does not exist in the counting area.

在一個實施例中，根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：若所述庫存資料中所述盤點區域對應的各料箱識別碼中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，缺失料箱識別碼不存在於所述交叉盤點佇列。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the cross inventory queue and the inventory data in the inventory area includes: if each material corresponding to the inventory area in the inventory data If there is a missing bin identification code in the bin identification code, it is determined that the inventory location to be inspected exists in the inventory area; where the missing bin identification code does not exist in the cross-count queue.

在一個實施例中，所述待檢查庫位包括：在所述庫存資料中，與所述缺失料箱識別碼對應的庫位。In one embodiment, the storage location to be inspected includes: a storage location corresponding to the missing bin identification code in the inventory data.

在一個實施例中，所述待檢查庫位包括：在所述庫存資料中，所述缺失料箱識別碼對應的庫位附近預設範圍內的庫位。In one embodiment, the storage locations to be inspected include: storage locations within a preset range near the storage location corresponding to the missing bin identification code in the inventory data.

在一個實施例中，根據所述交叉盤點佇列以及所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：若所述交叉盤點佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the cross inventory queue and the inventory data in the inventory area includes: if there is a misplaced bin identification in the cross inventory queue code, it is determined that the inventory location to be inspected exists in the inventory area; wherein the misplaced bin identification code does not exist in the bin identification codes corresponding to the inventory area in the inventory data, and the The distance between the location element corresponding to the misplaced bin identification code in the inventory data and the inventory area exceeds the first preset distance; the location to be inspected includes the misplaced bin in the inventory data. The location or unit corresponding to the identification code.

在一個實施例中，所述盤點指令用於控制所述盤點機器人對所述盤點區域以盤點單元為單位進行盤點，所述盤點單元包括一個或多個庫位；所述料箱識別碼佇列由多個料箱識別碼集合組成，所述料箱識別碼集合與所述盤點單元一一對應；將各個所述料箱識別碼佇列取交集，得到交叉盤點佇列，包括：將各個所述料箱識別碼佇列中相對應的料箱識別碼集合分別取交集，以得到各個交叉料箱識別碼集合；將所有的交叉料箱識別碼集合組合，得到所述交叉盤點佇列。In one embodiment, the inventory instruction is used to control the inventory robot to inventory the inventory area in units of inventory units, where the inventory unit includes one or more storage locations; the container identification code queue It consists of multiple bin identification code sets, and the bin identification code set corresponds to the inventory unit one-to-one; the intersection of each bin identification code queue is obtained to obtain a cross inventory queue, including: The corresponding bin identification code sets in the bin identification code queue are intersected respectively to obtain each cross bin identification code set; all the cross bin identification code sets are combined to obtain the cross inventory queue.

在一個實施例中，根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：對於所述盤點區域中的每一個盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別碼集合中，則確定所述盤點單元不存在所述待檢查庫位；若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the cross inventory queue and the inventory data in the inventory area includes: for each inventory unit in the inventory area, when the If the bin identification codes corresponding to the inventory unit in the inventory data are all present in the bin identification code set corresponding to the inventory unit, then it is determined that the inventory location does not exist in the inventory location to be inspected; if the If the storage location to be inspected does not exist in each inventory counting unit in the inventory counting area, it is determined that there is no storage location to be inspected in the inventory counting area.

在一個實施例中，根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元；若所述盤點區域的各個盤點單元中存在第一單元，則確定所述盤點區域存在待檢查庫位元；其中，第一單元為對應的庫存資料中存在第三料箱識別碼的盤點單元，所述第三料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data of the cross-count queue and the inventory area includes: based on the inventory of the cross-count queue and the inventory area data to determine whether the first unit exists in each inventory unit of the inventory area; if the first unit exists in each inventory unit of the inventory area, it is determined that the inventory unit exists in the inventory area to be inspected; wherein, the first unit The unit is an inventory unit for which a third bin identification code exists in the corresponding inventory data. The third bin identification code does not exist in the bin identification code set corresponding to the first unit. The storage location unit to be inspected Including each storage location unit corresponding to the first unit.

在一個實施例中，根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括：根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元；若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元；其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。In one embodiment, judging whether there is a storage location to be inspected in the inventory area based on the inventory data of the cross-count queue and the inventory area includes: based on the inventory of the cross-count queue and the inventory area Data, determine whether the second unit exists in each inventory unit of the inventory area; if the second unit exists in each inventory unit of the inventory area, it is determined that the inventory unit exists in the inventory area to be inspected; wherein, The second unit is an inventory unit for which a misplaced bin identification code exists in the corresponding bin identification set. The misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit. The distance between the storage location element corresponding to the bin identification code in the inventory data and the second unit exceeds the second preset distance, and the storage location element to be inspected includes each storage location element corresponding to the second unit.

在一個實施例中，可以不執行步驟S803，將步驟S804替換為，根據所述至少兩組盤點資料以及所述盤點區域的庫存資料，確定所述盤點區域的至少一個待檢查單元。In one embodiment, step S803 may not be performed, and step S804 may be replaced by determining at least one unit to be inspected in the inventory area based on the at least two sets of inventory data and the inventory data in the inventory area.

在一個實施例中，可以分別比對每組盤點資料與對應的庫存資料，即針對盤點區域的每組盤點資料，比對該盤點資料與該盤點區域的庫存資料，基於比對結果，確定該盤點區域的待檢查庫位元。In one embodiment, each set of inventory data can be compared with the corresponding inventory data, that is, for each set of inventory data in the inventory area, the inventory data can be compared with the inventory data in the inventory area, and based on the comparison result, the inventory data can be determined. The location elements to be inspected in the inventory area.

在一個實施例中，可以按照圖2所示實施例中步驟S203的方式，根據每組盤點資料以及盤點區域的庫存資料，確定該盤點區域的待檢查庫位元。進而對各組盤點資料對應的待檢查庫位進行去重處理，從而得到該盤點區域的各個待檢查庫位。In one embodiment, according to the method of step S203 in the embodiment shown in FIG. 2, based on each group of inventory data and the inventory data of the inventory area, the storage location to be inspected in the inventory area is determined. Then, the warehouse locations to be inspected corresponding to each set of inventory data are deduplicated to obtain each warehouse location to be inspected in the inventory area.

可選的，根據所述至少兩組盤點資料以及庫存資料，確定所述盤點區域的待檢查庫位元，包括：針對各個盤點單元，若所述盤點單元的盤點結果與所述盤點單元的庫存資料不一致，則確定所述盤點單位為問題單元；根據所述問題單元，確定所述至少一個待檢查庫位。Optionally, determining the storage location to be inspected in the inventory area based on the at least two sets of inventory data and inventory data includes: for each inventory unit, if the inventory result of the inventory unit is consistent with the inventory of the inventory unit If the data is inconsistent, the inventory unit is determined to be a problem unit; based on the problem unit, the at least one storage location to be inspected is determined.

可選的，根據所述至少兩組盤點資料以及庫存資料，確定所述盤點區域的待檢查庫位元，包括：針對每組盤點資料，根據所述盤點資料對應的所述料箱識別碼佇列中各個料箱識別碼的採集順序，確定所述盤點資料中各個盤點單元分別對應的料箱識別碼；根據各組所述盤點資料中各個盤點單元分別對應的料箱識別碼以及各個所述盤點單元對應的庫存資料，確定所述盤點區域的待檢查庫位元。Optionally, determining the storage location to be inspected in the inventory area based on the at least two sets of inventory data and inventory data includes: for each group of inventory data, determining the bin identification code corresponding to the inventory data. The collection sequence of each bin identification code in the column determines the bin identification code corresponding to each inventory unit in the inventory data; according to the bin identification code corresponding to each inventory unit in each group of inventory data and each described The inventory data corresponding to the inventory unit determines the storage location to be inspected in the inventory area.

可選的，根據所述盤點資料對應的所述料箱識別碼佇列中各個料箱識別碼的採集順序，確定所述盤點資料中各個盤點單元分別對應的料箱識別碼，包括：根據所述盤點資料對應的所述料箱識別碼佇列中各個料箱識別碼的採集順序以及所述盤點機器人採集各個料箱識別碼時的位置座標，確定所述盤點資料中各個盤點單元分別對應的料箱識別碼。Optionally, according to the collection order of each bin identification code in the bin identification code queue corresponding to the inventory data, determining the bin identification code corresponding to each inventory unit in the inventory data includes: according to the The collection sequence of each bin identification code in the bin identification code queue corresponding to the inventory data and the position coordinates when the inventory robot collects each bin identification code are determined to determine the corresponding locations of each inventory unit in the inventory data. Bin identification code.

可選的，所述盤點資料還包括所述盤點機器人採集料箱識別碼時的位置座標以及所述盤點機器人的取放貨裝置的高度，根據所述至少兩組盤點資料以及所述盤點區域的庫存資料，確定所述盤點區域的待檢查庫位元，包括：針對每組盤點資料，根據所述盤點資料中各個料箱識別碼對應的所述盤點機器人的位置座標以及所述盤點機器人的取放貨裝置的高度，確定所述盤點資料中各個盤點單元分別對應的料箱識別碼；根據各組所述盤點資料中各個盤點單元分別對應的料箱識別碼以及各個所述盤點單元對應的庫存資料，確定所述盤點區域的待檢查庫位元。Optionally, the inventory data also includes the position coordinates when the inventory robot collects the container identification code and the height of the pickup and placement device of the inventory robot. According to the at least two sets of inventory data and the location of the inventory area Inventory data determines the storage location to be inspected in the inventory area, including: for each set of inventory data, the position coordinates of the inventory robot corresponding to the identification code of each bin in the inventory data and the pickup location of the inventory robot The height of the stocking device determines the bin identification code corresponding to each inventory unit in the inventory data; according to the bin identification code corresponding to each inventory unit in each group of inventory data and the inventory corresponding to each inventory unit Information to determine the inventory location to be inspected in the inventory area.

可選的，根據各組所述盤點資料中各個盤點單元分別對應的料箱識別碼以及各個所述盤點單元對應的庫存資料，確定所述盤點區域的待檢查庫位元，包括：針對每個所述盤點單元，判斷所述盤點單元對應的庫存資料與所述盤點單元在各組所述盤點資料中對應的料箱識別碼是否一致；若所述盤點單元對應的庫存資料與所述盤點單元在至少一組所述盤點資料中對應的料箱識別碼不一致，或所述盤點單元對應的庫存資料與所述盤點單元在各組所述盤點資料中對應的料箱識別碼均不一致，則確定所述盤點單元為問題單元；根據所述問題單元，確定所述盤點區域的待檢查庫位元。Optionally, determine the storage locations to be inspected in the inventory area based on the bin identification codes corresponding to each inventory unit in each group of inventory data and the inventory data corresponding to each inventory unit, including: for each inventory unit The inventory unit determines whether the inventory data corresponding to the inventory unit is consistent with the bin identification code corresponding to the inventory unit in each group of the inventory data; if the inventory data corresponding to the inventory unit is consistent with the inventory data of the inventory unit, If the corresponding bin identification codes in at least one set of the inventory data are inconsistent, or the inventory data corresponding to the inventory unit and the corresponding bin identification codes of the inventory unit in each group of the inventory data are inconsistent, then it is determined that The inventory unit is a problem unit; according to the problem unit, the storage location to be inspected in the inventory area is determined.

可選的，若所述盤點單元對應的庫存資料中的料箱識別碼均存在於所述盤點單元在盤點資料中，則確定所述盤點單元對應的庫存資料與所述盤點單元在所述盤點資料中對應的料箱識別碼一致，即該盤點區域不存在待檢查庫位。Optionally, if the bin identification codes in the inventory data corresponding to the inventory counting unit all exist in the inventory data of the inventory counting unit, it is determined that the inventory data corresponding to the inventory counting unit and the inventory data of the inventory counting unit are in the inventory The corresponding bin identification codes in the data are consistent, that is, there is no location to be inspected in this inventory area.

可選的，根據所述問題單元，確定所述盤點區域的待檢查庫位元待檢查單元，包括：針對每個所述問題單元，確定盤點順序與所述問題單元的盤點順序的差值的絕對值小於第一差值的各個盤點單元為待檢查單元，並確定待檢查單元的各個庫位元為待檢查庫位。Optionally, according to the problem unit, determining the storage location to be inspected in the inventory area and the unit to be inspected include: for each of the problem units, determining the difference between the inventory order and the inventory order of the problem unit. Each inventory unit whose absolute value is smaller than the first difference value is a unit to be inspected, and each location unit of the unit to be inspected is determined to be a location to be inspected.

可選的，根據所述至少兩組盤點資料以及庫存資料，確定所述盤點區域的待檢查單元，包括：針對每組所述盤點資料，將所述盤點資料與所述盤點區域的庫存資料進行比對；針對每組所述盤點資料，根據比對結果，確定所述盤點資料中的缺失料箱識別碼，其中，所述缺失料箱識別碼為所述盤點區域的庫存資料中不屬於所述盤點資料的料箱識別碼；根據所述庫存資料中各個所述缺失料箱識別碼的原庫位，確定所述盤點區域的待檢查庫位元。Optionally, determining the units to be inspected in the inventory area based on the at least two sets of inventory data and inventory data includes: for each group of the inventory data, comparing the inventory data with the inventory data in the inventory area. Comparison; for each group of the inventory data, determine the missing bin identification code in the inventory data according to the comparison result, wherein the missing bin identification code is the one that does not belong to the inventory data in the inventory area. The bin identification code of the inventory data is determined; the bin location to be inspected in the inventory area is determined based on the original location of each missing bin identification code in the inventory data.

圖9為本公開另一個實施例提供的料箱盤點方法的流程圖，本實施例提供的料箱盤點方法由盤點機器人執行，盤點機器人可以為倉儲系統中任意一個機器人，也可以為專用於執行盤點任務的機器人，如圖9所示，本實施例提供的料箱盤點方法包括以下步驟： 步驟S901，接收盤點區域的盤點指令。 Figure 9 is a flow chart of a box counting method provided by another embodiment of the present disclosure. The box counting method provided by this embodiment is executed by an inventory robot. The inventory robot can be any robot in the warehousing system, or it can be a robot dedicated to execution. As shown in Figure 9, the robot for inventory tasks, the box inventory method provided by this embodiment includes the following steps: Step S901: Receive an inventory instruction for the inventory area.

其中，所述盤點區域包括多個庫位元。Wherein, the inventory area includes multiple storage locations.

其中，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點。Wherein, the inventory instruction is used to control the inventory robot to inventory the inventory area.

步驟S902，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料。Step S902: Perform an inventory of the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area.

步驟S903，發送所述盤點資料。Step S903: Send the inventory data.

其中，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。Wherein, the inventory data includes a queue of bin identification codes, and the inventory data is used to compare with the inventory data in the inventory area to determine whether there is a storage location to be inspected in the inventory area.

可選的，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括：基於所述盤點指令對所述盤點區域進行盤點；對所述盤點區域進行盤點所採集到的所有料箱識別碼進行去重處理，得到所述盤點區域對應的盤點資料。Optionally, inventory the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area, including: inventorying the inventory area based on the inventory instruction; inventorying all items in the inventory area. All collected bin identification codes are deduplicated to obtain inventory data corresponding to the inventory area.

可選的，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括：基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼；根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合；基於所述盤點區域的各個盤點單元對應的料箱識別碼集合，生成所述盤點區域對應的盤點資料；其中，所述盤點單元包括一個或多個庫位，所述料箱識別碼集合與所述盤點單元一一對應。Optionally, inventory the inventory area based on the inventory instruction and generate inventory data corresponding to the inventory area, including: controlling the bin identification device of the inventory robot based on the inventory instruction, with the inventory unit as a unit. Collect the bin identification codes of the bins placed in each inventory unit in the inventory area; according to the collected bin identification codes, obtain a set of bin identification codes corresponding to each inventory unit; based on each inventory unit in the inventory area The corresponding set of bin identification codes generates inventory data corresponding to the inventory area; wherein the inventory unit includes one or more storage locations, and the set of bin identification codes corresponds to the inventory unit one-to-one.

可選的，基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼，包括：針對每個盤點單元，基於所述盤點指令在移動至所述盤點單元的預設位置時，開啟所述盤點機器人的所述料箱識別裝置，採集所述盤點單元內放置的料箱的料箱識別碼。Optionally, the bin identification device of the inventory robot is controlled based on the inventory instruction, and the bin identification codes of the bins placed in each inventory unit of the inventory area are collected in units of inventory units, including: for each inventory The unit, when moving to a preset position of the inventory unit based on the inventory instruction, turns on the bin identification device of the inventory robot and collects the bin identification codes of the bins placed in the inventory unit.

可選的，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括：若採集的相鄰兩個料箱識別碼對應的採集時間點的差值小於預設值，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, according to the collected bin identification codes, a bin identification code set corresponding to each inventory unit is obtained, including: if the difference between the collection time points corresponding to the collected two adjacent bin identification codes is less than the preset value, the two bin identification codes are classified into the same bin identification code set.

可選的，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括：若採集的相鄰兩個料箱識別碼對應的所述料箱識別裝置的位置的距離小於預設距離，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, according to the collected bin identification codes, a bin identification code set corresponding to each inventory unit is obtained, including: if the collected bin identification codes correspond to the positions of the bin identification devices If the distance is less than the preset distance, the two bin identification codes are classified into the same bin identification code set.

可選的，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。Optionally, the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot.

可選的，所述方法還包括：若採集的料箱標識碼的強度值低於預設強度，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the method further includes: if the intensity value of the collected bin identification code is lower than the preset intensity, then deleting the bin identification code from the corresponding bin identification code set.

可選的，所述方法還包括：確定所採集的料箱標識碼對應的位置；若所採集的料箱標識碼對應的位置超出對應的盤點單元的範圍，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the method further includes: determining the position corresponding to the collected container identification code; if the position corresponding to the collected container identification code exceeds the range of the corresponding inventory unit, then from the corresponding container identification code set Delete the bin identification code.

本公開實施例提供一種料箱盤點裝置，該裝置可以由調度設備或倉儲系統執行，該料箱盤點裝置包括：指令發送模組、盤點資料接收模組和異常判定模組。Embodiments of the present disclosure provide a container inventory device, which can be executed by a dispatching device or a warehousing system. The container inventory device includes: an instruction sending module, an inventory data receiving module, and an abnormality determination module.

其中，指令發送模組，用於生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料，所述盤點區域包括多個庫位元，其中，所述盤點資料包括料箱識別碼佇列；盤點資料接收模組，用於接收所述盤點資料；異常判定模組，用於根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。Among them, the instruction sending module is used to generate an inventory instruction for the inventory area, and send the inventory instruction to the inventory robot. The inventory instruction controls the inventory robot to inventory the inventory area to obtain the inventory area. Corresponding inventory data, the inventory area includes multiple storage locations, wherein the inventory data includes a queue of bin identification codes; an inventory data receiving module is used to receive the inventory data; an exception determination module is used Based on the inventory data and the inventory data in the inventory area, it is determined whether there is a storage location to be inspected in the inventory area.

可選的，異常判定模組，具體用於：當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述料箱識別碼佇列中時，則確定所述盤點區域不存在所述待檢查庫位。Optional, anomaly determination module, specifically used to: when each bin identification code corresponding to the inventory area in the inventory data exists in the bin identification code queue, determine the inventory area The location to be checked does not exist.

可選的，異常判定模組，具體用於：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的庫存資料中是否存在缺失料箱識別碼；若所述盤點區域的庫存資料中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，缺失料箱識別碼不存在於所述料箱識別碼佇列。Optionally, an abnormality determination module is specifically used to: determine whether there is a missing bin identification code in the inventory data of the inventory area based on the inventory data and the inventory data corresponding to the inventory area; if the If there is a missing bin identification code in the inventory data in the inventory area, it is determined that the inventory location to be inspected exists in the inventory area; where the missing bin identification code does not exist in the bin identification code queue.

可選的，異常判定模組，具體用於：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的料箱識別碼佇列中是否存在錯放料箱識別碼；若所述料箱識別碼佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。Optionally, an abnormality determination module is specifically used to determine whether there is misplaced bin identification in the bin identification code queue of the inventory area based on the inventory data and the inventory data corresponding to the inventory area. code; if there is a misplaced bin identification code in the queue of bin identification codes, it is determined that the inventory location to be inspected exists in the inventory area; where the misplaced bin identification code does not exist in the inventory Each bin identification code corresponding to the inventory area in the data, and the distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the inventory area exceeds the first preset distance; so The storage location to be inspected includes the storage location element or unit corresponding to the misplaced bin identification code in the inventory data.

可選的，異常判定模組，具體用於：對於所述盤點區域中的每一盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別集合中，則確定所述盤點單元不存在所述待檢查庫位；若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。Optional, anomaly determination module, specifically used for: for each inventory unit in the inventory area, when the bin identification code corresponding to the inventory unit in the inventory data exists in the same location as the inventory unit In the corresponding bin identification set, it is determined that the inventory location to be inspected does not exist in the inventory unit; if the inventory location to be inspected does not exist in each inventory unit in the inventory area, it is determined that the inventory area does not exist. Location to be checked.

可選的，異常判定模組，具體用於：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元；若所述盤點區域的各個盤點單元中存在第一單元，則確定所述盤點區域存在待檢查庫位元；其中，第一單元為對應的庫存資料中存在缺失料箱識別碼的盤點單元，所述缺失料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。Optionally, an abnormality determination module is specifically used to: determine whether there is a first unit in each inventory unit in the inventory area based on the inventory data and the inventory data corresponding to the inventory area; if the inventory If there is a first unit in each inventory unit of the area, it is determined that the inventory location unit to be inspected exists in the inventory area; where the first unit is an inventory unit with a missing material box identification code in the corresponding inventory data, and the missing material box The identification code does not exist in the set of bin identification codes corresponding to the first unit, and the storage location elements to be inspected include each storage location element corresponding to the first unit.

可選的，異常判定模組，具體用於：根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元；若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元；其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。Optionally, an abnormality determination module is specifically used to: determine whether there is a second unit in each inventory unit in the inventory area based on the inventory data and the inventory data corresponding to the inventory area; if the inventory If the second unit is present in each inventory unit of the area, it is determined that the inventory location unit to be inspected exists in the inventory area; wherein the second unit is an inventory that contains a misplaced bin identification code in the corresponding bin identification set. unit, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the distance between the storage location corresponding to the misplaced bin identification code in the inventory data and the second unit Beyond the second preset distance, the storage locations to be inspected include each storage location corresponding to the second unit.

可選的，該裝置可以採用待檢查庫位元確定模組替換異常判定模組，待檢查庫位元確定模組用於根據所述盤點資料和所述盤點區域的庫存資料，確定所述盤點區域的待檢查庫位元。Optionally, the device can replace the abnormality determination module with a storage location determination module to be inspected. The storage location determination module to be inspected is used to determine the inventory based on the inventory data and the inventory data in the inventory area. The location of the area to be inspected.

本公開實施例所提供的料箱盤點裝置可執行本公開圖2以及圖4至圖7對應的任意實施例所提供的料箱盤點方法，具備執行方法相應的功能模組和有益效果。The bin counting device provided by the embodiment of the present disclosure can execute the bin counting method provided by any embodiment corresponding to FIG. 2 and FIG. 4 to FIG. 7 of the disclosure, and has corresponding functional modules and beneficial effects for executing the method.

本公開實施例提供的另一種料箱盤點裝置，該裝置可以由調度設備或倉儲系統執行，該料箱盤點裝置包括：指令生成模組、盤點資料接收模組、交叉佇列獲取模組和異常判定模組。其中，指令生成模組，用於生成盤點區域的盤點指令，並將所述盤點指令發送至至少一個盤點機器人，以控制所述至少一個所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域的至少兩組盤點資料，其中，所述盤點區域包括多個庫位元；盤點資料接收模組，用於接收所述至少兩組盤點資料，其中，每組所述盤點資料分別包括一個料箱識別碼佇列；交叉佇列獲取模組，用於將各個所述料箱識別碼佇列取交集，得到交叉盤點佇列；異常判定模組，用於根據所述交叉盤點佇列以及所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。Another container inventory device provided by an embodiment of the present disclosure can be executed by a dispatching device or a warehousing system. The container inventory device includes: an instruction generation module, an inventory data receiving module, a cross-queue acquisition module, and an exception Judgment module. Wherein, the instruction generation module is used to generate inventory instructions for the inventory area, and send the inventory instructions to at least one inventory robot to control the at least one inventory robot to inventory the inventory area to obtain all At least two sets of inventory data in the inventory area, wherein the inventory area includes multiple storage locations; an inventory data receiving module is used to receive the at least two groups of inventory data, wherein each group of the inventory data includes A queue of bin identification codes; a cross queue acquisition module, used to intersect each of the queues of bin identification codes to obtain a cross inventory queue; an exception determination module, used to calculate the cross inventory queue according to the and inventory data in the inventory area to determine whether there is a storage location to be inspected in the inventory area.

可選的，指令生成模組，具體用於：生成盤點區域的盤點指令，並將所述盤點指令發送至一個盤點機器人，以控制所述盤點機器人對所述盤點區域盤點至少兩次，且所述盤點機器人每次盤點時的盤點順序和盤點路徑中的至少一項不同。Optionally, the instruction generation module is specifically used to: generate inventory instructions for the inventory area, and send the inventory instructions to an inventory robot to control the inventory robot to inventory the inventory area at least twice, and all At least one of the counting sequence and the counting path of the counting robot is different each time it takes stock.

可選的，指令生成模組，具體用於：生成第一盤點指令和第二盤點指令；分別將所述第一盤點指令和所述第二盤點指令發送至第一盤點機器人和第二盤點機器人，以控制所述第一盤點機器人和第二盤點機器人對所述盤點區域分別進行盤點。Optionally, the instruction generation module is specifically used to: generate a first inventory instruction and a second inventory instruction; send the first inventory instruction and the second inventory instruction to the first inventory robot and the second inventory robot respectively. , to control the first inventory robot and the second inventory robot to respectively inventory the inventory area.

可選的，異常判定模組，具體用於：當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述交叉盤點佇列中，則確定所述盤點區域不存在所述待檢查庫位。Optional, anomaly determination module, specifically used for: when each bin identification code corresponding to the inventory area in the inventory data exists in the cross inventory queue, determine that the inventory area does not exist. Describe the storage location to be inspected.

可選的，異常判定模組，具體用於：若所述庫存資料中所述盤點區域對應的各料箱識別碼中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，缺失料箱識別碼不存在於所述交叉盤點佇列。Optional, anomaly determination module, specifically used to: if there is a missing bin identification code in each bin identification code corresponding to the inventory area in the inventory data, determine that the inventory to be inspected exists in the inventory area bit; wherein the missing bin identification code does not exist in the cross-count queue.

可選的，異常判定模組，具體用於：若所述交叉盤點佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位；其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。Optionally, an abnormality determination module is specifically used to: if there is a misplaced material box identification code in the cross-inventory queue, determine that the inventory location to be inspected exists in the inventory area; wherein, the misplaced material The box identification code does not exist in the box identification code corresponding to the inventory area in the inventory data, and the misplaced box identification code is in the storage location corresponding to the inventory area in the inventory data. The distance exceeds the first preset distance; the storage location to be inspected includes the storage location element or unit corresponding to the misplaced bin identification code in the inventory data.

可選的，異常判定模組，具體用於：對於所述盤點區域中的每一個盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別碼集合中，則確定所述盤點單元不存在所述待檢查庫位；若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。Optional, anomaly determination module, specifically used: for each inventory unit in the inventory area, when the bin identification code corresponding to the inventory unit in the inventory data exists in the same location as the inventory unit in the corresponding bin identification code set, it is determined that the inventory location to be inspected does not exist in the inventory unit; if the inventory location to be inspected does not exist in each inventory unit in the inventory area, it is determined that the inventory location does not exist in the inventory area. There is a location to be checked.

可選的，異常判定模組，具體用於：根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元；若所述盤點區域的各個盤點單元中存在第一單元，則確定所述盤點區域存在待檢查庫位元；其中，第一單元為對應的庫存資料中存在第三料箱識別碼的盤點單元，所述第三料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。Optional, anomaly determination module, specifically used to: determine whether there is a first unit in each inventory unit of the inventory area based on the cross inventory queue and the inventory data of the inventory area; if the inventory area If there is a first unit in each inventory unit, it is determined that there is a storage location unit to be inspected in the inventory area; where the first unit is an inventory unit for which the third material box identification code exists in the corresponding inventory data, and the third material The box identification code does not exist in the set of bin identification codes corresponding to the first unit, and the storage location elements to be inspected include each storage location element corresponding to the first unit.

可選的，異常判定模組，具體用於：根據所述交叉盤點佇列和所述盤點區域的庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元；若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元；其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。Optionally, an abnormality determination module is specifically used to: determine whether there is a second unit in each inventory unit in the inventory area based on the cross inventory queue and the inventory data in the inventory area; if the inventory area If the second unit is present in each inventory unit, it is determined that there is a storage location unit to be inspected in the inventory area; wherein the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set. , the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the distance between the storage location unit corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds The second preset distance, the storage location unit to be inspected includes each storage location unit corresponding to the second unit.

本公開實施例所提供的料箱盤點裝置可執行本公開圖8對應的任意實施例所提供的料箱盤點方法，具備執行方法相應的功能模組和有益效果。The bin counting device provided by the embodiment of the present disclosure can execute the bin counting method provided by any embodiment corresponding to Figure 8 of the present disclosure, and has corresponding functional modules and beneficial effects of the execution method.

本公開實施例提供的另一種料箱盤點裝置，該裝置應用于盤點機器人，該料箱盤點裝置包括：指令接收模組、盤點資料生成模組和盤點資料發送模組。An embodiment of the present disclosure provides another container counting device, which is applied to an inventory robot. The container counting device includes: an instruction receiving module, an inventory data generating module, and an inventory data sending module.

其中，指令接收模組，用於接收盤點區域的盤點指令，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點；盤點資料生成模組，用於基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料；盤點資料發送模組，用於發送所述盤點資料；其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。Among them, the instruction receiving module is used to receive the inventory instruction of the inventory area, and the inventory instruction is used to control the inventory robot to inventory the inventory area; the inventory data generation module is used to perform the inventory based on the inventory instruction. Perform inventory in the inventory area and generate inventory data corresponding to the inventory area; an inventory data sending module is used to send the inventory data; wherein the inventory area includes multiple storage locations, and the inventory data includes material boxes The identification code queue is used to compare the inventory data with the inventory data in the inventory area to determine whether there is a storage location to be inspected in the inventory area.

可選的，盤點資料生成模組，具體用於：基於所述盤點指令對所述盤點區域進行盤點；對所述盤點區域進行盤點所採集到的所有料箱識別碼進行去重處理，得到所述盤點區域對應的盤點資料。Optionally, the inventory data generation module is specifically used to: inventory the inventory area based on the inventory instruction; perform deduplication processing on all the bin identification codes collected by inventorying the inventory area, and obtain all the bin identification codes. Describe the inventory data corresponding to the inventory area.

可選的，盤點資料生成模組，包括：盤點單元，用於基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼；集合獲取單元，用於根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合；盤點資料生成單元，用於基於所述盤點區域的各個盤點單元對應的料箱識別碼集合，生成所述盤點區域對應的盤點資料；其中，所述盤點單元包括一個或多個庫位，所述料箱識別碼集合與所述盤點單元一一對應。Optionally, the inventory data generation module includes: an inventory unit, used to control the material box identification device of the inventory robot based on the inventory instruction, and collect the materials placed in each inventory unit of the inventory area in units of inventory units. The bin identification code of the box; the set acquisition unit is used to obtain the bin identification code set corresponding to each inventory unit according to the collected bin identification code; the inventory data generation unit is used to perform each inventory based on the inventory area The set of bin identification codes corresponding to the unit generates inventory data corresponding to the inventory area; wherein the inventory unit includes one or more storage locations, and the set of bin identification codes corresponds to the inventory unit one-to-one.

可選的，基盤點單元，具體用於：針對每個盤點單元，基於所述盤點指令在移動至所述盤點單元的預設位置時，開啟所述盤點機器人的所述料箱識別裝置，採集所述盤點單元內放置的料箱的料箱識別碼。Optionally, a base inventory unit is specifically configured to: for each inventory unit, based on the inventory instruction, when moving to the preset position of the inventory unit, turn on the bin identification device of the inventory robot to collect The bin identification code of the bin placed in the inventory unit.

可選的，集合獲取單元，具體用於：若採集的相鄰兩個料箱識別碼對應的採集時間點的差值小於預設值，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, the collection acquisition unit is specifically used to: if the difference between the collection time points corresponding to the collected two adjacent bin identification codes is less than the preset value, then the two bin identification codes are grouped into the same Collection of bin identification codes.

可選的，集合獲取單元，具體用於：若採集的相鄰兩個料箱識別碼對應的所述料箱識別裝置的位置的距離小於預設距離，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。Optionally, the collection acquisition unit is specifically configured to: if the distance between the positions of the bin identification devices corresponding to the collected two adjacent bin identification codes is less than the preset distance, then combine the two bin identification codes with each other. Be included in the same bin identification code set.

可選的，所述裝置還包括：第一標識碼刪除模組，用於若採集的料箱標識碼的強度值低於預設強度，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the device further includes: a first identification code deletion module, configured to delete the material from the corresponding material box identification code set if the intensity value of the collected material box identification code is lower than the preset intensity. Box identification code.

可選的，所述裝置還包括：第二標識碼刪除模組，用於確定所採集的料箱標識碼對應的位置；若所採集的料箱標識碼對應的位置超出對應的盤點單元的範圍，則從對應的料箱識別碼集合中刪除所述料箱識別碼。Optionally, the device also includes: a second identification code deletion module, used to determine the position corresponding to the collected container identification code; if the position corresponding to the collected container identification code exceeds the range of the corresponding inventory unit , then delete the bin identification code from the corresponding bin identification code set.

本公開實施例所提供的料箱盤點裝置可執行本公開圖9對應的任意實施例所提供的料箱盤點方法，具備執行方法相應的功能模組和有益效果。The bin counting device provided by the embodiment of the disclosure can execute the bin counting method provided by any embodiment corresponding to Figure 9 of the disclosure, and has corresponding functional modules and beneficial effects for executing the method.

圖10為本公開一個實施例提供的調度設備的結構示意圖，如圖10所示，該調度設備包括：記憶體1010，處理器1020以及電腦程式。Figure 10 is a schematic structural diagram of a scheduling device provided by an embodiment of the present disclosure. As shown in Figure 10, the scheduling device includes: a memory 1010, a processor 1020 and a computer program.

其中，電腦程式存儲在記憶體1010中，並被配置為由處理器1020執行以實現本公開圖2以及圖4至圖8所對應的實施例中任一實施例提供的料箱盤點方法。The computer program is stored in the memory 1010 and is configured to be executed by the processor 1020 to implement the bin inventory method provided in any one of the embodiments corresponding to FIG. 2 and FIG. 4 to FIG. 8 of the present disclosure.

其中，記憶體1010和處理器1020通過匯流排1030連接。Among them, the memory 1010 and the processor 1020 are connected through a bus 1030.

相關說明可以對應參見圖2以及圖4至圖8的步驟所對應的相關描述和效果進行理解，此處不做過多贅述。Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps of FIG. 2 and FIGS. 4 to 8 , and will not be described in detail here.

圖11為本公開一個實施例提供的盤點機器人的結構示意圖，如圖11所示，該盤點機器人包括：記憶體1110，處理器1120以及電腦程式。Figure 11 is a schematic structural diagram of an inventory robot provided by an embodiment of the present disclosure. As shown in Figure 11, the inventory robot includes: a memory 1110, a processor 1120 and a computer program.

其中，電腦程式存儲在記憶體1110中，並被配置為由處理器1120執行以實現本公開圖9所對應的實施例提供的料箱盤點方法。The computer program is stored in the memory 1110 and is configured to be executed by the processor 1120 to implement the bin inventory method provided by the embodiment corresponding to FIG. 9 of the present disclosure.

其中，記憶體1110和處理器1120通過匯流排1130連接。The memory 1110 and the processor 1120 are connected through a bus 1130 .

相關說明可以對應參見圖9的步驟所對應的相關描述和效果進行理解，此處不做過多贅述。Relevant descriptions can be understood corresponding to the relevant descriptions and effects corresponding to the steps in Figure 9, and will not be described in detail here.

圖12為本公開一個實施例提供的倉儲系統的結構示意圖，如圖12所示，該倉儲系統包括：存儲貨架1210、調度設備1220和盤點機器人1230，圖12以兩個存儲貨架1210為例。Figure 12 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure. As shown in Figure 12, the warehousing system includes: storage shelves 1210, dispatching equipment 1220 and inventory robots 1230. Figure 12 takes two storage shelves 1210 as an example.

其中，調度設備或倉儲系統1220為本公開圖10所示實施例提供的調度設備或倉儲系統，盤點機器人1230為本公開圖11所示實施例提供的盤點機器人。Among them, the dispatching equipment or warehousing system 1220 is the dispatching equipment or warehousing system provided by the embodiment shown in FIG. 10 of the present disclosure, and the inventory robot 1230 is the inventory robot provided by the embodiment shown in FIG. 11 of the present disclosure.

在一個實施例中，同一存儲貨架上的庫位元的尺寸可以相同，也可以不同，可以根據實際需求設置。In one embodiment, the sizes of storage locations on the same storage shelf can be the same or different, and can be set according to actual needs.

在一個實施例中，該倉儲系統還包括取放貨機器人、堆垛機器人等其他機器人。In one embodiment, the warehousing system also includes other robots such as pick-and-place robots and stacking robots.

在一個實施例中，該倉儲系統還包括卸料機、提升機、運輸線等料箱的中轉裝置。In one embodiment, the storage system also includes transfer devices for bins such as unloaders, elevators, and transportation lines.

本公開一個實施例提供一種電腦可讀存儲介質，其上存儲有電腦程式，電腦程式被處理器執行以實現本公開圖2、圖4至圖9所對應的實施例中任一實施例提供的料箱盤點方法。One embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement any of the embodiments corresponding to FIG. 2, FIG. 4 to FIG. 9 of the present disclosure. Bin inventory method.

其中，電腦可讀存儲介質可以是ROM、隨機存取記憶體（RAM）、CD-ROM、磁帶、軟碟和光資料存放裝置等。Among them, computer-readable storage media can be ROM, random access memory (RAM), CD-ROM, tapes, floppy disks, optical data storage devices, etc.

本公開還提供一種程式產品，該程式產品包括可執行電腦程式，該可執行電腦程式存儲在可讀存儲介質中。調度設備或倉儲系統或機器人的至少一個處理器可以從可讀存儲介質讀取該電腦程式，至少一個處理器執行該電腦程式使得料箱盤點裝置實施上述各種實施方式提供的料箱盤點方法。The present disclosure also provides a program product, the program product includes an executable computer program, and the executable computer program is stored in a readable storage medium. At least one processor of the dispatching equipment, warehousing system, or robot can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the bin counting device implements the bin counting method provided by the various embodiments mentioned above.

在本公開所提供的幾個實施例中，應該理解到，所揭露的設備和方法，可以通過其它的方式實現。例如，以上所描述的設備實施例僅僅是示意性的，例如，所述模組的劃分，僅僅為一種邏輯功能劃分，實際實現時可以有另外的劃分方式，例如多個模組可以結合或者可以集成到另一個系統，或一些特徵可以忽略，或不執行。另一點，所顯示或討論的相互之間的耦合或直接耦合或通信連接可以是通過一些介面，裝置或模組的間接耦合或通信連接，可以是電性，機械或其它的形式。In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or Integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be indirect coupling or communication connection through some interfaces, devices or modules, which may be electrical, mechanical or other forms.

所述作為分離部件說明的模組可以是或者也可以不是物理上分開的，作為模組顯示的部件可以是或者也可以不是物理單元，即可以位於一個地方，或者也可以分佈到多個網路單元上。可以根據實際的需要選擇其中的部分或者全部模組來實現本實施例方案的目的。The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple networks. on the unit. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本公開各個實施例中的各功能模組可以集成在一個處理單元中，也可以是各個模組單獨物理存在，也可以兩個或兩個以上模組集成在一個單元中。上述模組成的單元既可以採用硬體的形式實現，也可以採用硬體加軟體功能單元的形式實現。In addition, each functional module in various embodiments of the present disclosure can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The units composed of the above modules can be implemented in the form of hardware or in the form of hardware plus software functional units.

上述以軟體功能模組的形式實現的集成的模組，可以存儲在一個電腦可讀取存儲介質中。上述軟體功能模組存儲在一個存儲介質中，包括若干指令用以使得一台電腦設備（可以是個人電腦，伺服器，或者網路設備等）或處理器（英文：processor）執行本公開各個實施例所述方法的部分步驟。The above-mentioned integrated modules implemented in the form of software function modules can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium and includes a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute various implementations of the present disclosure. Some steps of the method described in the example.

應理解，上述處理器可以是中央處理單元（Central Processing Unit，簡稱CPU），還可以是其他通用處理器、數位訊號處理器（Digital Signal Processor，簡稱DSP）、專用積體電路（Application Specific Integrated Circuit，簡稱ASIC）等。通用處理器可以是微處理器或者該處理器也可以是任何常規的處理器等。結合本公開所公開的方法的步驟可以直接體現為硬體處理器執行完成，或者用處理器中的硬體及軟體模組組合執行完成。It should be understood that the above-mentioned processor may be a central processing unit (Central Processing Unit, referred to as CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, referred to as DSP), or application specific integrated circuit (Application Specific Integrated Circuit). , referred to as ASIC), etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in this disclosure can be directly implemented by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

記憶體可能包含高速RAM記憶體，也可能還包括非易失性存儲NVM，例如至少一個磁碟記憶體，還可以為U盤、移動硬碟、唯讀記憶體、磁片或光碟等。The memory may include high-speed RAM memory, or may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, removable hard drive, read-only memory, magnetic disk, or optical disk.

匯流排可以是工業標準架構（Industry Standard Architecture，簡稱ISA）匯流排、外部設備互連（Peripheral Component，簡稱PCI）匯流排或擴展工業標準架構（Extended Industry Standard Architecture，簡稱EISA）匯流排等。匯流排可以分為位址匯流排、資料匯流排、控制匯流排等。為便於表示，本公開附圖中的匯流排並不限定僅有一根匯流排或一種類型的匯流排。The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of presentation, the busbars in the drawings of this disclosure are not limited to only one busbar or one type of busbar.

上述存儲介質可以是由任何類型的易失性或非易失性存放裝置或者它們的組合實現，如靜態隨機存取記憶體（SRAM），電可擦除可程式設計唯讀記憶體（EEPROM），可擦除可程式設計唯讀記憶體（EPROM），可程式設計唯讀記憶體（PROM），唯讀記憶體（ROM），磁記憶體，快閃記憶體，磁片或光碟。存儲介質可以是通用或專用電腦能夠存取的任何可用介質。The above storage media can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) , erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. Storage media can be any available media that can be accessed by a general-purpose or special-purpose computer.

一種示例性的存儲介質耦合至處理器，從而使處理器能夠從該存儲介質讀取資訊，且可向該存儲介質寫入資訊。當然，存儲介質也可以是處理器的組成部分。處理器和存儲介質可以位於專用積體電路(Application Specific Integrated Circuits，簡稱ASIC)中。當然，處理器和存儲介質也可以作為分立元件存在於電子設備或主控設備中。An exemplary storage medium is coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium may be located in Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium can also exist as discrete components in the electronic device or the main control device.

本領域普通技術人員可以理解：實現上述各方法實施例的全部或部分步驟可以通過程式指令相關的硬體來完成。前述的程式可以存儲於一電腦可讀取存儲介質中。該程式在執行時，執行包括上述各方法實施例的步驟；而前述的存儲介質包括：ROM、RAM、磁碟或者光碟等各種可以存儲程式碼的介質。Persons of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed through program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps including the above-mentioned method embodiments are executed; and the aforementioned storage media include: ROM, RAM, magnetic disks, optical disks, and other media that can store program codes.

最後應說明的是：以上各實施例僅用以說明本公開的技術方案，而非對其限制；儘管參照前述各實施例對本公開進行了詳細的說明，本領域的普通技術人員應當理解：其依然可以對前述各實施例所記載的技術方案進行修改，或者對其中部分或者全部技術特徵進行等同替換；而這些修改或者替換，並不使相應技術方案的本質脫離本公開各實施例技術方案的範圍。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. Scope.

110:存儲貨架 120:調度設備或倉儲系統 1210:存儲貨架 1220:調度設備 1230:盤點機器人 310:存儲貨架 320:盤點機器人 321:料箱識別裝置 330:存儲貨架 340:盤點機器人 341:料箱識別裝置 350:盤點機器人 360:盤點機器人 370:存儲貨架 381:單元 382:單元 601:盤點機器人 602:盤點機器人 610:存儲貨架 620:存儲貨架 r1~r4:射束 S401~S402:步驟 S501~S502:步驟 S601~S603:步驟 S701~S707:步驟 S801~S804:步驟 S901~S903:步驟 110:Storage shelves 120: Scheduling equipment or warehousing system 1210:Storage shelves 1220: Scheduling equipment 1230: Inventory robot 310:Storage shelves 320: Inventory robot 321: Bin identification device 330:Storage shelves 340: Inventory robot 341: Bin identification device 350: Inventory robot 360: Inventory robot 370:Storage shelves 381:Unit 382:Unit 601: Inventory robot 602: Inventory robot 610:Storage shelves 620:Storage shelves r1~r4: beam S401~S402: steps S501~S502: steps S601~S603: steps S701~S707: steps S801~S804: steps S901~S903: steps

此處的附圖被併入說明書中並構成本說明書的一部分，示出了符合本公開的實施例，並與說明書一起用於解釋本公開的原理。 圖1為本公開實施例提供的料箱盤點方法的一種應用場景圖； 圖2為本公開一個實施例提供的料箱盤點方法的流程圖； 圖3A為本公開圖2所示實施例中料箱識別裝置的射束的示意圖； 圖3B為本公開圖2所示實施例中盤點機器人採用單庫位元模式盤點的示意圖； 圖3C為本公開圖2所示實施例中盤點機器人採用多庫位元方式盤點的示意圖； 圖3D為本公開圖2所示實施例中兩個盤點機器人交叉盤點的示意圖； 圖3E為本公開圖2所示實施例中存儲貨架盤點的示意圖； 圖3F為本公開圖2所示實施例中待檢查範圍確定的示意圖； 圖3G為本公開一個實施例提供的多深位貨架的批量盤點的示意圖； 圖3H為本公開一個實施例提供的多深位貨架的交叉盤點的示意圖； 圖4為本公開一個實施例提供的確定待檢查單元步驟的流程圖； 圖5為本公開另一個實施例提供的確定待檢查單元步驟的流程圖； 圖6為本公開另一個實施例提供的確定待檢查單元步驟的流程圖； 圖7為本公開另一個實施例提供的料箱盤點方法的流程圖； 圖8為本公開另一個實施例提供的料箱盤點方法的流程圖； 圖9為本公開另一個實施例提供的料箱盤點方法的流程圖； 圖10為本公開一個實施例提供的調度設備的結構示意圖； 圖11為本公開一個實施例提供的盤點機器人的結構示意圖； 圖12為本公開一個實施例提供的倉儲系統的結構示意圖。 通過上述附圖，已示出本公開明確的實施例，後文中將有更詳細的描述。這些附圖和文字描述並不是為了通過任何方式限制本公開構思的範圍，而是通過參考特定實施例為本領域技術人員說明本公開的概念。 The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Figure 1 is an application scenario diagram of the bin inventory method provided by an embodiment of the present disclosure; Figure 2 is a flow chart of a bin inventory method provided by an embodiment of the present disclosure; Figure 3A is a schematic diagram of the beam of the bin identification device in the embodiment shown in Figure 2 of the present disclosure; Figure 3B is a schematic diagram of the inventory robot in the embodiment shown in Figure 2 of the present disclosure using single storage unit mode for inventory; Figure 3C is a schematic diagram of the inventory robot using a multi-location inventory method in the embodiment shown in Figure 2 of the present disclosure; Figure 3D is a schematic diagram of two inventory robots cross-taking in the embodiment shown in Figure 2 of the present disclosure; Figure 3E is a schematic diagram of storage shelf inventory in the embodiment shown in Figure 2 of the present disclosure; Figure 3F is a schematic diagram of the determination of the scope to be inspected in the embodiment shown in Figure 2 of the present disclosure; Figure 3G is a schematic diagram of batch inventory of multi-deep shelves provided by an embodiment of the present disclosure; Figure 3H is a schematic diagram of cross inventory of multi-depth shelves provided by an embodiment of the present disclosure; Figure 4 is a flow chart of steps for determining units to be inspected provided by an embodiment of the present disclosure; Figure 5 is a flow chart of steps for determining units to be inspected provided by another embodiment of the present disclosure; Figure 6 is a flowchart of steps for determining units to be inspected provided by another embodiment of the present disclosure; Figure 7 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure; Figure 8 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure; Figure 9 is a flow chart of a bin inventory method provided by another embodiment of the present disclosure; Figure 10 is a schematic structural diagram of a scheduling device provided by an embodiment of the present disclosure; Figure 11 is a schematic structural diagram of an inventory robot provided by an embodiment of the present disclosure; Figure 12 is a schematic structural diagram of a warehousing system provided by an embodiment of the present disclosure. Specific embodiments of the present disclosure have been shown through the above-mentioned drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the present disclosure to those skilled in the art with reference to the specific embodiments.

S201~S203:步驟 S201~S203: steps

Claims (33)

一種料箱盤點方法，其特徵在於，所述方法應用于調度設備，所述方法包括： 生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料，其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列； 接收所述盤點資料； 根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。 A box inventory method, characterized in that the method is applied to dispatching equipment, and the method includes: Generate inventory instructions for the inventory area, and send the inventory instructions to the inventory robot. The inventory instructions are used to control the inventory robot to inventory the inventory area to obtain inventory data corresponding to the inventory area, wherein, The inventory area includes multiple storage locations, and the inventory data includes a queue of bin identification codes; receive said inventory data; Based on the inventory data and the inventory data in the inventory area, it is determined whether there is a storage location to be inspected in the inventory area. 如請求項1所述的方法，其特徵在於，所述料箱識別碼佇列由所述盤點機器人對所述盤點區域進行盤點所採集到的所有料箱識別碼去重後得到。The method according to claim 1, characterized in that the queue of container identification codes is obtained by deduplicating all the container identification codes collected by the inventory robot from counting the inventory area. 如請求項2所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括： 當所述庫存資料中所述盤點區域對應的各料箱識別碼均存在於所述料箱識別碼佇列中時，則確定所述盤點區域不存在所述待檢查庫位。 The method according to claim 2, characterized in that, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: When each bin identification code corresponding to the inventory area in the inventory data exists in the bin identification code queue, it is determined that the inventory location to be inspected does not exist in the inventory area. 如請求項2所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括： 根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的庫存資料中是否存在缺失料箱識別碼； 若所述盤點區域的庫存資料中存在缺失料箱識別碼，則確定所述盤點區域存在所述待檢查庫位； 其中，缺失料箱識別碼不存在於所述料箱識別碼佇列。 The method according to claim 2, characterized in that, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a missing bin identification code in the inventory data in the inventory area; If there is a missing bin identification code in the inventory data in the inventory area, it is determined that the inventory location to be inspected exists in the inventory area; The missing bin identification code does not exist in the bin identification code queue. 如請求項4所述的方法，其特徵在於，所述待檢查庫位包括：在所述庫存資料中，與所述缺失料箱識別碼對應的庫位。The method according to claim 4, wherein the storage location to be checked includes: a storage location corresponding to the missing bin identification code in the inventory data. 如請求項4所述的方法，其特徵在於，所述待檢查庫位包括：在所述庫存資料中，所述缺失料箱識別碼對應的庫位附近預設範圍內的庫位。The method of claim 4, wherein the storage location to be inspected includes: a storage location within a preset range near the storage location corresponding to the missing bin identification code in the inventory data. 如請求項2所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域的庫存資料，確定所述盤點區域是否存在待檢查庫位，包括： 根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的料箱識別碼佇列中是否存在錯放料箱識別碼； 若所述料箱識別碼佇列中存在錯放料箱識別碼，則確定所述盤點區域存在所述待檢查庫位； 其中，所述錯放料箱識別碼不存在於所述庫存資料中所述盤點區域對應的各料箱識別碼中，且所述錯放料箱識別碼在所述庫存資料中對應的庫位元與所述盤點區域的距離超過第一預設距離；所述待檢查庫位包括在所述盤點資料中所述錯放料箱識別碼對應的庫位元或單元。 The method according to claim 2, characterized in that, based on the inventory data and the inventory data of the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a misplaced bin identification code in the queue of bin identification codes in the inventory area; If there is a misplaced bin identification code in the queue of bin identification codes, it is determined that the inventory location to be inspected exists in the inventory area; Wherein, the misplaced bin identification code does not exist in each bin identification code corresponding to the inventory area in the inventory data, and the misplaced bin identification code is in the corresponding storage location in the inventory data. The distance between the element and the inventory area exceeds the first preset distance; the storage location to be inspected includes the storage location element or unit corresponding to the misplaced bin identification code in the inventory data. 如請求項1所述的方法，其特徵在於，所述盤點指令用於控制所述盤點機器人對所述盤點區域以盤點單元為單位進行盤點，所述盤點單元包括多個庫位元； 所述料箱識別碼佇列由多個料箱識別碼集合組成，所述料箱識別碼集合與所述盤點單元一一對應。 The method according to claim 1, characterized in that the inventory instruction is used to control the inventory robot to inventory the inventory area in units of inventory units, and the inventory units include multiple storage units; The bin identification code queue is composed of multiple bin identification code sets, and the bin identification code sets correspond to the inventory unit one-to-one. 如請求項8所述的方法，其特徵在於，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述盤點機器人的料箱識別裝置為間斷地開啟；所述料箱識別裝置在移動至對應的盤點單元的預設位置時被開啟，所述料箱識別碼集合由每次開啟時採集到的料箱識別碼組成。The method according to claim 8, characterized in that when the inventory robot counts the inventory area based on the inventory instruction, the bin identification device of the inventory robot is intermittently turned on; the bin The identification device is opened when it moves to the preset position of the corresponding inventory unit, and the bin identification code set is composed of the bin identification codes collected each time it is opened. 如請求項8所述的方法，其特徵在於，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼所對應的採集時間點的差值小於預設值，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。The method according to claim 8, characterized in that when the inventory robot performs inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the adjacent collected If the difference between the collection time points corresponding to the two bin identification codes is less than the preset value, the two bin identification codes are classified into the same bin identification code set. 如請求項8所述的方法，其特徵在於，所述盤點機器人在基於所述盤點指令對所述盤點區域進行盤點時，所述料箱識別裝置為間斷或持續地開啟，若相鄰採集到的兩個料箱識別碼被採集時所述料箱識別裝置的位置的距離小於預設距離，則所述兩個料箱識別碼被歸入同一個料箱識別碼集合。The method according to claim 8, characterized in that when the inventory robot performs inventory of the inventory area based on the inventory instruction, the bin identification device is intermittently or continuously turned on. If the adjacent collected When the two bin identification codes are collected and the distance between the locations of the bin identification devices is less than the preset distance, then the two bin identification codes are classified into the same bin identification code set. 如請求項11所述的方法，其特徵在於，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。The method of claim 11, wherein the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot. 如請求項8所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括： 對於所述盤點區域中的每一盤點單元，當所述盤點單元在所述庫存資料中對應的料箱識別碼均存在於與所述盤點單元對應的料箱識別集合中，則確定所述盤點單元不存在所述待檢查庫位； 若所述盤點區域的各個盤點單元均不存在所述待檢查庫位，則確定所述盤點區域不存在待檢查庫位。 The method according to claim 8, characterized in that, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: For each inventory unit in the inventory area, when the bin identification codes corresponding to the inventory unit in the inventory data are present in the bin identification set corresponding to the inventory unit, then the inventory is determined The unit does not exist in the storage location to be inspected; If the inventory location to be inspected does not exist in each inventory counting unit in the inventory counting area, it is determined that there is no storage location to be inspected in the inventory counting area. 如請求項8所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括： 根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第一單元； 若所述盤點區域的各個盤點單元中存在所述第一單元，則確定所述盤點區域存在待檢查庫位元； 其中，所述第一單元為對應的庫存資料中存在缺失料箱識別碼的盤點單元，所述缺失料箱識別碼不存在於所述第一單元對應的料箱識別碼集合中，所述待檢查庫位元包括所述第一單元對應的各個庫位元。 The method according to claim 8, characterized in that, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a first unit in each inventory unit in the inventory area; If the first unit exists in each inventory unit of the inventory area, it is determined that there is a storage location unit to be inspected in the inventory area; Wherein, the first unit is an inventory unit with a missing bin identification code in the corresponding inventory data, and the missing bin identification code does not exist in the bin identification code set corresponding to the first unit. The checked storage locations include each storage location corresponding to the first unit. 如請求項8所述的方法，其特徵在於，根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域是否存在待檢查庫位，包括： 根據所述盤點資料和所述盤點區域對應的所述庫存資料，判斷所述盤點區域的各個盤點單元中是否存在第二單元； 若所述盤點區域的各個盤點單元中存在所述第二單元，則確定所述盤點區域存在待檢查庫位元； 其中，所述第二單元為對應的料箱識別集合中存在錯放料箱識別碼的盤點單元，所述錯放料箱識別碼不存在於所述第二單元對應的庫存資料中，且所述錯放料箱識別碼在庫存資料中對應的庫位元與所述第二單元的距離超過第二預設距離，所述待檢查庫位元包括第二單元對應的各個庫位元。 The method according to claim 8, characterized in that, based on the inventory data and the inventory data corresponding to the inventory area, determining whether there is a storage location to be inspected in the inventory area includes: According to the inventory data and the inventory data corresponding to the inventory area, determine whether there is a second unit in each inventory unit in the inventory area; If the second unit exists in each inventory unit of the inventory area, it is determined that there is a storage location unit to be inspected in the inventory area; Wherein, the second unit is an inventory unit with a misplaced bin identification code in the corresponding bin identification set, the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the misplaced bin identification code does not exist in the inventory data corresponding to the second unit, and the The distance between the storage location element corresponding to the misplaced bin identification code in the inventory data and the second unit exceeds the second preset distance, and the storage location element to be inspected includes each storage location element corresponding to the second unit. 如請求項1所述的方法，其特徵在於，所述盤點資料來自至少兩個盤點機器人，且所述至少兩個盤點機器人對所述盤點區域進行盤點的盤點順序及盤點路徑中的至少一項不同。The method of claim 1, wherein the inventory data comes from at least two inventory robots, and at least one of the inventory sequence and inventory path used by the at least two inventory robots to inventory the inventory area. different. 如請求項1-16任一項所述的方法，其特徵在於，所述料箱識別裝置為電子標籤識別裝置或圖像識別裝置。The method according to any one of claims 1 to 16, characterized in that the container identification device is an electronic label identification device or an image identification device. 一種盤點料箱的方法，其特徵在於，所述方法應用于盤點機器人，所述方法包括： 接收盤點區域的盤點指令，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點； 基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料； 發送所述盤點資料； 其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。 A method for counting boxes, characterized in that the method is applied to a counting robot, and the method includes: Receive inventory instructions from the inventory area, and the inventory instructions are used to control the inventory robot to inventory the inventory area; Perform an inventory of the inventory area based on the inventory instruction, and generate inventory data corresponding to the inventory area; Send said inventory data; Wherein, the inventory area includes a plurality of storage locations, the inventory data includes a queue of bin identification codes, and the inventory data is used to compare with the inventory data in the inventory area to determine whether the inventory area is There is a location to be checked. 如請求項18所述的方法，其特徵在於，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括： 基於所述盤點指令對所述盤點區域進行盤點； 對所述盤點區域進行盤點所採集到的所有料箱識別碼進行去重處理，得到所述盤點區域對應的盤點資料。 The method according to claim 18, characterized in that the inventory area is inventoried based on the inventory instruction and the inventory data corresponding to the inventory area is generated, including: Perform inventory of the inventory area based on the inventory instruction; All the bin identification codes collected during the inventory in the inventory area are deduplicated to obtain inventory data corresponding to the inventory area. 如請求項18所述的方法，其特徵在於，基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料，包括： 基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼； 根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合； 基於所述盤點區域的各個盤點單元對應的料箱識別碼集合，生成所述盤點區域對應的盤點資料； 其中，所述盤點單元包括一個或多個庫位，所述料箱識別碼集合與所述盤點單元一一對應。 The method according to claim 18, characterized in that the inventory area is inventoried based on the inventory instruction and the inventory data corresponding to the inventory area is generated, including: Based on the inventory instruction, the bin identification device of the inventory robot is controlled to collect the bin identification codes of the bins placed in each inventory unit of the inventory area in units of inventory units; According to the collected bin identification codes, a set of bin identification codes corresponding to each inventory unit is obtained; Generate inventory data corresponding to the inventory area based on the set of bin identification codes corresponding to each inventory unit in the inventory area; Wherein, the inventory unit includes one or more storage locations, and the bin identification code set corresponds to the inventory unit one-to-one. 如請求項20所述的方法，其特徵在於，基於所述盤點指令控制所述盤點機器人的料箱識別裝置，以盤點單元為單位採集所述盤點區域各個盤點單元內放置的料箱的料箱識別碼，包括： 針對每個盤點單元，基於所述盤點指令在移動至所述盤點單元的預設位置時，開啟所述盤點機器人的所述料箱識別裝置，採集所述盤點單元內放置的料箱的料箱識別碼。 The method according to claim 20, characterized in that the bin identification device of the inventory robot is controlled based on the inventory instruction, and the bins of the bins placed in each inventory unit of the inventory area are collected in units of inventory units. Identification code, including: For each inventory unit, based on the inventory instruction, when moving to the preset position of the inventory unit, the bin identification device of the inventory robot is turned on to collect the bins of the bins placed in the inventory unit. Identification code. 如請求項20所述的方法，其特徵在於，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括： 若採集的相鄰兩個料箱識別碼對應的採集時間點的差值小於預設值，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。 The method described in claim 20, characterized in that, based on the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: If the difference between the collection time points corresponding to two adjacent collected bin identification codes is less than the preset value, the two bin identification codes are classified into the same bin identification code set. 如請求項20所述的方法，其特徵在於，根據採集的料箱識別碼，得到各個所述盤點單元對應的料箱識別碼集合，包括： 若採集的相鄰兩個料箱識別碼對應的所述料箱識別裝置的位置的距離小於預設距離，則將所述兩個料箱識別碼歸入同一個料箱識別碼集合。 The method described in claim 20, characterized in that, based on the collected bin identification codes, a set of bin identification codes corresponding to each of the inventory units is obtained, including: If the distance between the positions of the bin identification devices corresponding to two adjacent bin identification codes collected is less than the preset distance, the two bin identification codes are classified into the same bin identification code set. 如請求項23所述的方法，其特徵在於，所述料箱識別裝置的位置包括所述料箱識別裝置的高度及所述盤點機器人的位置座標中的至少一項。The method of claim 23, wherein the position of the bin identification device includes at least one of the height of the bin identification device and the position coordinates of the inventory robot. 如請求項20所述的方法，其特徵在於，所述方法還包括： 若採集的料箱標識碼的強度值低於預設強度，則從對應的料箱識別碼集合中刪除所述料箱識別碼。 The method described in claim 20, characterized in that the method further includes: If the intensity value of the collected bin identification code is lower than the preset intensity, the bin identification code is deleted from the corresponding bin identification code set. 如請求項20所述的方法，其特徵在於，所述方法還包括： 確定所採集的料箱標識碼對應的位置； 若所採集的料箱標識碼對應的位置超出對應的盤點單元的範圍，則從對應的料箱識別碼集合中刪除所述料箱識別碼。 The method described in claim 20, characterized in that the method further includes: Determine the location corresponding to the collected bin identification code; If the position corresponding to the collected bin identification code exceeds the range of the corresponding inventory unit, the bin identification code is deleted from the corresponding bin identification code set. 一種料箱盤點裝置，其特徵在於，所述裝置應用于調度設備，所述裝置包括： 指令發送模組，用於生成盤點區域的盤點指令，並將所述盤點指令發送至盤點機器人，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點，以得到所述盤點區域對應的盤點資料，其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列； 盤點資料接收模組，用於接收所述盤點資料； 異常判定模組，用於根據所述盤點資料和所述盤點區域的庫存資料，判斷所述盤點區域是否存在待檢查庫位。 A container inventory device, characterized in that the device is applied to scheduling equipment, and the device includes: An instruction sending module is used to generate inventory instructions for the inventory area and send the inventory instructions to the inventory robot. The inventory instructions are used to control the inventory robot to inventory the inventory area to obtain the inventory area. Corresponding inventory data, wherein the inventory area includes multiple storage locations, and the inventory data includes a queue of bin identification codes; An inventory data receiving module is used to receive the inventory data; An abnormality determination module is used to determine whether there is a storage location to be inspected in the inventory area based on the inventory data and the inventory data in the inventory area. 一種料箱盤點裝置，其特徵在於，所述裝置應用于盤點機器人，所述裝置包括： 指令接收模組，用於接收盤點區域的盤點指令，所述盤點指令用於控制所述盤點機器人對所述盤點區域進行盤點； 盤點資料生成模組，用於基於所述盤點指令對所述盤點區域進行盤點，生成所述盤點區域對應的盤點資料； 盤點資料發送模組，用於發送所述盤點資料； 其中，所述盤點區域包括多個庫位元，所述盤點資料包括料箱識別碼佇列，所述盤點資料用於與所述盤點區域的庫存資料相比對，以判斷所述盤點區域是否存在待檢查庫位。 A box inventory device, characterized in that the device is applied to an inventory robot, and the device includes: An instruction receiving module is used to receive inventory instructions for the inventory area, and the inventory instructions are used to control the inventory robot to inventory the inventory area; An inventory data generation module is used to inventory the inventory area based on the inventory instruction and generate inventory data corresponding to the inventory area; An inventory data sending module is used to send the inventory data; Wherein, the inventory area includes a plurality of storage locations, the inventory data includes a queue of bin identification codes, and the inventory data is used to compare with the inventory data in the inventory area to determine whether the inventory area is There is a location to be checked. 一種調度設備，其特徵在於，包括： 記憶體和至少一個處理器； 所述記憶體存儲電腦執行指令； 所述至少一個處理器執行所述記憶體存儲的電腦執行指令，使得所述至少一個處理器執行如請求項1-17任一項所述的料箱盤點方法。 A scheduling device, characterized by including: memory and at least one processor; The memory stores computer execution instructions; The at least one processor executes the computer execution instructions stored in the memory, so that the at least one processor executes the bin inventory method described in any one of claims 1-17. 種盤點機器人，其特徵在於，包括： 移動底盤和盤點模組； 所述盤點模組用於執行如請求項18-26任一項所述的料箱盤點方法。 This kind of inventory robot is characterized by: Mobile chassis and inventory modules; The inventory module is used to execute the bin inventory method described in any one of claims 18-26. 一種倉儲系統，其特徵在於，包括存儲貨架、請求項29所述調度設備或倉儲系統以及請求項30所述的盤點機器人。A warehousing system is characterized by including storage shelves, the dispatching equipment or storage system described in claim 29, and the inventory robot described in claim 30. 一種電腦可讀存儲介質，其特徵在於，所述電腦可讀存儲介質中存儲有電腦執行指令，當處理器執行所述電腦執行指令時，實現如請求項1-26任一項所述的料箱盤點方法。A computer-readable storage medium, characterized in that computer execution instructions are stored in the computer-readable storage medium. When the processor executes the computer execution instructions, the material described in any one of claims 1-26 is realized. Box inventory method. 一種電腦程式產品，包括電腦程式，其特徵在於，所述電腦程式被處理器執行時實現如請求項1-26任一項所述的料箱盤點方法。A computer program product, including a computer program, characterized in that when the computer program is executed by a processor, it implements the bin inventory method described in any one of claims 1-26.
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