WO2021249571A1

WO2021249571A1 - Warehouse inventory method and warehousing system

Info

Publication number: WO2021249571A1
Application number: PCT/CN2021/103214
Authority: WO
Inventors: 周红霞; 张旻惠
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-06-10
Filing date: 2021-06-29
Publication date: 2021-12-16
Also published as: CN113859847A; CN113859847B; CN111661551A; CN111661551B

Abstract

A warehouse inventory method and a warehousing system. The warehouse inventory method comprises: issuing an inventory task to a robot (101), the inventory task comprising warehousing positions of target boxes; and receiving a recognition result reported by the robot, the recognition result comprising information of the target boxes (102). According to the warehouse inventory method, whole-box inventory of the target boxes is achieved, the target boxes having problems can be found quickly, and warehouse inventory efficiency is thus improved.

Description

仓储盘点方法和仓储***Warehousing inventory method and warehousing system

本公开要求于2020年06月10日提交中国专利局、申请号为202010523790.7、申请名称为“仓储盘点方法和仓储***”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。This disclosure claims the priority of a Chinese patent application filed with the Chinese Patent Office on June 10, 2020, the application number is 202010523790.7, and the application name is "Warehouse Inventory Method and Storage System", the entire content of which is incorporated into this disclosure by reference.

技术领域Technical field

本公开涉及智能仓储技术领域，尤其涉及一种仓储盘点方法和仓储***。The present disclosure relates to the technical field of intelligent storage, and in particular to a storage inventory method and storage system.

背景技术Background technique

随着电子商务与网络购物的需求日益旺盛，仓储物流的发展也随之兴起。With the increasing demand for e-commerce and online shopping, the development of warehousing logistics has also risen.

现有技术中，通常是由仓储管理***向机器人下发盘点任务，该盘点任务用以指示机器人到目标库位取出目标货箱，然后将目标货箱搬运至人工操作台进行盘点操作，等操作完成之后，再将目标货箱运回目标库位存储。In the prior art, the warehouse management system usually issues an inventory task to the robot. The inventory task is used to instruct the robot to go to the target storage location to take out the target container, and then transport the target container to the manual console for inventory operation, etc. After completion, the target container will be transported back to the target location for storage.

但是，现有技术中所采用的盘点方式，需要机器人频繁将货箱搬动到人工操作台，过程繁琐，盘点效率低下。However, the inventory method adopted in the prior art requires the robot to frequently move the cargo box to the manual operation table, which is cumbersome and the inventory efficiency is low.

发明内容Summary of the invention

本公开提供一种仓储盘点方法和仓储***，以实现对目标料箱的整箱盘点，快速找出存在问题的目标料箱，提升仓储盘点效率。The present disclosure provides a storage inventory method and a storage system, so as to realize an entire container inventory of a target bin, quickly find a problematic target bin, and improve storage inventory efficiency.

第一方面，本公开提供一种仓储盘点方法，包括：In the first aspect, the present disclosure provides a warehouse inventory method, including:

向机器人下发盘点任务；所述盘点任务包括目标料箱仓储位置；Send an inventory task to the robot; the inventory task includes the storage location of the target bin;

接收所述机器人上报的识别结果；所述识别结果包括目标料箱信息。Receive the recognition result reported by the robot; the recognition result includes target bin information.

在一种可能的设计中，所述向机器人下发盘点任务，包括：In a possible design, the sending the inventory task to the robot includes:

根据所述机器人的位置信息，向所述机器人下发盘点任务。According to the position information of the robot, issue an inventory task to the robot.

在一种可能的设计中，所述根据所述位置信息，向机器人下发盘点任务，包括：In a possible design, the sending an inventory task to the robot according to the position information includes:

根据所述机器人的位置信息和所述目标料箱仓储位置，规划机器人到达所述目标料箱仓储位置的行驶路径；According to the position information of the robot and the storage location of the target bin, plan a driving path for the robot to reach the storage location of the target bin;

根据所述行驶路径，确定所述机器人使用的目标路段信息；Determine the target road section information used by the robot according to the driving path;

根据所述目标路段信息和所述目标料箱仓储位置生成盘点任务；Generate an inventory task according to the target road section information and the storage location of the target bin;

将所述盘点任务发送给所述机器人。Send the inventory task to the robot.

在一种可能的设计中，所述根据所述行驶路径，确定所述机器人使用的目标路段信息，包括：In a possible design, the determining the target road section information used by the robot according to the driving path includes:

根据所述行驶路径，确定所述机器人途经的候选路段信息；Determine the candidate road section information passed by the robot according to the driving path;

从所述候选路段信息中选出符合预约要求的目标路段信息；其中，所述预约要求包括：在预设时间段内没有机器人在所述候选路段信息指示的巷道上行驶。The target road section information that meets the reservation requirement is selected from the candidate road section information; wherein the reservation requirement includes: no robot is driving on the lane indicated by the candidate road section information within a preset time period.

在一种可能的设计中，所述目标料箱信息包括：目标料箱的校验信息；其中，所述校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。In a possible design, the target bin information includes: verification information of the target bin; wherein the verification information is used to indicate whether the recorded storage location of the target bin and the actual storage location of the target bin are Unanimous.

在一种可能的设计中，所述方法还包括：In a possible design, the method further includes:

若所述校验信息指示记录的目标料箱仓储位置与目标料箱的实际仓储位置不一致，则确定所述目标料箱信息存在异常。If the verification information indicates that the recorded storage location of the target bin is inconsistent with the actual storage location of the target bin, it is determined that the target bin information is abnormal.

在一种可能的设计中，在向机器人下发盘点任务之前，还包括：In a possible design, before issuing the inventory task to the robot, it also includes:

获取当前未执行任务的机器人的位置信息。Get the position information of the robot that is not currently performing the task.

在一种可能的设计中，所述目标料箱信息包括：所述目标料箱的形变信息；其中，所述形变信息用以表征目标料箱的形变程度。In a possible design, the target bin information includes: deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

获取所述目标料箱的形变信息；所述形变信息包括目标料箱的宽度、长度、高度中的任一或者任多项；Acquiring deformation information of the target bin; the deformation information includes any one or more of the width, length, and height of the target bin;

若所述目标料箱的宽度、长度、高度中的任一项不在预设阈值范围内，则确定所述目标料箱信息存在异常。If any one of the width, length, and height of the target bin is not within the preset threshold range, it is determined that the target bin information is abnormal.

在一种可能的设计中，还包括：In one possible design, it also includes:

当目标料箱信息存在异常的次数大于N时，对存在异常的目标料箱信息进行统计，生成对应的统计列表；其中，N为大于1的自然数；将所述统计列表发送给仓库管理员的终端设备。When the number of abnormal target bin information is greater than N, the abnormal target bin information is counted to generate a corresponding statistical list; where N is a natural number greater than 1, and the statistical list is sent to the warehouse manager Terminal Equipment.

向机器人下发搬运任务，所述搬运任务用于指示所述机器人将目标料箱信息存在异常的目标料箱搬运至指定位置。A transport task is issued to the robot, and the transport task is used to instruct the robot to transport the target bin whose target bin information is abnormal to a designated location.

第二方面，本公开提供一种仓储盘点方法，包括：In the second aspect, the present disclosure provides a warehouse inventory method, including:

接收服务器下发的盘点任务；所述盘点任务包括目标料箱仓储位置；Receive the inventory task issued by the server; the inventory task includes the storage location of the target bin;

执行所述盘点任务；Perform the inventory task;

向所述服务器上报所述盘点任务对应的识别结果；所述识别结果包括目标料箱信息。The recognition result corresponding to the inventory task is reported to the server; the recognition result includes target bin information.

在一种可能的设计中，在接收服务器下发的盘点任务之前，还包括：In a possible design, before receiving the inventory task issued by the server, it also includes:

向所述服务器发送位置信息，以使得所述服务器根据所述位置信息，生成所述盘点任务。Sending the location information to the server, so that the server generates the inventory task according to the location information.

在一种可能的设计中，所述执行所述盘点任务，包括：In a possible design, the execution of the inventory task includes:

从所述盘点任务中提取出目标路段信息，以及所述目标料箱仓储位置；Extract the target road section information and the storage location of the target bin from the inventory task;

根据所述目标路段信息指示的巷道行驶到所述目标料箱仓储位置；Drive to the storage location of the target bin according to the lane indicated by the target road section information;

对所述目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果。Identify the target bin stored in the storage location of the target bin to obtain the recognition result.

在一种可能的设计中，对所述目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果，包括：In a possible design, identifying the target bin stored in the storage location of the target bin to obtain the recognition result includes:

扫描所述目标料箱仓储位置上存放的目标料箱的标识码，得到目标料箱的校验信息；所述校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。Scan the identification code of the target bin stored at the storage location of the target bin to obtain verification information of the target bin; the verification information is used to indicate the recorded storage location of the target bin and the actual storage location of the target bin Is it consistent?

扫描所述目标料箱仓储位置上存放的料箱的外形，得到目标料箱的形变信息；其中，所述形变信息用以表征所述目标料箱的形变程度。Scan the shape of the bin stored in the storage location of the target bin to obtain deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

在一种可能的设计中，所述目标料箱的形变信息包括：目标料箱的宽度、长度、高度中的任一项或者多项组合。In a possible design, the deformation information of the target bin includes any one or a combination of the width, length, and height of the target bin.

接收所述服务器下发的搬运任务；Receiving a handling task issued by the server;

根据所述搬运任务，将目标料箱信息存在异常的目标料箱搬运至指定位置。According to the transport task, transport the target bin with abnormal target bin information to a designated location.

第三方面，本公开还提供一种仓储盘点装置，包括：In a third aspect, the present disclosure also provides a storage inventory device, including:

处理模块，用于向机器人下发盘点任务；所述盘点任务包括目标料箱仓储位置；The processing module is used to issue an inventory task to the robot; the inventory task includes the storage location of the target bin;

接收模块，用于接收机器人上报的识别结果；识别结果包括目标料箱信息。The receiving module is used to receive the recognition result reported by the robot; the recognition result includes the target bin information.

在一种可能的设计中，所述处理模块，具体用于：In a possible design, the processing module is specifically used for:

根据所述机器人的位置信息和所述目标料箱仓储位置，规划机器人到达所述目标料箱仓储位置的行驶路径；According to the position information of the robot and the storage location of the target bin, planning a driving path for the robot to reach the storage location of the target bin;

在一种可能的设计中，所述处理模块，还用于：In a possible design, the processing module is also used for:

在一种可能的设计中，还包括：获取模块，用于：In a possible design, it also includes: an acquisition module for:

在一种可能的设计中，所述目标料箱信息包括：所述目标料箱的形变信息；其中，所述形变信息用以表征所述目标料箱的形变程度。In a possible design, the target bin information includes: deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

在一种可能的设计中，处理模块，还用于：In a possible design, the processing module is also used to:

当目标料箱信息存在异常的次数大于N时，对存在异常的目标料箱信息进行统计，生成对应的统计列表；其中，N为大于1的自然数；When the number of abnormalities in the target bin information is greater than N, perform statistics on the abnormal target bin information to generate a corresponding statistical list; where N is a natural number greater than 1;

将所述统计列表发送给仓库管理员的终端设备。The statistical list is sent to the terminal device of the warehouse manager.

第四方面，本公开还提供一种仓储盘点装置，包括：In a fourth aspect, the present disclosure also provides a storage inventory device, including:

接收模块，用于接收服务器下发的盘点任务；所述盘点任务包括目标料箱仓储位置；The receiving module is used to receive the inventory task issued by the server; the inventory task includes the storage location of the target bin;

执行模块，用于执行所述盘点任务；The execution module is used to execute the inventory task;

发送模块，用于向所述服务器上报所述盘点任务对应的识别结果；所述识别结果包括目标料箱信息。The sending module is configured to report the recognition result corresponding to the inventory task to the server; the recognition result includes target bin information.

在一种可能的设计中，In one possible design,

发送模块，用于向所述服务器发送位置信息，以使得所述服务器根据所述位置信息，生成所述盘点任务。The sending module is configured to send location information to the server, so that the server generates the inventory task according to the location information.

在一种可能的设计中，所述执行模块，具体用于：In a possible design, the execution module is specifically used for:

在一种可能的设计中，所述执行模块，还用于：In a possible design, the execution module is also used for:

扫描所述目标料箱仓储位置上存放的料箱的外形，得到目标料箱的形变信息；其中，所述形变信息用以表征目标料箱的形变程度。Scan the shape of the bin stored in the storage location of the target bin to obtain deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

第五方面，本公开还提供一种服务器，包括：In a fifth aspect, the present disclosure also provides a server, including:

处理器；以及，Processor; and,

存储器，用于存储处理器的可执行指令；The memory is used to store executable instructions of the processor;

其中，处理器配置为经由执行可执行指令来执行第一方面中任意一种仓储盘点方法。Wherein, the processor is configured to execute any one of the warehouse inventory methods in the first aspect by executing executable instructions.

第六方面，本公开还提供一种机器人，包括：In a sixth aspect, the present disclosure also provides a robot, including:

机器人本体，以及设置在所述机器人本体上的若干个用于扫描货物的成像装置，所述机器人本体还包括：存储器和处理器，所述存储器用于存储所述处理器的可执行指令；A robot body, and several imaging devices arranged on the robot body for scanning goods, the robot body further includes: a memory and a processor, the memory is used to store executable instructions of the processor;

其中，所述处理器配置为经由执行所述可执行指令来执行第二方面中任一项所述仓储盘点方法。Wherein, the processor is configured to execute the warehouse inventory method according to any one of the second aspects by executing the executable instructions.

第七方面，本公开还提供一种仓储***，包括：机器人、服务器、货架，机器人与服务器之间通信连接；In a seventh aspect, the present disclosure also provides a storage system, including: a robot, a server, a shelf, and a communication connection between the robot and the server;

服务器用于执行第一方面中任一项的仓储盘点方法；The server is used to execute any one of the storage inventory methods in the first aspect;

机器人接收服务器下发的指令，执行对货架上的目标货物的盘点任务。The robot receives the instructions issued by the server and executes the inventory task of the target goods on the shelf.

第八方面，本公开实施例还提供一种存储介质，其上存储有计算机程序，该程序被处理器执行时实现第一方面中任意一种仓储盘点方法。In an eighth aspect, embodiments of the present disclosure also provide a storage medium on which a computer program is stored, and when the program is executed by a processor, any one of the warehouse inventory methods in the first aspect is implemented.

第九方面，本公开实施例还提供一种存储介质，其上存储有计算机程序，该程序被处理器执行时实现第二方面中任意一种仓储盘点方法。In a ninth aspect, embodiments of the present disclosure also provide a storage medium on which a computer program is stored, and when the program is executed by a processor, any one of the warehouse inventory methods in the second aspect is implemented.

本公开提供一种仓储盘点方法和仓储***，通过向机器人下发盘点任务；盘点任务包括目标料箱仓储位置；接收机器人上报的识别结果；识别结果包括目标料箱信息。通过本公开实施例提供的仓储盘点方法，无需向外搬运货箱，在货箱存储库位上直接实现整箱盘点，提升仓储盘点效率，以及校验准确性。The present disclosure provides a storage inventory method and a storage system, by issuing an inventory task to a robot; the inventory task includes the storage location of a target bin; receiving the recognition result reported by the robot; and the recognition result includes the target bin information. With the warehouse inventory method provided by the embodiments of the present disclosure, there is no need to move the container outwards, and the entire container inventory is directly realized at the container storage location, which improves the efficiency of warehouse inventory and the accuracy of verification.

附图说明Description of the drawings

此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。The drawings herein are incorporated into the specification and constitute a part of the specification, show embodiments consistent with the disclosure, and are used together with the specification to explain the principle of the disclosure.

图1为本公开根据一示例实施例示出的仓储盘点方法的应用场景图；Fig. 1 is an application scenario diagram of a warehouse inventory method according to an exemplary embodiment of the present disclosure;

图2为本公开根据一示例实施例示出的仓储盘点方法的流程示意图一；FIG. 2 is a first schematic flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure;

图3为本公开根据一示例实施例示出的仓储盘点方法的流程示意图二；FIG. 3 is a second schematic flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure;

图4为本公开根据一示例实施例示出的仓储盘点方法的流程示意图三；FIG. 4 is a third schematic flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure;

图5为本公开根据一示例实施例示出的仓储盘点方法的流程示意图四；FIG. 5 is a fourth flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure;

图6为本公开根据一示例实施例示出的仓储盘点装置的结构示意图一；Fig. 6 is a first structural schematic diagram of a warehouse inventory device according to an exemplary embodiment of the present disclosure;

图7为本公开根据一示例实施例示出的仓储盘点装置的结构示意图二；FIG. 7 is a second structural schematic diagram of a warehouse inventory device according to an exemplary embodiment of the present disclosure;

图8为本公开根据一示例实施例示出的服务器的结构示意图。通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。Fig. 8 is a schematic structural diagram of a server according to an exemplary embodiment of the present disclosure. Through the above drawings, the specific embodiments of the present disclosure have been shown, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to explain the concept of the present disclosure to those skilled in the art by referring to specific embodiments.

具体实施方式detailed description

为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used Describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein, for example, can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

下面以具体地实施例对本公开的技术方案以及本公开的技术方案如何解决上述技术问题进行详细说明。下面将结合附图，对本公开的实施例进行描述。The technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

图1为本公开根据一示例实施例示出的仓储盘点方法的应用场景图，如图1所示，该应用场景包括服务器10和一个或者多个机器人20，机器人20与服务器10之间通信连接；机器人20可以接收服务器10下发的任务指令，机器人20也可以向服务器10发送任务执行后的结果。在一种常见的货物盘点场景中，多个机器人在仓库的巷道内行驶，并分别执行对货架上货物的盘点任务。其中，盘点任务可以是对货架上货物的数量、存放位置的盘点。在另一种常见的盘点场景中，由于货物一般都是规整地存放在料箱中进行运输，因此物流仓库所接收的货物往往也是以料箱的形式进行存放。此时，在仓储盘点时，就会涉及到针对目标料箱的整箱盘点。FIG. 1 is an application scenario diagram of a warehouse inventory method according to an exemplary embodiment of the present disclosure. As shown in FIG. 1, the application scenario includes a server 10 and one or more robots 20, and the robot 20 is in communication with the server 10; The robot 20 can receive the task instruction issued by the server 10, and the robot 20 can also send the result of the task execution to the server 10. In a common goods inventory scenario, multiple robots travel in the lanes of a warehouse and perform inventory tasks on the goods on the shelves. Among them, the inventory task can be an inventory of the quantity and storage location of the goods on the shelf. In another common inventory scenario, because goods are generally stored in bins for transportation, the goods received by logistics warehouses are often stored in bins. At this time, in the warehouse inventory, it will involve the entire container inventory for the target bin.

示例性的，仓库中的机器人20向服务器10上报位置信息，服务器10根据各个机器人20的位置信息，分别向各机器人20下发盘点任务。机器人20接收到盘点任务之后，从盘点任务中获取到目标料箱仓储位置，然后行驶到该目标料箱仓储位置对目标料箱进行识别，得到包含料箱信息的识别结果。机器人20将识别结果上报给服务器10，以使得服务器10能够基于料箱信息确定出信息异常的料箱位置。从而无需向外搬运货箱，在货箱存储库位上直接实现整箱盘点，提升仓储盘点效率，以及校验准确性。Exemplarily, the robots 20 in the warehouse report location information to the server 10, and the server 10 respectively issues inventory tasks to each robot 20 according to the location information of each robot 20. After receiving the inventory task, the robot 20 obtains the storage location of the target bin from the inventory task, and then drives to the storage location of the target bin to identify the target bin, and obtain a recognition result containing bin information. The robot 20 reports the recognition result to the server 10 so that the server 10 can determine the location of the bin with abnormal information based on the bin information. Therefore, there is no need to move the cargo box outwards, and the whole box inventory can be directly realized at the storage location of the cargo box, which improves the efficiency of warehouse inventory and the accuracy of verification.

需要说明的是，本实施例中不限定与服务器10建立通信连接的机器人20的数量，也不限定机器人20的具体形式。可选地，机器人20可以同时接收服务器10下发的多个盘点任务，也可以是在执行一个盘点任务之后再接收新的盘点任务。It should be noted that this embodiment does not limit the number of robots 20 that establish a communication connection with the server 10, nor does it limit the specific form of the robots 20. Optionally, the robot 20 may simultaneously receive multiple inventory tasks issued by the server 10, or may receive a new inventory task after executing one inventory task.

图2为本公开根据一示例实施例示出的仓储盘点方法的流程示意图一，如图2所示，本实施例提供的仓储盘点方法，包括：Fig. 2 is a first flow diagram of a warehouse inventory method according to an exemplary embodiment of the present disclosure. As shown in Fig. 2, the warehouse inventory method provided in this embodiment includes:

步骤101、向机器人下发盘点任务。Step 101: Issue an inventory task to the robot.

本实施例中的方法可以应用于服务器、仓储管理平台、数据中心等具备数据处理能力的设备中。以服务器为例，服务器可以向仓库中的机器人下发盘点任务，该盘点任务中包含有目标料箱仓储位置。当机器人接收到服务器下发的盘点任务之后，行驶到目标料箱仓储位置，然后利用安装在机器人上的图像传感器，采集该目标料箱仓储位置上的目标料箱信息。最后将包含目标料箱信息的识别结果发送给服务器。The method in this embodiment can be applied to devices with data processing capabilities such as servers, warehouse management platforms, and data centers. Taking the server as an example, the server can issue an inventory task to the robot in the warehouse, and the inventory task includes the storage location of the target bin. After the robot receives the inventory task issued by the server, it drives to the target bin storage location, and then uses the image sensor installed on the robot to collect the target bin information at the target bin storage location. Finally, the identification result containing the target bin information is sent to the server.

步骤102、接收机器人上报的识别结果；识别结果包括目标料箱信息。Step 102: Receive the recognition result reported by the robot; the recognition result includes target bin information.

本实施例中，服务器接收机器人上报的识别结果，然后基于该识别结果中的目标料箱信息来实现对目标料箱的整箱盘点，快速找出存在问题的目标料箱，提升仓储盘点效率。In this embodiment, the server receives the recognition result reported by the robot, and then implements the entire inventory of the target bin based on the target bin information in the recognition result, quickly finds the target bin with the problem, and improves the storage inventory efficiency.

本实施例相较于现有的盘点方式，无需调度机器人向人工操作台搬运目标料箱，而是在目标料箱仓储位置对应的库位上直接实现整箱盘点，有效地提升仓储盘点效率，以及校验准确性。Compared with the existing inventory method, this embodiment does not need to dispatch the robot to move the target bin to the manual console. Instead, it directly implements the entire container inventory at the location corresponding to the target bin storage location, which effectively improves the storage inventory efficiency. And check the accuracy.

图3为本公开根据一示例实施例示出的仓储盘点方法的流程示意图二，如图3所示，本实施例提供的仓储盘点方法，包括：Fig. 3 is a schematic diagram of the second process of the warehouse inventory method according to an exemplary embodiment of the present disclosure. As shown in Fig. 3, the warehouse inventory method provided in this embodiment includes:

步骤201、获取机器人的位置信息。Step 201: Obtain position information of the robot.

本实施例中，服务器可以和多个机器人之间通过无线网络通信连接。服务器接收机器人上报的位置信息，该位置信息可以是机器人在仓库中的位置。需要说明的是，本实施例不限定机器人与服务器之间的通信方式，也不限定机器人获取位置信息的方式。In this embodiment, the server can communicate with multiple robots through a wireless network. The server receives the position information reported by the robot, and the position information may be the position of the robot in the warehouse. It should be noted that this embodiment does not limit the communication method between the robot and the server, nor does it limit the method for the robot to obtain position information.

示例性的，当货物整箱入库时，一般会在服务器中登记有目标料箱信息，该目标料箱信息可以包括：贴在料箱上的识别码、料箱的尺寸信息(例如箱体的长度、宽度、高度)等等。目标料箱在入库以后，因业务需要经常会有出入库的各种变动发生，为了保证目标料箱的仓储数据准确性，对目标料箱的盘点工作就需要不定期的开展起来。可选地，为了避免占用正常的业务时间，很多盘点工作一般安排在没有出入库业务的空闲时间展开。Exemplarily, when the goods are loaded into the warehouse, the target bin information is generally registered in the server. The target bin information may include: the identification code affixed to the bin, the size information of the bin (for example, the box body). Length, width, height) and so on. After the target bin is put into the warehouse, various changes in and out of the warehouse often occur due to business needs. In order to ensure the accuracy of the storage data of the target bin, the inventory work of the target bin needs to be carried out from time to time. Optionally, in order to avoid taking up normal business time, a lot of inventory work is generally arranged in free time when there is no inbound and outbound business.

示例性的，在没有出入库业务的空闲时间里，服务器获取到仓库中各个机器人上报的位置信息。本实施例中不限定机器人的定位方式，例如机器人可以通过仓库地面上预设的地面标识进行定位，也可以通过机器人自身安装的GPS进行定位，还可以通过机器人自身安装的激光雷达进行定位，或者是通过计算机视觉进行定位。需要说明的是，现有的定位方式均可以应用于本实施例中，本实施例不对具体定位方式进行限定。Exemplarily, during the free time when there is no warehouse-in/out business, the server obtains the location information reported by each robot in the warehouse. The positioning method of the robot is not limited in this embodiment. For example, the robot can be positioned through the preset ground marks on the warehouse floor, or through the GPS installed on the robot itself, or through the lidar installed on the robot itself, or It is located by computer vision. It should be noted that all existing positioning methods can be applied to this embodiment, and this embodiment does not limit the specific positioning methods.

步骤202、根据位置信息，向机器人下发盘点任务。Step 202: Based on the location information, issue an inventory task to the robot.

示例性的，服务器根据机器人的位置信息，规划机器人到达各个目标料箱仓储位置的行驶路径；然后根据行驶路径，确定机器人使用的目标路段信息；根据目标路段信息和目标料箱仓储位置生成盘点任务；最后，将盘点任务发送给机器人。Exemplarily, the server plans the driving path for the robot to reach the storage location of each target bin according to the position information of the robot; then, according to the driving path, determines the target road section information used by the robot; generates an inventory task based on the target road section information and the target bin storage location ; Finally, send the inventory task to the robot.

本实施例中，为了避免机器人之间的路径冲突，服务器在规划机器人到达各个目标料箱仓储位置的行驶路径时，先确定机器人途经的候选路段信息。候选路段信息包括：从机器人当前位置到达目标料箱仓储位置的所有可通行路段的路段标识。从候选路段信息中选出符合预约要求的路段信息作为目标路段信息；其中，预约要求包括：在预设时间段内没有机器人在候选路段信息指示的巷道上行驶。从而可以确保一个巷道内有且仅有一个机器人在行驶，有效避免机器人之间的路径冲突。In this embodiment, in order to avoid path conflicts between robots, the server first determines the candidate road section information that the robot passes when planning the driving path of the robot to the storage location of each target bin. The candidate road section information includes: road section identifiers of all passable road sections from the current position of the robot to the storage location of the target bin. The road section information that meets the reservation requirement is selected from the candidate road section information as the target road section information; wherein the reservation requirement includes: no robot is driving on the lane indicated by the candidate road section information within a preset time period. Thereby, it can be ensured that there is one and only one robot traveling in an lane, and the path conflict between the robots can be effectively avoided.

示例性的，服务器在向不同位置的机器人下发盘点任务时，会考虑机器人到达目标料箱仓储位置所需要行驶的距离、耗费的时长。从而择优选择行驶距离短，耗时短的机器人来执行盘点任务。需要说明的是，本实施例不限定服务器进行路径规划所采用的算法，服务器可以从机器人行驶距离，行驶时长等角度进行路径优化。Exemplarily, when the server issues inventory tasks to robots in different locations, it will consider the distance and time it takes for the robot to reach the target bin storage location. Therefore, the robots with short driving distance and short time-consuming are selected to perform the inventory task. It should be noted that this embodiment does not limit the algorithm used by the server for path planning, and the server can optimize the path from the perspective of the robot's travel distance, travel time, and the like.

步骤203、接收机器人上报的识别结果；识别结果包括目标料箱信息。Step 203: Receive the recognition result reported by the robot; the recognition result includes target bin information.

示例性的，当机器人接收到服务器下发的盘点任务，并根据目标路段信息指示的巷道行驶到目标料箱仓储位置时，安装在机器人上的成像装置会对目标料箱的料箱进行视觉识别。Exemplarily, when the robot receives the inventory task issued by the server and drives to the storage location of the target bin according to the laneway indicated by the target road section information, the imaging device installed on the robot visually recognizes the bin of the target bin .

在一种可选的实施方式中，首先识别目标料箱仓储位置上是否存放有料箱，如果不存在料箱，则记录识别结果为识别失败。若目标料箱仓储位置上存在料箱，则获取目标料箱的宽度、长度、高度中的任一或者任多项；若目标料箱的宽度、长度、高度中的任一项不在预设阈值范围内，则确定目标料箱存在异常。In an optional implementation manner, firstly, it is recognized whether there is a bin stored in the storage location of the target bin, and if there is no bin, the recognition result is recorded as a recognition failure. If there is a bin at the storage location of the target bin, obtain any one or more of the width, length, and height of the target bin; if any one of the width, length, and height of the target bin is not at the preset threshold Within the range, it is determined that there is an abnormality in the target bin.

在另一种可选的实施方式中，若目标料箱仓储位置上存在料箱，则扫描目标料箱仓储位置上存放的目标料箱的标识码，得到目标料箱的校验信息；该校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。In another optional implementation manner, if there is a bin at the storage location of the target bin, scan the identification code of the target bin stored at the storage location of the target bin to obtain the verification information of the target bin; The verification information is used to indicate whether the recorded storage location of the target bin is consistent with the actual storage location of the target bin.

具体地，假设目标料箱料箱的长度对应的第一阈值为600mm；宽度对应的第二阈值为410mm；高度对应的第三阈值为580mm。当机器人扫描目标料箱料箱的外形尺寸时，识别出料箱的长度为602mm，602mm不在预设的第一阈值600mm范围内，判定目标料箱异常。当机器人扫描货物的外形尺寸时，识别出货物的宽度为416mm，416mm不在预设的第二阈值410mm范围内，判定目标料箱存在异常。Specifically, suppose the first threshold corresponding to the length of the target bin is 600mm; the second threshold corresponding to the width is 410mm; and the third threshold corresponding to the height is 580mm. When the robot scans the outline size of the target bin, it recognizes that the length of the bin is 602mm, and 602mm is not within the preset first threshold of 600mm, and it is determined that the target bin is abnormal. When the robot scans the dimensions of the goods, it recognizes that the width of the goods is 416mm, which is not within the preset second threshold of 410mm, and it is determined that the target bin has an abnormality.

示例性的，当机器人扫描料箱上贴的标识信息(例如二维码、条形码等包含目标料箱信息的标识)，且标识信息因为缺失或有磨损导致识别失败时，向服务器上报识别失败信息。Exemplarily, when the robot scans the identification information (such as a QR code, barcode, etc. containing the target box information) attached to the material box, and the identification information fails due to missing or worn out, it reports the identification failure information to the server .

在又一种可选的实施方式中，当目标料箱信息存在异常的次数大于N时，服务器对存在异常的目标料箱信息进行统计，生成对应的统计列表；其中，N为大于1的自然数。然后将统计列表发送给仓库管理员的终端设备。示例性的，机器人在接收到服务器下发的盘点任务之后，该盘点任务可以包含多个子任务。例如服务器将整列，或者整行货架上的目标料箱的盘点任务作为一次总的任务分配给同一个机器人。那么针对每个目标料箱的盘点动作就对应了一个子任务。当机器人依次对目标料箱进行盘点之后，可能会累积超过N次的识别结果出现异常。此时，可以按照该机器人分配到的单次盘点任务生成统计列表。In yet another alternative embodiment, when the number of abnormalities in the target bin information is greater than N, the server counts the abnormal target bin information and generates a corresponding statistical list; where N is a natural number greater than 1. . Then send the statistical list to the terminal device of the warehouse manager. Exemplarily, after the robot receives the inventory task issued by the server, the inventory task may include multiple subtasks. For example, the server assigns the inventory task of the entire column or the target bins on the entire row of shelves as a total task to the same robot. Then the inventory action for each target bin corresponds to a subtask. After the robot counts the target bins in turn, it may accumulate more than N times of recognition results that are abnormal. At this time, a statistical list can be generated according to the single inventory task assigned to the robot.

示例性的，当对仓库内的目标料箱进行抽检时，服务器可能会生成一系列随机库存位置。然后将随机库存位置对应的盘点任务下发给一个或者多个机器人；每一个库存位置对应一个独立的盘点任务。此时，为了方便统计，服务器可以将本次抽检中存在异常的目标料箱位置进行汇总，按照多次盘点任务生成统计列表。Exemplarily, when performing random inspections on target bins in a warehouse, the server may generate a series of random inventory locations. Then the inventory task corresponding to the random inventory location is issued to one or more robots; each inventory location corresponds to an independent inventory task. At this time, in order to facilitate statistics, the server can summarize the abnormal target bin locations in this random inspection, and generate a statistical list according to multiple inventory tasks.

需要说明的是，本实施例不限定统计列表中包含的数据类型以及数量。例如可以对出现异常的目标料箱的位置进行统计，也可以对出现异常的目标料箱的标识信息进行统计。It should be noted that this embodiment does not limit the type and quantity of data included in the statistical list. For example, the location of the abnormal target bin can be counted, and the identification information of the abnormal target bin can also be counted.

可选地，服务器还可以向机器人下发搬运任务，该搬运任务用于指示机器人将目标料箱信息存在异常的目标料箱搬运至指定位置。以便仓库管理员及时、准确的掌握入库货物的异常信息。从而可以对存在异常的目标料箱进行处理，使得物流仓储信息更加准确。需要说明的是，本实施例中的指定位置可以根据实际应用场景来设置。例如可以将存在异常的目标料箱的搬运至人工操作台进行人工审核，也可以将存在异常的目标料箱的搬运至专门的存储区。Optionally, the server may also issue a handling task to the robot, where the handling task is used to instruct the robot to move the target bin with abnormal target bin information to a designated location. So that the warehouse administrator can timely and accurately grasp the abnormal information of the goods in the warehouse. In this way, abnormal target bins can be processed, and the logistics and warehousing information can be more accurate. It should be noted that the designated location in this embodiment can be set according to actual application scenarios. For example, the abnormal target bins can be transported to a manual operation platform for manual review, or the abnormal target bins can be transported to a special storage area.

图4为本公开根据一示例实施例示出的仓储盘点方法的流程示意图三。如图4所示，本实施例提供的仓储盘点方法，包括：Fig. 4 is a third schematic flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure. As shown in Figure 4, the warehouse inventory method provided in this embodiment includes:

步骤301、接收服务器下发的盘点任务；盘点任务包括目标料箱仓储位置。Step 301: Receive the inventory task issued by the server; the inventory task includes the storage location of the target bin.

本实施例中的方法可以应用于机器人、无人车等具备行驶和计算机视觉能力的设备中。以机器人为例，机器人接收服务器下发的盘点任务，并从该盘点任务中提取出目标料箱仓储位置。The method in this embodiment can be applied to devices with driving and computer vision capabilities such as robots and unmanned vehicles. Taking the robot as an example, the robot receives the inventory task issued by the server and extracts the storage location of the target bin from the inventory task.

在一种可选的实施方式中，当机器人自身具备路径规划能力时，机器人可以根据目标料箱仓储位置和机器人位置，生成到达目标料箱仓储位置的行驶路径。In an optional implementation manner, when the robot itself has path planning capabilities, the robot can generate a driving path to the target bin storage location according to the target bin storage location and the robot location.

在另一种可选的实施方式中，当机器人自身不具备路径规划能力时，也可以由服务器侧根据目标料箱仓储位置和机器人位置，生成到达目标料箱仓储位置的行驶路径，然后服务器将该行驶路径发送给机器人。In another optional implementation manner, when the robot itself does not have the path planning ability, the server side can also generate a driving path to the target bin storage location based on the target bin storage location and the robot location, and then the server will The travel path is sent to the robot.

步骤302、执行盘点任务。Step 302: Perform an inventory task.

本实施例中，机器人根据规划的行驶路径，行驶到目标料箱仓储位置，然后通过安装的图像传感器对目标料箱进行识别，得到对应的识别结果。In this embodiment, the robot drives to the storage location of the target bin according to the planned travel path, and then recognizes the target bin through the installed image sensor to obtain the corresponding recognition result.

步骤303、向服务器上报盘点任务对应的识别结果；识别结果包括目标料箱信息。Step 303: Report the identification result corresponding to the inventory task to the server; the identification result includes the target bin information.

本实施例中，机器人将获取到的包含目标料箱信息的识别结果发送给服务器，以使得服务器根据该识别结果来实现对目标料箱的整箱盘点，快速找出存在问题的目标料箱，提升仓储盘点效率。In this embodiment, the robot sends the obtained recognition result containing the target bin information to the server, so that the server implements the whole bin inventory of the target bin according to the recognition result, and quickly finds the target bin with the problem. Improve the efficiency of warehousing inventory.

图5为本公开根据一示例实施例示出的仓储盘点方法的流程示意图四。如图5所示，本实施例提供的仓储盘点方法，包括：Fig. 5 is a fourth flowchart of a warehouse inventory method according to an exemplary embodiment of the present disclosure. As shown in Figure 5, the warehouse inventory method provided in this embodiment includes:

步骤401、向服务器发送位置信息。Step 401: Send location information to the server.

示例性的，位于仓库中的各个机器人与服务器之间通过无线网络通信连接，机器人通过自身的***获取位置信息，并将位置信息发送给服务器。需要说明的是，本实施例不限定机器人与服务器之间的通信方式，也不限定机器人获取位置信息的方式。Exemplarily, each robot located in the warehouse is connected to the server through a wireless network communication, and the robot obtains location information through its own locator and sends the location information to the server. It should be noted that this embodiment does not limit the communication method between the robot and the server, nor does it limit the method for the robot to obtain position information.

步骤402、接收服务器下发的盘点任务；盘点任务包括目标料箱仓储位置。Step 402: Receive the inventory task issued by the server; the inventory task includes the storage location of the target bin.

示例性的，服务器在获取到各个机器人的位置信息之后，向机器人下发盘点任务。机器人可以从盘点任务中提取出目标路段信息，以及目标料箱仓储位置。Exemplarily, after obtaining the position information of each robot, the server issues an inventory task to the robot. The robot can extract the target road section information and the storage location of the target bin from the inventory task.

步骤403、执行盘点任务。Step 403: Perform an inventory task.

示例性的，机器人根据目标路段信息指示的行驶路径行驶到目标料箱仓储位置；对目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果。Exemplarily, the robot drives to the storage location of the target bin according to the driving path indicated by the target road section information; recognizes the target bin stored in the storage location of the target bin, and obtains the recognition result.

在一种可选的实施方式中，机器人可以扫描目标料箱仓储位置上存放的目标料箱的标识码，得到目标料箱的校验信息。目标料箱的校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。In an optional implementation manner, the robot may scan the identification code of the target bin stored in the storage location of the target bin to obtain the verification information of the target bin. The verification information of the target bin is used to indicate whether the recorded storage location of the target bin is consistent with the actual storage location of the target bin.

在另一种可选的实施方式中，扫描目标料箱仓储位置上存放的料箱的外形，得到形变信息。形变信息包括：目标料箱的宽度、长度、高度。In another optional implementation manner, the shape of the bin stored in the storage location of the target bin is scanned to obtain deformation information. Deformation information includes: the width, length, and height of the target bin.

步骤404、向服务器上报盘点任务对应的识别结果；识别结果包括目标料箱信息。Step 404: Report the identification result corresponding to the inventory task to the server; the identification result includes the target bin information.

示例性的，机器人将目标料箱对应料箱的形变信息和校验信息上报给服务器，以使得服务器能够将仓储异常的目标料箱信息汇总生成统计列表，将统计列表发送给仓库管理员的终端设备。Exemplarily, the robot reports the deformation information and verification information of the target bin corresponding to the bin to the server, so that the server can summarize the abnormal target bin information in the storage to generate a statistical list, and send the statistical list to the warehouse manager's terminal equipment.

示例性的，机器人还可以接收服务器下发的搬运任务；根据搬运任务，将目标料箱信息存在异常的目标料箱搬运至指定位置。以便仓库管理员及时、准确的掌握入库货物的异常信息。实现了快速校验货物信息和库位信息，以提高数据准确性，同时对变形严重的目标料箱做到提前调整处理，以避免后续处理风险。Exemplarily, the robot may also receive a handling task issued by the server; according to the handling task, move the target bin with abnormal target bin information to a designated location. So that the warehouse administrator can timely and accurately grasp the abnormal information of the goods in the warehouse. It realizes the rapid verification of cargo information and storage location information to improve data accuracy, and at the same time adjusts and processes severely deformed target bins in advance to avoid subsequent processing risks.

图6为本公开根据一示例实施例示出的仓储盘点装置的结构示意图一。如图6所示，本实施例提供的仓储盘点装置50，包括：Fig. 6 is a first structural diagram of a warehouse inventory device according to an exemplary embodiment of the present disclosure. As shown in Fig. 6, the warehouse inventory device 50 provided in this embodiment includes:

处理模块51，用于向机器人下发盘点任务；盘点任务包括目标料箱仓储位置；The processing module 51 is used to issue an inventory task to the robot; the inventory task includes the storage location of the target bin;

接收模块52，用于接收机器人上报的识别结果；识别结果包括目标料箱信息。The receiving module 52 is used to receive the recognition result reported by the robot; the recognition result includes target bin information.

在一种可能的设计中，处理模块51，具体用于：In a possible design, the processing module 51 is specifically used for:

根据机器人的位置信息，向机器人下发盘点任务。According to the position information of the robot, the inventory task is issued to the robot.

根据机器人的位置信息和目标料箱仓储位置，规划机器人到达目标料箱仓储位置的行驶路径；According to the location information of the robot and the storage location of the target bin, plan the driving path of the robot to the storage location of the target bin;

根据行驶路径，确定机器人使用的目标路段信息；According to the driving path, determine the target road section information used by the robot;

根据目标路段信息和目标料箱仓储位置生成盘点任务；Generate inventory tasks based on target road section information and target bin storage location;

将盘点任务发送给机器人。Send the inventory task to the robot.

根据行驶路径，确定机器人途经的候选路段信息；According to the driving path, determine the candidate road section information that the robot passes through;

从候选路段信息中选出符合预约要求的目标路段信息；其中，预约要求包括：在预设时间段内没有机器人在候选路段信息指示的巷道上行驶。The target road section information that meets the reservation requirement is selected from the candidate road section information; wherein the reservation requirement includes: no robot is driving on the lane indicated by the candidate road section information within a preset time period.

在一种可能的设计中，目标料箱信息包括：目标料箱的校验信息；其中，校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。In a possible design, the target bin information includes: verification information of the target bin; wherein the verification information is used to indicate whether the recorded storage location of the target bin is consistent with the actual storage location of the target bin.

在一种可能的设计中，处理模块51，还用于：In a possible design, the processing module 51 is also used for:

若校验信息指示记录的目标料箱仓储位置与目标料箱的实际仓储位置不一致，则确定目标料箱信息存在异常。If the verification information indicates that the recorded storage location of the target bin is inconsistent with the actual storage location of the target bin, it is determined that the target bin information is abnormal.

在一种可能的设计中，参考图6，仓储盘点装置50还包括获取模块53，获取模块53用于：In a possible design, referring to FIG. 6, the storage inventory device 50 further includes an obtaining module 53, which is used to:

在一种可能的设计中，目标料箱信息包括：目标料箱的形变信息；其中，形变信息用以表征目标料箱的形变程度。In a possible design, the target bin information includes: deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

获取目标料箱的形变信息；形变信息包括目标料箱的宽度、长度、高度中的任一或者任多项；Obtain the deformation information of the target bin; the deformation information includes any one or more of the width, length, and height of the target bin;

若目标料箱的宽度、长度、高度中的任一项不在预设阈值范围内，则确定目标料箱信息存在异常。If any one of the width, length, and height of the target bin is not within the preset threshold range, it is determined that the target bin information is abnormal.

将统计列表发送给仓库管理员的终端设备。Send the statistical list to the terminal device of the warehouse manager.

向机器人下发搬运任务，搬运任务用于指示机器人将目标料箱信息存在异常的目标料箱搬运至指定位置。本实施例中的装置能够执行如图2、图3所示的方法，其具体实现过程以及有益效果，请参见图2、图3所示方法描述的内容，此处不再赘述。Send a handling task to the robot. The handling task is used to instruct the robot to move the target bin with abnormal target bin information to a specified location. The device in this embodiment can execute the methods shown in FIG. 2 and FIG. 3, and for the specific implementation process and beneficial effects, please refer to the description of the method shown in FIG. 2 and FIG. 3, which will not be repeated here.

图7为本公开根据一示例实施例示出的仓储盘点装置的结构示意图二。如图7所示，本实施例提供的仓储盘点装置60，包括：Fig. 7 is a second structural diagram of a warehouse inventory device according to an exemplary embodiment of the present disclosure. As shown in Fig. 7, the warehouse inventory device 60 provided in this embodiment includes:

接收模块61，用于接收服务器下发的盘点任务；盘点任务包括目标料箱仓储位置；The receiving module 61 is used to receive the inventory task issued by the server; the inventory task includes the storage location of the target bin;

执行模块62，用于执行盘点任务；The execution module 62 is used to perform inventory tasks;

发送模块63，还用于向服务器上报盘点任务对应的识别结果；识别结果包括目标料箱信息。The sending module 63 is also used to report the identification result corresponding to the inventory task to the server; the identification result includes the target bin information.

在一种可能的设计中，发送模块63，用于向服务器发送位置信息，以使得服务器根据位置信息，生成盘点任务。In a possible design, the sending module 63 is used to send location information to the server, so that the server generates an inventory task according to the location information.

在一种可能的设计中，执行模块62，具体用于：In a possible design, the execution module 62 is specifically used for:

从盘点任务中提取出目标路段信息，以及目标料箱仓储位置；Extract the target road section information and the storage location of the target bin from the inventory task;

根据目标路段信息指示的巷道行驶到目标料箱仓储位置；Drive to the storage location of the target bin according to the lane indicated by the target road section information;

对目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果。Identify the target bin stored in the storage location of the target bin, and obtain the recognition result.

扫描目标料箱仓储位置上存放的目标料箱的标识码，得到目标料箱的校验信息；校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。Scan the identification code of the target bin stored in the storage location of the target bin to obtain the verification information of the target bin; the verification information is used to indicate whether the recorded storage location of the target bin is consistent with the actual storage location of the target bin.

在一种可能的设计中，执行模块62，还用于：In a possible design, the execution module 62 is also used to:

扫描目标料箱仓储位置上存放的料箱的外形，得到目标料箱的形变信息；其中，形变信息用以表征目标料箱的形变程度。Scan the shape of the bin stored in the storage location of the target bin to obtain the deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.

在一种可能的设计中，目标料箱的形变信息包括：目标料箱的宽度、长度、高度中的任一项或者多项组合。In a possible design, the deformation information of the target bin includes any one or a combination of the width, length, and height of the target bin.

接收服务器下发的搬运任务；Receiving the handling tasks issued by the server;

根据搬运任务，将将目标料箱信息存在异常的目标料箱搬运至指定位置。According to the transportation task, move the target bin whose information is abnormal to the designated location.

本实施例中的装置能够执行如图4、图5所示的方法，其具体实现过程以及有益效果，请参见图4、图5所示方法描述的内容，此处不再赘述。The device in this embodiment can execute the methods shown in FIG. 4 and FIG. 5. For the specific implementation process and beneficial effects, please refer to the description of the method shown in FIG. 4 and FIG. 5, which will not be repeated here.

图8为本公开根据一示例实施例示出的服务器的结构示意图。如图8所示，本实施例提供的一种服务器70，包括：Fig. 8 is a schematic structural diagram of a server according to an exemplary embodiment of the present disclosure. As shown in FIG. 8, a server 70 provided in this embodiment includes:

处理器71；以及， Processor 71; and,

存储器72，用于存储处理器的可执行指令，该存储器还可以是flash(闪存)；The memory 72 is used to store executable instructions of the processor, and the memory may also be a flash (flash memory);

其中，处理器71配置为经由执行可执行指令来执行上述方法中的各个步骤。具体可以参见前面方法实施例中的相关描述。Wherein, the processor 71 is configured to execute each step in the foregoing method by executing executable instructions. For details, refer to the relevant description in the foregoing method embodiment.

可选地，存储器72既可以是独立的，也可以跟处理器71集成在一起。Optionally, the memory 72 may be independent or integrated with the processor 71.

当存储器72是独立于处理器71之外的器件时，服务器70，还可以包括：When the memory 72 is a device independent of the processor 71, the server 70 may further include:

总线73，用于连接处理器71以及存储器72。The bus 73 is used to connect the processor 71 and the memory 72.

本实施例还提供一种机器人，包括：机器人本体，以及设置在机器人本体上的若干个用于扫描货物的成像装置，机器人本体还包括：存储器和处理器，存储器用于存储处理器的可执行指令；其中，处理器配置为经由执行可执行指令来执行图4、图5所示的仓储盘点方法。This embodiment also provides a robot, including: a robot body, and several imaging devices for scanning goods arranged on the robot body. The robot body also includes: a memory and a processor, and the memory is used to store the executable of the processor. Instructions; wherein the processor is configured to execute the warehouse inventory method shown in FIGS. 4 and 5 by executing executable instructions.

本实施例还提供一种仓储***，包括：机器人、服务器、货架，机器人与服务器之间通信连接；服务器用于执行图2、图3所示的仓储盘点方法；机器人用于图4、图5所示的仓储盘点方法，以实现货架上货物的盘点任务。This embodiment also provides a storage system, including: a robot, a server, a shelf, and a communication connection between the robot and the server; the server is used to perform the storage inventory method shown in Figure 2 and Figure 3; the robot is used in Figure 4 and Figure 5 The storage inventory method shown in order to realize the inventory task of the goods on the shelf.

此外，本公开实施例还提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机执行指令，当用户设备的至少一个处理器执行该计算机执行指令时，用户设备执行上述各种可能的方法。In addition, the embodiments of the present disclosure also provide a computer-readable storage medium, and computer-executable instructions are stored in the computer-readable storage medium. When at least one processor of the user equipment executes the computer-executed instructions, the user equipment executes the aforementioned various possibilities. Methods.

其中，计算机可读介质包括计算机存储介质和通信介质，其中通信介质包括便于从一个地方向另一个地方传送计算机程序的任何介质。存储介质可以是通用或专用计算机能够存取的任何可用介质。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外，该ASIC可以位于用户设备中。当然，处理器和存储介质也可以作为分立组件存在于通信设备中。Among them, the computer-readable medium includes a computer storage medium and a communication medium, where the communication medium includes any medium that facilitates the transfer of a computer program from one place to another. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in the ASIC. In addition, the ASIC may be located in the user equipment. Of course, the processor and the storage medium may also exist as discrete components in the communication device.

本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。A person of ordinary skill in the art can understand that all or part of the steps in the foregoing method embodiments can be implemented by a program instructing relevant hardware. The aforementioned program can be stored in a computer readable storage medium. When the program is executed, it executes the steps including the foregoing method embodiments; and the foregoing storage medium includes: ROM, RAM, magnetic disk, or optical disk and other media that can store program codes.

最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, 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 recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present disclosure. Scope.

Claims

一种仓储盘点方法，其特征在于，包括：A storage inventory method, which is characterized in that it includes:

向机器人下发盘点任务；所述盘点任务包括目标料箱仓储位置；Send an inventory task to the robot; the inventory task includes the storage location of the target bin;

接收所述机器人上报的识别结果；所述识别结果包括目标料箱信息。Receive the recognition result reported by the robot; the recognition result includes target bin information.
根据权利要求1所述的方法，其特征在于，所述向机器人下发盘点任务，包括：The method according to claim 1, wherein the issuing an inventory task to the robot comprises:

根据所述机器人的位置信息，向所述机器人下发盘点任务。According to the position information of the robot, issue an inventory task to the robot.
根据权利要求2所述的方法，其特征在于，所述根据所述机器人的位置信息，向机器人下发盘点任务，包括：The method according to claim 2, wherein the issuing an inventory task to the robot according to the position information of the robot comprises:

根据所述机器人的位置信息和所述目标料箱仓储位置，规划机器人到达所述目标料箱仓储位置的行驶路径；According to the position information of the robot and the storage location of the target bin, planning a driving path for the robot to reach the storage location of the target bin;

根据所述行驶路径，确定所述机器人使用的目标路段信息；Determine the target road section information used by the robot according to the driving path;

根据所述目标路段信息和所述目标料箱仓储位置生成盘点任务；Generate an inventory task according to the target road section information and the storage location of the target bin;

将所述盘点任务发送给所述机器人。Send the inventory task to the robot.
根据权利要求3所述的方法，其特征在于，所述根据所述行驶路径，确定所述机器人使用的目标路段信息，包括：The method according to claim 3, wherein the determining the target road section information used by the robot according to the driving path comprises:

根据所述行驶路径，确定所述机器人途经的候选路段信息；Determine the candidate road section information passed by the robot according to the driving path;

从所述候选路段信息中选出符合预约要求的目标路段信息；其中，所述预约要求包括：在预设时间段内没有机器人在所述候选路段信息指示的巷道上行驶。The target road section information that meets the reservation requirement is selected from the candidate road section information; wherein the reservation requirement includes: no robot is driving on the lane indicated by the candidate road section information within a preset time period.
根据权利要求1所述的方法，其特征在于，所述目标料箱信息包括：目标料箱的校验信息；其中，所述校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。The method according to claim 1, wherein the target bin information comprises: verification information of the target bin; wherein the verification information is used to indicate the recorded storage location of the target bin and the target bin Whether the actual storage location of the storage device is consistent.
根据权利要求5所述的方法，其特征在于，所述方法还包括：The method according to claim 5, wherein the method further comprises:

若所述校验信息指示记录的目标料箱仓储位置与目标料箱的实际仓储位置不一致，则确定所述目标料箱信息存在异常。If the verification information indicates that the recorded storage location of the target bin is inconsistent with the actual storage location of the target bin, it is determined that the target bin information is abnormal.
根据权利要求1所述的方法，其特征在于，在向机器人下发盘点任务之前，还包括：The method according to claim 1, wherein before issuing the inventory task to the robot, the method further comprises:

获取当前未执行任务的机器人的位置信息。Get the position information of the robot that is not currently performing the task.
根据权利要求1-7中任一项所述的方法，其特征在于，所述目标料箱信息包括：所述目标料箱的形变信息；其中，所述形变信息用以表征目标料箱的形变程度。The method according to any one of claims 1-7, wherein the target bin information comprises: deformation information of the target bin; wherein the deformation information is used to characterize the deformation of the target bin degree.
根据权利要求8所述的方法，其特征在于，所述方法还包括：The method according to claim 8, wherein the method further comprises:

获取所述目标料箱的形变信息；所述形变信息包括目标料箱的宽度、长度、高度中的任一或者任多项；Acquiring deformation information of the target bin; the deformation information includes any one or more of the width, length, and height of the target bin;

若所述目标料箱的宽度、长度、高度中的任一项不在预设阈值范围内，则确定所述目标料箱信息存在异常。If any one of the width, length, and height of the target bin is not within the preset threshold range, it is determined that the target bin information is abnormal.
根据权利要求6或9所述的方法，其特征在于，还包括：The method according to claim 6 or 9, further comprising:

当目标料箱信息存在异常的次数大于N时，对存在异常的目标料箱信息进行统计，生成对应的统计列表；其中，N为大于1的自然数；When the number of abnormalities in the target bin information is greater than N, perform statistics on the abnormal target bin information to generate a corresponding statistical list; where N is a natural number greater than 1;

将所述统计列表发送给仓库管理员的终端设备。The statistical list is sent to the terminal device of the warehouse manager.
根据权利要求6或9所述的方法，其特征在于，还包括：The method according to claim 6 or 9, further comprising:

向机器人下发搬运任务，所述搬运任务用于指示所述机器人将所述目标料箱信息存在异常的目标料箱搬运至指定位置。A transport task is issued to the robot, and the transport task is used to instruct the robot to transport the target bin whose target bin information is abnormal to a designated location.
一种仓储盘点方法，其特征在于，包括：A storage inventory method, which is characterized in that it includes:

接收服务器下发的盘点任务；所述盘点任务包括目标料箱仓储位置；Receive the inventory task issued by the server; the inventory task includes the storage location of the target bin;

执行所述盘点任务；Perform the inventory task;

向所述服务器上报所述盘点任务对应的识别结果；所述识别结果包括目标料箱信息。The recognition result corresponding to the inventory task is reported to the server; the recognition result includes target bin information.
根据权利要求12所述的方法，其特征在于，在接收服务器下发的盘点任务之前，还包括：The method according to claim 12, wherein before receiving the inventory task issued by the server, the method further comprises:

向所述服务器发送位置信息，以使得所述服务器根据所述位置信息，生成所述盘点任务。Sending the location information to the server, so that the server generates the inventory task according to the location information.
根据权利要求12所述的方法，其特征在于，所述执行所述盘点任务，包括：The method according to claim 12, wherein the executing the inventory task comprises:

从所述盘点任务中提取出目标路段信息，以及所述目标料箱仓储位置；Extract the target road section information and the storage location of the target bin from the inventory task;

根据所述目标路段信息指示的巷道行驶到所述目标料箱仓储位置；Drive to the storage location of the target bin according to the lane indicated by the target road section information;

对所述目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果。Identify the target bin stored in the storage location of the target bin to obtain the recognition result.
根据权利要求14所述的方法，其特征在于，所述对所述目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果，包括：The method according to claim 14, wherein the identifying the target bin stored in the storage location of the target bin to obtain the recognition result comprises:

扫描所述目标料箱仓储位置上存放的目标料箱的标识码，得到目标料箱的校验信息；所述校验信息用以指示记录的目标料箱仓储位置与目标料箱的实际仓储位置是否一致。Scan the identification code of the target bin stored in the storage location of the target bin to obtain verification information of the target bin; the verification information is used to indicate the recorded storage location of the target bin and the actual storage location of the target bin Is it consistent?
根据权利要求14所述的方法，其特征在于，对所述目标料箱仓储位置上存放的目标料箱进行识别，得到识别结果，包括：The method according to claim 14, wherein the identifying the target bin stored in the storage location of the target bin to obtain the recognition result comprises:

扫描所述目标料箱仓储位置上存放的料箱的外形，得到目标料箱的形变信息；其中，所述形变信息用以表征目标料箱的形变程度。Scan the shape of the bin stored in the storage location of the target bin to obtain deformation information of the target bin; wherein the deformation information is used to characterize the degree of deformation of the target bin.
根据权利要求13所述的方法，其特征在于，所述目标料箱的形变信息包括：目标料箱的宽度、长度、高度中的任一项或者多项组合。The method according to claim 13, wherein the deformation information of the target bin includes any one or a combination of the width, length, and height of the target bin.
根据权利要求12-17任一项所述的方法，其特征在于，还包括：The method according to any one of claims 12-17, further comprising:

接收所述服务器下发的搬运任务；Receiving a handling task issued by the server;

根据所述搬运任务，将所述目标料箱信息存在异常的目标料箱搬运至指定位置。According to the transport task, transport the target bin with the abnormal information of the target bin to a designated location.
一种仓储盘点装置，其特征在于，所述装置包括：A storage inventory device, characterized in that the device comprises:

处理模块，用于向机器人下发盘点任务；所述盘点任务包括目标料箱仓储位置；The processing module is used to issue an inventory task to the robot; the inventory task includes the storage location of the target bin;

接收模块，用于接收所述机器人上报的识别结果；所述识别结果包括目标料箱信息。The receiving module is configured to receive the recognition result reported by the robot; the recognition result includes target bin information.
一种仓储盘点装置，其特征在于，所述装置包括：A storage inventory device, characterized in that the device comprises:

接收模块，用于接收服务器下发的盘点任务；所述盘点任务包括目标料箱仓储位置；The receiving module is used to receive the inventory task issued by the server; the inventory task includes the storage location of the target bin;

执行模块，用于执行所述盘点任务；The execution module is used to execute the inventory task;

发送模块，用于向所述服务器上报所述盘点任务对应的识别结果；所述识别结果包括目标料箱信息。The sending module is configured to report the recognition result corresponding to the inventory task to the server; the recognition result includes target bin information.
一种服务器，其特征在于，包括：A server, characterized in that it comprises:

处理器；以及，Processor; and,

存储器，用于存储所述处理器的可执行指令；A memory for storing executable instructions of the processor;

其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1至11中任一项所述的仓储盘点方法。Wherein, the processor is configured to execute the warehouse inventory method according to any one of claims 1 to 11 by executing the executable instructions.
一种机器人，包括：机器人本体，以及设置在所述机器人本体上的若干个用于扫描货物的成像装置，其特征在于，所述机器人本体还包括：存储器和处理器，所述存储器用于存储所述处理器的可执行指令；A robot, comprising: a robot body, and a plurality of imaging devices for scanning goods arranged on the robot body, characterized in that the robot body further includes: a memory and a processor, the memory is used for storing Executable instructions of the processor;

其中，所述处理器配置为经由执行所述可执行指令来执行权利要求12至18中任一项所述的仓储盘点方法。Wherein, the processor is configured to execute the warehouse inventory method according to any one of claims 12 to 18 by executing the executable instructions.
一种仓储***，其特征在于，包括：机器人、服务器以及货架，所述机器人与所述服务器之间通信连接；A storage system, characterized by comprising: a robot, a server and a shelf, the robot and the server are in communication connection;

所述服务器用于执行权利要求1至11中任一项所述的仓储盘点方法；The server is used to execute the warehouse inventory method according to any one of claims 1 to 11;

所述机器人用于执行权利要求12至18中任一项所述的仓储盘点方法，以实现对所述货架上的目标货物的盘点任务。The robot is used to execute the warehouse inventory method according to any one of claims 12 to 18, so as to achieve an inventory task of target goods on the shelf.
一种存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求1至11中任一项所述的仓储盘点方法。A storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the warehouse inventory method according to any one of claims 1 to 11.
一种存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现权利要求12至18中任一项所述的仓储盘点方法。A storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the warehouse inventory method according to any one of claims 12 to 18.