CN113320865B - Warehouse management method, device, warehouse robot, warehouse system and medium - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本公开涉及智能仓储技术领域，尤其涉及一种仓储管理方法、装置、仓储机器人、仓储系统及介质。The present disclosure relates to the technical field of intelligent warehousing, in particular to a warehousing management method, device, warehousing robot, warehousing system and medium.
背景技术Background technique
在智能仓储系统中，操作台是非常重要的组成部分。通过操作台可以将物料登记，进行不同的仓储服务，例如，物料入库、物料出库、物料盘点或物料整理等。目前的仓储服务需要人工或仓储机器人将物料运输至操作台，以由相关操作人员对物料进行登记。当操作台处待登记的物料量较大时，易出现拥堵现象，且仓储服务效率较低。In the intelligent storage system, the operation table is a very important part. Through the operation console, materials can be registered to perform different warehousing services, such as material storage, material delivery, material inventory or material sorting, etc. The current warehousing service requires manual or warehousing robots to transport materials to the operation table, so that relevant operators can register the materials. When the amount of materials to be registered at the operation desk is large, congestion is prone to occur, and the storage service efficiency is low.
发明内容Contents of the invention
本公开实施例提供了一种仓储管理方法、装置、仓储机器人、仓储系统及介质，实现了在包括操作台在内的任意区域，根据操作任务需要随地形成操作台，并能执行操作台对应的登记任务，避免现有操作台出现的拥堵情况，提高了仓储服务效率。The embodiments of the present disclosure provide a storage management method, device, storage robot, storage system, and medium, which realize the formation of an operation platform in any area including the operation platform according to the needs of the operation task, and can execute the corresponding operations of the operation platform. Register tasks to avoid the congestion of the existing operation desk and improve the efficiency of warehousing services.
第一方面，本公开实施例提供了一种仓储管理方法，所述仓储管理方法包括：In a first aspect, an embodiment of the present disclosure provides a warehouse management method, the warehouse management method comprising:
通过交互装置的信息收发模块接收到来自客户系统的操作任务，其中，所述操作任务包含操作类型和待操作对象；An operation task from the client system is received through the information transceiving module of the interaction device, wherein the operation task includes an operation type and an object to be operated;
通过所述交互装置的图像采集模块确定操作区，所述图像采集模块用于采集图像；The operation area is determined by the image acquisition module of the interaction device, and the image acquisition module is used to acquire images;
在所述操作区内，对所述待操作对象执行所述操作类型的目标操作；In the operation area, perform a target operation of the operation type on the object to be operated;
通过所述信息收发模块输出所述操作任务的执行结果。Outputting the execution result of the operation task through the information transceiving module.
可选地，所述确定操作区，包括：Optionally, said determining the operating area includes:
接收来自所述图像采集模块的货架图像，receiving the shelf image from the image acquisition module,
根据所述货架图像确定所述操作区。The operation area is determined according to the shelf image.
可选地，所述根据所述货架图像确定所述操作区，还包括：Optionally, the determining the operating area according to the shelf image further includes:
根据所述货架图像，确定库位，所述库位设置在所述货架上；Determining a storage location according to the shelf image, and the storage location is set on the shelf;
确定所述库位为所述操作区。Determine the storage location as the operation area.
可选地，所述待操作对象和操作区均设置有标识码，所述确定操作区包括：Optionally, both the object to be operated and the operation area are provided with an identification code, and the determining the operation area includes:
通过来自所述图像采集模块采集操作区的标识码图像；Collecting the identification code image of the operation area through the image collection module;
通过交互装置的数据处理模块识别操作区的标识码图像；Identifying the identification code image of the operation area through the data processing module of the interactive device;
根据识别结果确定所述操作区的位置。The position of the operation area is determined according to the recognition result.
可选地，所述目标操作类型为入库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the target operation type is a warehousing task, and performing the target operation of the operation type on the object to be operated includes:
将所述待操作对象放置在所述操作区。The object to be operated is placed in the operation area.
可选地，所述输出所述操作任务的执行结果，包括：Optionally, the outputting the execution result of the operation task includes:
经由所述图像采集模块采集操作区和待操作对象的图像；Collect images of the operation area and the object to be operated via the image acquisition module;
根据所述操作区和待操作对象的图像，经由所述信息收发模块向客户系统输出完成入库任务信息，所述完成入库任务信息用于表示含有操作区和待操作对象的图像的入库任务执行完成的信息。According to the image of the operation area and the object to be operated, the information of completing the storage task is output to the client system via the information sending and receiving module, and the information of the completed storage task is used to indicate the storage of the image containing the operation area and the object to be operated Information about the completion of task execution.
可选地，所述目标操作类型为出库任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the target operation type is an outbound task, and performing the target operation of the operation type on the object to be operated includes:
将所述待操作对象放置在所述操作区。The object to be operated is placed in the operation area.
可选地，所述待操作对象为物料，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the object to be operated is a material, and performing the target operation of the operation type on the object to be operated includes:
将所述物料放置在所述操作区。Place the material in the operating area.
可选地，所述待操作对象为物料和货箱，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the objects to be operated are materials and containers, and performing the target operation of the operation type on the objects to be operated includes:
将所述货箱放置在所述操作区；placing the container in the operating area;
将所述物料放置于所述货箱中。The material is placed in the container.
可选地，所述待操作对象为物料和货箱，所述货箱放置在所述操作区，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the object to be operated is a material and a container, the container is placed in the operation area, and performing the target operation of the operation type on the object to be operated includes:
将所述物料放置于所述货箱中。The material is placed in the container.
可选地，所述输出所述操作任务的执行结果，包括：Optionally, the outputting the execution result of the operation task includes:
经由所述图像采集模块采集待操作对象的图像；collecting an image of the object to be operated via the image collection module;
根据所述待操作对象的图像，经由所述信息收发模块向客户系统输出更新库存信息的指令，所述更新库存信息的指令用于表示根据所述待操作对象的图像重新确定库存信息。Outputting an instruction to update inventory information to the client system via the information transceiving module according to the image of the object to be operated, where the instruction to update inventory information indicates re-determining inventory information based on the image of the object to be operated.
可选地，所述目标操作类型为盘点任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the target operation type is an inventory task, and the performing the target operation of the operation type on the object to be operated includes:
经由所述图像采集模块采集包含待操作对象的图像；Acquiring an image containing an object to be operated via the image acquisition module;
根据所述包含待操作对象的图像，盘点所述待操作对象的信息，所述待操作对象的信息包含所述待操作对象的数量、种类和位置信息中的至少一种。According to the image containing the object to be operated, the information of the object to be operated is inventoried, and the information of the object to be operated includes at least one of the quantity, type and position information of the object to be operated.
可选地，所述输出所述操作任务的执行结果，包括：Optionally, the outputting the execution result of the operation task includes:
经由所述图像采集模块采集待操作对象的图像；collecting an image of the object to be operated via the image collection module;
根据所述待操作对象的图像，向客户系统输出盘点完成信息，所述盘点完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。Output inventory completion information to the client system according to the image of the object to be operated, where the inventory completion information is used to represent information for re-determining inventory according to the image of the object to be operated.
可选地，所述目标操作类型为整理任务，所述对所述待操作对象执行所述操作类型的目标操作，包括：Optionally, the target operation type is a sorting task, and the performing the target operation of the operation type on the object to be operated includes:
对待操作对象进行物料整理。Perform material sorting on the objects to be operated.
可选地，所述输出所述操作任务的执行结果，包括：Optionally, the outputting the execution result of the operation task includes:
经由所述图像采集模块采集待操作对象的图像；collecting an image of the object to be operated via the image collection module;
根据所述待操作对象的图像，向客户系统输出整理完成信息，所述整理完成信息用于表示根据所述待操作对象的图像重新确定库存的信息。Output sorting completion information to the client system according to the image of the object to be operated, where the sorting completion information is used to represent information for re-determining inventory according to the image of the object to be operated.
第二方面，本公开还提供了一种仓储管理装置，所述仓储管理装置包括：In the second aspect, the present disclosure also provides a storage management device, which includes:
信息收发模块，用于接收来自客户系统的操作任务并输出所述操作任务的执行结果；An information sending and receiving module, configured to receive an operation task from the client system and output the execution result of the operation task;
对象确定模块，用于确定操作区和待操作对象；The object determination module is used to determine the operating area and the object to be operated;
操作执行模块，用于对所述待操作对象执行所述操作类型的目标操作。An operation executing module, configured to execute a target operation of the operation type on the object to be operated.
第三方面，本公开还提供了一种仓储机器人，包括存储器，处理器以及计算机程序；In a third aspect, the present disclosure also provides a storage robot, including a memory, a processor, and a computer program;
其中，所述计算机程序存储在所述存储器中，并被配置为由所述处理器执行以实现如上述第一方面任一所述的仓储管理方法。Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the warehouse management method according to any one of the first aspect above.
第四方面，本公开还提供了一种仓储系统，包括：如上述第三方面所述的仓储机器人、货架和客户系统；In the fourth aspect, the present disclosure also provides a storage system, including: the storage robot, the shelf and the customer system as described in the third aspect above;
其中，所述仓储机器人与所述客户系统连接，所述仓储机器人用于根据来自所述客户系统的操作任务，在确定的操作区内，执行所述操作任务并输出所述操作任务的执行结果，其中，所述操作区设置于货架上。Wherein, the storage robot is connected with the client system, and the storage robot is used to execute the operation task and output the execution result of the operation task in a determined operation area according to the operation task from the client system , wherein the operating area is set on a shelf.
可选地，仓储系统还包括交互装置。所述交互装置与所述仓储机器人通信连接，所述交互装置用于得到货架图像并传输给仓储机器人，所述货架图像用于确定所述操作区。Optionally, the storage system further includes an interaction device. The interaction device is communicatively connected with the storage robot, the interaction device is used to obtain a shelf image and transmit it to the storage robot, and the shelf image is used to determine the operation area.
第五方面，本公开还提供了一种计算机可读存储介质，包括所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如上述第一方面任一所述的仓储管理方法。In the fifth aspect, the present disclosure also provides a computer-readable storage medium, including computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are used to implement the above-mentioned first aspect when executed by a processor. Any of the warehouse management methods described above.
第六方面，本公开还提供了一种计算机程序产品，所述计算机程序产品包含计算机执行指令，所述计算机执行指令被处理器执行时用于实现如上述第一方面任一所述的仓储管理方法。In a sixth aspect, the present disclosure also provides a computer program product, the computer program product includes computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement warehouse management as described in any one of the above-mentioned first aspects method.
本公开实施例提供的仓储管理方法、装置、仓储机器人、仓储系统及介质，通过设置操作区并在操作区内执行操作任务，实现在操作台以外的区域执行操作台对应登记工作，也可以辅助操作台进行登记工作，由于增加了进行登记工作的交互区域，从而增加了仓储服务的处理能力，同时通过交互装置能够快速获取操作任务的信息，从而辅助仓储管理人员提高进行仓储服务的速度；因此，本公开可以根据操作任务需要，随地形成操作台进行物料登记等仓储服务，既能保证物料登记和仓储服务的持续进行，又能避免了操作台的待登记物料堆积，大大提高了仓储服务效率。The storage management method, device, storage robot, storage system, and medium provided by the embodiments of the present disclosure realize the corresponding registration work of the operation console in areas other than the operation console by setting an operation area and performing operation tasks in the operation area, and can also assist The operation console performs registration work, because the interactive area for registration work is increased, thereby increasing the processing capacity of warehousing services, and at the same time, the information of operation tasks can be quickly obtained through the interactive device, thereby assisting warehouse managers to improve the speed of warehousing services; therefore According to the needs of the operation tasks, this disclosure can form an operation platform anywhere to perform storage services such as material registration, which can not only ensure the continuous progress of material registration and storage services, but also avoid the accumulation of materials to be registered on the operation platform, greatly improving the efficiency of storage services .
附图说明Description of 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 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.
图1为本公开实施例提供的仓储管理方法的一种应用场景图；FIG. 1 is an application scenario diagram of a warehouse management method provided by an embodiment of the present disclosure;
图2为本公开一个实施例提供的仓储管理方法的流程图；FIG. 2 is a flowchart of a storage management method provided by an embodiment of the present disclosure;
图3为本公开另一个实施例提供的仓储管理方法的流程图；FIG. 3 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure;
图4为本公开又一个实施例提供的仓储管理方法的流程图；FIG. 4 is a flow chart of a warehouse management method provided by another embodiment of the present disclosure;
图5为本公开另一个实施例提供的应用场景图；FIG. 5 is an application scenario diagram provided by another embodiment of the present disclosure;
图6为本公开又一个实施例提供的应用场景图；FIG. 6 is an application scenario diagram provided by another embodiment of the present disclosure;
图7为本公开一个实施例提供的仓储管理装置的结构示意图；Fig. 7 is a schematic structural diagram of a storage management device provided by an embodiment of the present disclosure;
图8为本公开一个实施例提供的仓储机器人的结构示意图Fig. 8 is a schematic structural diagram of a storage robot provided by an embodiment of the present disclosure
图9为本公开一个实施例提供的仓储系统的结构示意图。Fig. 9 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure.
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。By means of the above-mentioned drawings, certain embodiments of the present disclosure have been shown and will be described in more detail hereinafter. These drawings and written description are not intended to limit the scope of the disclosed concept in any way, but to illustrate the disclosed concept for those skilled in the art by referring to specific embodiments.
具体实施方式Detailed ways
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
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。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本公开的实施例进行描述。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 specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.
考虑到目前智能仓储系统在进行各种仓储服务时，都是依托人机交互工作站(或操作台)进行物料登记作业，由于入库或出库的物料量较大时，通常会长时间占用操作台(如一批货物须占用全部操作台12小时才能完成入库或者出库)，按正常操作流程中将这些出入库都流程中的物料登记部分都依赖操作台进行，就容易导致物料和订单在操作台的登记环节出现拥堵现象，很多其他订单或物料得不到及时的仓储服务，仓储服务效率低下。Considering that the current intelligent warehousing system performs various warehousing services, it relies on human-computer interaction workstations (or consoles) for material registration operations. Due to the large amount of materials entering or leaving the warehouse, it usually takes a long time to operate station (for example, a batch of goods must occupy all the operation stations for 12 hours to complete the storage or delivery), according to the normal operation process, the material registration part of these inbound and outbound processes all depends on the operation station, which will easily lead to materials and orders. The registration link of the console is congested, and many other orders or materials cannot receive timely warehousing services, resulting in inefficient warehousing services.
为了解决这一问题，本公开实施例提供一种仓储管理方法，通过在包括操作台在内的任意位置设置操作区，进行物料登记服务，不仅能保证仓储服务的正常进行，还避免了物料和订单的拥堵，提高了仓储服务的效率。In order to solve this problem, the embodiment of the present disclosure provides a storage management method. By setting an operation area at any position including the operation console, and performing material registration services, it can not only ensure the normal progress of storage services, but also avoid material and The congestion of orders improves the efficiency of warehousing services.
下面对本公开实施例的应用场景进行解释：The application scenarios of the embodiments of the present disclosure are explained below:
图1为本公开实施例提供的仓储管理方法的一种应用场景图。如图1所示，在进行仓储服务时，智能仓储系统100通过客户系统101下发操作任务到交互装置110，并控制仓储机器人120对位于库存区的货架130上的物料131进行提取，并将其移动至人机交互工作站(也可称为操作台)140中，由操作台140的操作人员对待盘点货箱121中的物料进行物料登记；或将操作台140中已进行物料登记的物料131放置到货架上。FIG. 1 is an application scenario diagram of a warehouse management method provided by an embodiment of the present disclosure. As shown in FIG. 1 , when performing warehousing services, the
需说明的是，图1所示场景中仓储机器人、物料、货架和操作台仅以一个为例进行示例说明，但本公开不以此为限制，也就是说，仓储机器人、物料、货架和操作台的个数都可以是任意的。It should be noted that the storage robot, material, shelf, and operating platform in the scene shown in Figure 1 are only illustrated as an example, but this disclosure is not limited thereto, that is, the storage robot, material, shelf, and operating The number of stations can be arbitrary.
以下通过具体实施例详细说明本公开提供的仓储管理方法。The warehouse management method provided by the present disclosure will be described in detail below through specific embodiments.
图2为本公开一个实施例提供的仓储管理方法的流程图。该仓储管理方法应用于仓储机器人，如图2所示，本实施例提供的仓储管理方法包括以下步骤：Fig. 2 is a flowchart of a warehouse management method provided by an embodiment of the present disclosure. The warehouse management method is applied to warehouse robots, as shown in Figure 2, the warehouse management method provided in this embodiment includes the following steps:
步骤S201，通过交互装置的信息收发模块接收到来自客户系统的操作任务。Step S201, receiving an operation task from the client system through the information transceiving module of the interaction device.
其中，操作任务包含操作类型和待操作对象。Wherein, the operation task includes an operation type and an object to be operated.
其中，交互装置可以是个人移动终端PDA，也可以是智能手机应用；信息收发模块为能够与智能仓储系统通讯连接的模块，用于接收智能仓储系统发送的信息并能输出和回传信息；客户系统可以为智能仓储系统的一部分，用于记录与外部客户或需求方或订单及库存物料的相关信息，也可以为智能仓储系统的控制处理部分。Among them, the interactive device can be a personal mobile terminal PDA, or a smart phone application; the information sending and receiving module is a module that can communicate with the intelligent storage system, and is used to receive the information sent by the intelligent storage system and can output and return the information; the customer The system can be a part of the intelligent warehousing system for recording information related to external customers or demanders or orders and inventory materials, or it can be the control processing part of the intelligent warehousing system.
操作任务为仓储服务对应的具体任务。操作类型为仓储服务的种类，如物料入库、物料出库、物料盘点或物料整理。待操作对象为仓储服务的具体对象，一般为物料，包括货箱和商品，商品可以单独放置，也可以放置在货箱内；在智能仓储系统的库存区，货箱和商品放置于货架上。The operation task is the specific task corresponding to the storage service. The operation type is the type of warehousing service, such as material in, material out, material inventory, or material sorting. The object to be operated is the specific object of the warehousing service, generally materials, including boxes and commodities, and the commodities can be placed separately or in the boxes; in the inventory area of the intelligent warehousing system, the boxes and goods are placed on the shelves.
示例性的，操作任务可以表示为将某货架上的20个篮球放置在指定的货箱上，并将货箱放置在具体某货架上，并将该货架上的全部商品做出库处理。Exemplarily, the operation task may be represented as placing 20 basketballs on a certain shelf on a designated container, placing the container on a specific shelf, and processing all commodities on the shelf.
进一步地，仓储管理人员可以手持交互装置，并通过交互装置在智能仓储系统范围内的任意区域获取操作任务。Furthermore, the warehouse manager can hold the interactive device, and obtain operation tasks in any area within the scope of the intelligent warehouse system through the interactive device.
步骤S202，通过交互装置的图像采集模块确定操作区。Step S202, determine the operation area through the image acquisition module of the interactive device.
其中，图像采集模块用于采集图像。Wherein, the image acquisition module is used to acquire images.
在一些实施例中，图像采集装置为包括图像处理模块在内的常规摄像头，也可以为包括数据处理模块的专用的扫描装置。In some embodiments, the image acquisition device is a conventional camera including an image processing module, and may also be a dedicated scanning device including a data processing module.
操作区为仓储管理人员选定的具有确定范围的进行仓储服务的区域。The operating area is an area selected by warehouse management personnel for warehousing services with a definite scope.
进一步地，通过图像采集模块采集图像后，通过仓储管理人员选择交互装置上图像中对应的区域或通过交互装置自动识别图像中的区域为操作区，并将操作区的确认信息通过信息收发模块发送给智能仓储系统，从而使仓储机器人获取操作区的位置，并根据操作区的位置规划仓储服务的路径。Further, after the image is collected by the image acquisition module, the warehouse manager selects the corresponding area in the image on the interaction device or automatically identifies the area in the image as the operation area through the interaction device, and sends the confirmation information of the operation area through the information sending and receiving module For the intelligent warehousing system, the warehousing robot can obtain the location of the operation area, and plan the path of the warehousing service according to the location of the operation area.
在一些实施例中，操作区为库存区内操作台以外的区域，由于操作区就在邻近物料的区域，相比操作台到物料的距离更近，从而缩短仓储服务中物料取放的路径，提高物料取放的时间，进而提高仓储服务的效率。In some embodiments, the operation area is an area other than the operation table in the inventory area. Since the operation area is in the area adjacent to the material, it is closer than the distance from the operation table to the material, thereby shortening the path for picking and placing materials in warehousing services. Improve the time of material picking and placing, thereby improving the efficiency of warehousing services.
在一些实施例中，操作区也可以为操作台，通过交互装置的信息收发模块和图像采集模块，能够快速获取需要在操作台进行的任务信息，并能方便地采集操作任务的待操作对象和操作任务的信息，从而辅助仓储管理人员更快速地进行决策和执行相应的物料登记操作，从而提高操作任务的执行效率，进而提高仓储服务的效率。In some embodiments, the operation area can also be an operation console. Through the information sending and receiving module and the image acquisition module of the interactive device, the task information that needs to be performed on the operation console can be quickly obtained, and the objects to be operated and the objects to be operated on the operation tasks can be collected conveniently. Operation task information, so as to assist warehouse managers to make decisions and perform corresponding material registration operations more quickly, thereby improving the execution efficiency of operation tasks, and then improving the efficiency of warehousing services.
步骤S203，在操作区内，对待操作对象执行目标操作类型的目标操作。Step S203, in the operation area, perform a target operation of the target operation type on the object to be operated.
目标操作类型用于表示操作任务指定的前述仓储服务的种类之一，目标操作为仓储服务对应所需的操作，包括通过交互装置进行物料登记，和需要仓储机器人将指定物料移动至指定位置，指定位置为操作区内的位置或指定的货架。The target operation type is used to represent one of the aforementioned types of storage services specified by the operation task. The target operation is the operation required by the storage service, including material registration through the interactive device, and the need for the storage robot to move the specified material to the specified location. The location is a location within the operating area or a designated shelf.
其中，交互装置进行的物料登记操作限定于在操作区内完成，即前述将操作区替代操作台，进行操作台对应的物料登记作业，以保证操作的灵活性。Among them, the material registration operation performed by the interactive device is limited to be completed in the operation area, that is, the operation area is replaced by the operation table, and the material registration operation corresponding to the operation table is performed to ensure the flexibility of the operation.
步骤S204，通过信息收发模块输出操作任务的执行结果。Step S204, outputting the execution result of the operation task through the information transceiving module.
当前述物料登记操作完成后，需要向客户系统发送操作任务执行完成的信息。After the above-mentioned material registration operation is completed, it is necessary to send the information of the completion of the operation task to the client system.
其中，执行结果包括操作任务执行完成的时间，和执行后的物料信息。示例性的，当执行完入库任务后，向客户系统发送的执行结果可以为特定物料在库存区的具体货架位置和执行完成时间。Wherein, the execution result includes the time when the execution of the operation task is completed, and the information of the material after execution. Exemplarily, after the warehousing task is completed, the execution result sent to the client system may be the specific shelf position of the specific material in the inventory area and the execution completion time.
可选地，交互装置可以打印前述操作任务和执行结果，以便仓储管理人员留存纸面记录，或根据纸面内容进行进一步操作。Optionally, the interaction device can print the aforementioned operation tasks and execution results, so that warehouse managers can keep paper records, or perform further operations according to the paper contents.
本公开实施例提供的仓储管理方法，通过交互装置的信息收发模块获取操作任务，通过图像采集模块确定操作区，在操作区中执行目标操作任务，并通过信息收发模块输出执行结果。通过在包括操作台在内的任意位置执行仓储服务的操作任务，在现有操作台的基础上，增加了进行仓储服务的站点，提高了仓储服务的灵活性，还能通过交互装置提高仓储管理人员在现有操作台收发信息并进行物料登记的效率，由此，仓储管理人员可以任意选择方便地位置作为操作区，进行仓储服务，灵活度更高；由于仓储管理人员可以根据操作任务需要，随地形成操作台，操作区可以离物料更近，本方法还能显著提高仓储服务的效率。In the storage management method provided by the embodiments of the present disclosure, the operation task is obtained through the information sending and receiving module of the interactive device, the operation area is determined through the image acquisition module, the target operation task is executed in the operation area, and the execution result is output through the information sending and receiving module. By performing the operation tasks of warehousing service at any position including the operation console, on the basis of the existing operation console, the site for warehousing service is added, the flexibility of warehousing service is improved, and the warehouse management can also be improved through interactive devices The efficiency of personnel sending and receiving information and registering materials at the existing operation desk, thus, the warehouse management personnel can choose any convenient location as the operation area to perform storage services, and the flexibility is higher; because the warehouse management personnel can according to the needs of the operation task, The operating platform can be formed anywhere, and the operating area can be closer to the materials. This method can also significantly improve the efficiency of storage services.
图3为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上对步骤S202的进一步细化，如图3所示，本实施例提供的仓储管理方法包括以下步骤：Fig. 3 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure. The storage management method improved in this embodiment is further refinement of step S202 on the basis of the embodiment shown in FIG. 2 . As shown in FIG. 3 , the storage management method provided in this embodiment includes the following steps:
步骤S301，通过交互装置的信息收发模块接收到来自客户系统的操作任务。Step S301, receiving an operation task from the client system through the information transceiving module of the interaction device.
步骤S302，接收来自图像采集模块的货架图像，根据货架图像确定操作区。Step S302, receiving the shelf image from the image acquisition module, and determining the operation area according to the shelf image.
在一些实施例中，图像采集模块为能够拍摄图像的常规摄像头。In some embodiments, the image acquisition module is a conventional camera capable of capturing images.
其中，货架图像为库存区内存在空余库位的货架的图像，图像一般包括货架中包含库位的完整结构图或者包括有货架可识别信息部分的图像。Wherein, the shelf image is an image of a shelf with a vacant storage location in the inventory area, and the image generally includes a complete structure diagram including the storage location in the shelf or an image including a part of the shelf identifiable information.
在一些实施例中，操作区设置在货架上，以便于仓储机器人对操作区的位置进行定位，以自动进行仓储服务中的部分目标操作。In some embodiments, the operation area is set on the shelf, so that the storage robot can locate the position of the operation area, so as to automatically perform some target operations in the storage service.
可选地，货架还包括用于临时放置物料的缓存架。一般地，缓存架与货架上都具有可识别信息，以便于识别缓存架或货架的具体位置。Optionally, the shelf also includes a buffer shelf for temporarily placing materials. Generally, both the cache rack and the shelf have identifiable information, so as to identify the specific position of the cache rack or the shelf.
步骤S303，根据货架图像，确定库位为操作区。Step S303, according to the shelf image, determine the storage location as the operation area.
其中，库位设置在货架图像选中的货架上。Wherein, the storage location is set on the shelf selected in the shelf image.
在一些实施例中，操作区以货架上的库位为单位，且操作区占用的库位数量为一个或多个，如2个、3个或更多数量。In some embodiments, the unit of the operating area is a storage location on the shelf, and the number of storage locations occupied by the operating area is one or more, such as 2, 3 or more.
在一些实施例中，操作区所对应的库位均为事先空置的库位，由此，能够方便在库位上进行仓储服务的各种操作。In some embodiments, the storage locations corresponding to the operation area are all previously vacant storage locations, so that various operations of storage services can be conveniently performed on the storage locations.
在一些实施例中，操作区所对应的库位均为预先录入到智能仓储系统中的位置，智能仓储机器人不需要通过额外的录像、识别和判断功能，只需要对智能仓储系统中对应位置的属性进行修改，就能快速定位操作区所对应的库位。In some embodiments, the storage locations corresponding to the operation area are pre-entered into the intelligent storage system, and the intelligent storage robot does not need to go through additional video recording, identification and judgment functions, but only needs to check the location of the corresponding location in the intelligent storage system. By modifying the properties, you can quickly locate the warehouse location corresponding to the operation area.
示例性的，操作区可以为通过图像采集模块采集的某具体货架上至少两个连续或不连续的空置库位，也可以为某放置在库存区固定位置的缓存架上的所有库位。Exemplarily, the operating area can be at least two continuous or discontinuous vacant storage locations on a specific shelf collected by the image acquisition module, or it can be all storage locations on a buffer shelf placed at a fixed position in the storage area.
步骤S304，在操作区内，对待操作对象执行目标操作类型的目标操作。Step S304, in the operation area, perform a target operation of the target operation type on the object to be operated.
对待操作对象的目标操作均在前述库位上进行，当需要只能仓储机器人将目标待操作对象搬运至库位或从库位上搬运至目标位置时，可以通过库位的定位方便直观地找到位置。The target operation of the object to be operated is carried out on the aforementioned storage location. When it is necessary for the warehousing robot to move the target object to be operated to the storage location or from the storage location to the target location, it can be found conveniently and intuitively through the location of the storage location. Location.
步骤S305，通过信息收发模块输出操作任务的执行结果。Step S305, outputting the execution result of the operation task through the information transceiving module.
在一些实施例中，输出的执行结果包括执行操作任务的操作区信息，即库位所在的具体位置。In some embodiments, the output execution result includes the information of the operation area where the operation task is executed, that is, the specific location of the warehouse location.
本实施例中，通过图像采集模块确定操作区，并将操作区限定为货架上已经存在的库位，在库位上进行操作任务的目标操作，并通过信息收发模块输出包含操作区的执行结果。由此能够方便智能仓储系统和仓储机器人进行快速定位，减少寻找和判断操作区位置的时间，提高仓储服务的效率。同时，由于操作区在货架上，即存在平台用于放置物品，也方便了仓储管理人员的操作，不需要蹲在地上或频繁弯腰，减小了劳动强度。由于货架上的库位为在库存区内任意选择的位置，因而在一般情况下都能选择离待操作对象更近的位置，相比在位置固定的操作台进行操作，能够显著提升仓储服务的灵活性，并缩短搬运待操作对象的时间，提升仓储服务效率。In this embodiment, the operation area is determined by the image acquisition module, and the operation area is limited to the existing location on the shelf, the target operation of the operation task is performed on the location, and the execution result including the operation area is output through the information sending and receiving module . This can facilitate the rapid positioning of the intelligent storage system and the storage robot, reduce the time for finding and judging the location of the operation area, and improve the efficiency of storage services. At the same time, since the operation area is on the shelf, there is a platform for placing items, which also facilitates the operation of warehouse managers, and does not need to squat on the ground or bend down frequently, reducing labor intensity. Since the storage location on the shelf is arbitrarily selected in the storage area, it is generally possible to choose a location closer to the object to be operated. Compared with operating on a fixed-position operation table, the storage service efficiency can be significantly improved. Flexibility, shorten the time to move objects to be operated, and improve the efficiency of warehousing services.
图4为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上对步骤S202的进一步细化，本实施例中，待操作对象和操作区均设置有标识码。如图4所示，本实施例提供的仓储管理方法包括以下步骤：Fig. 4 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure. The warehouse management method improved in this embodiment is further refinement of step S202 based on the embodiment shown in FIG. 2 . In this embodiment, both the object to be operated and the operation area are provided with identification codes. As shown in Figure 4, the warehouse management method provided in this embodiment includes the following steps:
步骤S401，通过交互装置的信息收发模块接收到来自客户系统的操作任务。Step S401, receiving an operation task from the client system through the information transceiving module of the interaction device.
在一些实施例中，操作任务所对应的操作对象也包括对应的标识码和位置信息，以方便仓储管理人员选择对应的位置。In some embodiments, the operation object corresponding to the operation task also includes a corresponding identification code and location information, so that warehouse managers can select a corresponding location conveniently.
步骤S402，通过来自图像采集模块采集操作区的标识码图像；通过交互装置的数据处理模块识别操作区的标识码图像；根据识别结果确定操作区的位置。Step S402, collect the identification code image of the operation area through the image acquisition module; identify the identification code image of the operation area through the data processing module of the interactive device; determine the position of the operation area according to the recognition result.
在一些实施例中，标识码可以是二维码、条形码、电子标签中的至少一种，标识码可以设置于货架和待操作对象的任意位置，如前表面的中心、右上角、左下角，底面的中心、顶角处等，标识码可以是根据货架的位置、物料的类型和数量生成的。In some embodiments, the identification code can be at least one of two-dimensional code, barcode, and electronic label, and the identification code can be set at any position on the shelf and the object to be operated, such as the center, upper right corner, and lower left corner of the front surface, At the center of the bottom surface, at the top corner, etc., the identification code can be generated according to the position of the shelf, the type and quantity of the material.
进一步地，标识码的识别算法，可以是条形码识别算法(标识码为条形码时)，如zbar算法，还可以是二维码识别算法(标识码为二维码时)，如Reed Solomon(RS)算法，或者还可以是基于射频识别的算法(标识码为电子标签时)。Further, the identification algorithm of the identification code can be a barcode identification algorithm (when the identification code is a bar code), such as the zbar algorithm, or a two-dimensional code identification algorithm (when the identification code is a two-dimensional code), such as Reed Solomon (RS) algorithm, or an algorithm based on radio frequency identification (when the identification code is an electronic tag).
在一些实施例中，识别结果包括通过交互装置的信息收发模块向智能仓储系统查询得到已录入的标识码对应操作区信息，操作区信息包括操作区的位置和编号信息。In some embodiments, the recognition result includes querying the smart storage system through the information transceiving module of the interaction device to obtain information about the operation area corresponding to the entered identification code, and the operation area information includes the location and number information of the operation area.
进一步地，确定操作区的位置包括根据交互装置得到的操作区信息，通过信息收发装置向智能仓储系统发送修改标识码图像对应位置的设置或属性，将标识码图像对应的位置作为操作区。如将某货架的属性由常规置物架设置为操作区。Further, determining the position of the operation area includes, according to the operation area information obtained by the interaction device, sending the settings or attributes of modifying the corresponding position of the identification code image to the intelligent storage system through the information sending and receiving device, and using the position corresponding to the identification code image as the operation area. For example, set the attribute of a certain shelf from the general shelf to the operation area.
进一步地，修改标识码图像对应位置的设置或属性的操作为临时修改，且具有设定时间限制。Further, the operation of modifying the setting or attribute of the corresponding position of the identification code image is a temporary modification with a set time limit.
步骤S403，在操作区内，对待操作对象执行操作类型的目标操作。Step S403, in the operation area, perform a target operation of the operation type on the object to be operated.
在一些实施例中，对待操作对象也进行前述采集标识码图像并进行识别的过程，从而方便智能仓储系统和仓储机器人对待操作对象进行定位，并向智能仓储系统录入待操作对象的信息。In some embodiments, the aforementioned process of collecting and identifying the image of the identification code is also performed on the object to be operated, so as to facilitate the intelligent storage system and the storage robot to locate the object to be operated, and input the information of the object to be operated to the intelligent storage system.
步骤S404，通过信息收发模块输出操作任务的执行结果。Step S404, outputting the execution result of the operation task through the information transceiving module.
在一些实施例中，执行结果也包括通过标识码图像识别得到的操作区和待操作对象的信息。In some embodiments, the execution result also includes the information of the operation area and the object to be operated obtained through identification code image recognition.
本实施例中，在图2所示实施例的基础上，通过细化设置在操作区和待操作对象上的标识码图像，并通过标识码图像识别和录入操作区与待操作对象的信息，根据录入的信息执行操作任务并输出执行结果。由此方便智能仓储系统和仓储机器人进行快速定位，并方便智能仓储系统记录执行结果的具体情况，从而提高智能仓储系统内信息的准确性，降低失误和错误信息的比例，提高仓储服务的可靠性。In this embodiment, on the basis of the embodiment shown in FIG. 2, by refining the identification code image set on the operation area and the object to be operated, and identifying and entering the information of the operation area and the object to be operated through the identification code image, Execute operational tasks based on the entered information and output the execution results. This facilitates the rapid positioning of the intelligent storage system and storage robots, and facilitates the intelligent storage system to record the specific conditions of the execution results, thereby improving the accuracy of information in the intelligent storage system, reducing the proportion of mistakes and wrong information, and improving the reliability of storage services .
图5为本公开另一个实施例提供的仓储管理方法的流程图。本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务细化为入库任务。如图5所示，本实施例提供的仓储管理方法包括以下步骤：Fig. 5 is a flowchart of a warehouse management method provided by another embodiment of the present disclosure. The warehouse management method improved in this embodiment is based on the embodiment shown in FIG. 2 and refines the operation tasks into storage tasks. As shown in Figure 5, the warehouse management method provided in this embodiment includes the following steps:
步骤S501，通过交互装置的信息收发模块接收到来自客户系统的入库任务。Step S501, receiving a storage task from the client system through the information transceiving module of the interaction device.
具体的，入库任务可以包括待进行入库的待操作对象的具体信息，也可以未包括具体信息并通过交互装置录入。Specifically, the warehousing task may include the specific information of the object to be operated to be warehoused, or may not include the specific information and be entered through the interactive device.
步骤S502，通过交互装置的图像采集模块确定操作区。Step S502, determine the operation area through the image acquisition module of the interactive device.
具体的，在入库任务中，操作区可以选择完全空置的货架或缓存架，也可以选择具有较多空置位置的货架。Specifically, in the warehousing task, the operation area can select completely empty shelves or buffer shelves, or can choose shelves with more empty positions.
如图5所示，在一些实施例中，操作区为待操作对象在库存区内的储放位置，也可以为待操作对象临时放置的位置，并通过智能仓储机器人搬运至设定的库存区位置。As shown in Figure 5, in some embodiments, the operation area is the storage location of the object to be operated in the inventory area, and it can also be the location where the object to be operated is temporarily placed, and is transported to the set inventory area by an intelligent storage robot Location.
在一些实施例中，入库任务所选中的操作区为邻近待操作对象的区域，如邻近待执行入库的物料堆放地的货架或缓存架。In some embodiments, the operation area selected by the warehousing task is an area adjacent to the object to be operated, such as a shelf or a buffer rack adjacent to the storage place where the material to be put into the warehousing is placed.
步骤S503，在操作区内，对待操作对象执行操作类型的目标操作。Step S503, in the operation area, perform a target operation of the operation type on the object to be operated.
在入库任务中，对待操作对象执行操作类型的目标操作包括：In the storage task, the target operations of the operation type of the object to be operated include:
将待操作对象放置在操作区。Place the object to be operated in the operation area.
在一些实施例中，将待操作对象放置到操作区的动作通过仓储管理人员完成，也可以通过向仓储机器人下发搬运指令，将已录入信息的待操作对象搬运至操作区。In some embodiments, the action of placing the object to be operated in the operation area is completed by the warehouse manager, or the object to be operated with entered information can be transported to the operation area by sending a handling instruction to the warehouse robot.
步骤S504，通过信息收发模块输出操作任务的执行结果。Step S504, outputting the execution result of the operation task through the information transceiving module.
可选地，在入库任务中，输出操作任务的执行结果包括：Optionally, in the storage task, the execution result of the output operation task includes:
经由图像采集模块采集操作区和待操作对象的图像；Collect images of the operation area and the object to be operated via the image acquisition module;
根据操作区和待操作对象的图像，经由信息收发模块向客户系统输出完成入库任务信息，完成入库任务信息用于表示含有操作区和待操作对象的图像的入库任务执行完成的信息。According to the image of the operation area and the object to be operated, the information of the completed storage task is output to the client system through the information sending and receiving module.
具体的，当待操作对象为不含物料箱的物料时，目标操作包括通过交互装置录入其信息并放置在操作区上，通过交互装置录入待操作对象所在操作区的具体位置信息；当待操作对象为包含物料箱的商品或物料时，目标操作包括分别录入物料箱和物料的信息，通过交互装置向智能仓储系统回传信息，使智能仓储系统记录物料箱与物料的关联信息，然后通过交互装置录入待操作对象所在操作区的具体位置信息。Specifically, when the object to be operated is a material that does not contain a material box, the target operation includes entering its information through the interactive device and placing it on the operating area, and entering the specific location information of the operating area where the object to be operated is located through the interactive device; When the object is a commodity or material containing a material box, the target operation includes entering the information of the material box and the material separately, and sending the information back to the intelligent storage system through the interactive device, so that the intelligent storage system records the associated information between the material box and the material, and then through the interaction The device records the specific location information of the operation area where the object to be operated is located.
当待操作对象已经预先录入智能仓储系统时，则只需要录入待操作对象所在操作区的具体位置信息即可。When the object to be operated has been entered into the intelligent storage system in advance, it is only necessary to enter the specific location information of the operation area where the object to be operated is located.
进一步地，操作区和待操作对象的图像为操作区和待操作对象的位置信息和特征图像。Further, the images of the operation area and the object to be operated are position information and characteristic images of the operation area and the object to be operated.
目标操作执行完毕时，输出的执行结果包括前述操作区和待操作对象的位置信息，还包括待操作对象在库存区储放的目标位置。当的待操作对象在库存区储放的目标位置并非操作区上时，需要向仓储机器人下发入库指令，使仓储机器人将待操作对象从操作区搬运至目标位置。When the target operation is executed, the output execution result includes the location information of the aforementioned operation area and the object to be operated, and also includes the target location where the object to be operated is stored in the inventory area. When the target position of the object to be operated in the storage area is not on the operation area, it is necessary to issue a storage instruction to the storage robot, so that the storage robot can transport the object to be operated from the operation area to the target position.
一般的，在操作区的全部位置都已经放置待操作对象或待操作对象已经放置完毕，才输出执行结果。Generally, the execution result is output only when the objects to be operated have been placed in all positions of the operation area or the objects to be operated have been placed.
示例性的，入库任务为20枚的钢锭，库存区已有储放钢锭的货架，因此，仓储管理人员在执行操作任务时，在钢锭放置处邻近的缓存架上执行了前述目标操作，然后向智能仓储系统输出执行结果，并向仓储机器人下发入库指令，待仓储机器人将钢锭搬运至储放钢锭的货架上的指定空置库位，完成全部入库流程。Exemplarily, the warehousing task is 20 steel ingots, and there are already shelves for storing steel ingots in the storage area. Therefore, when performing the operation task, the warehouse manager performs the aforementioned target operation on the cache rack adjacent to the place where the steel ingots are placed, and then Output the execution result to the intelligent warehousing system, and issue a warehousing instruction to the warehousing robot, and wait for the warehousing robot to move the steel ingot to the designated vacant location on the shelf where the steel ingot is stored, and complete the entire warehousing process.
本实施例中，将操作任务限定为入库任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行入库任务，可以在包括操作台在内的任意区域进行入库，由于选定的操作区可以为待入库操作对象的储放区域，不需要从待操作对象的搬运区域移动到操作台，再搬运至储放区域，由此可以显著减小待操作对象的搬运距离，缩短入库任务的执行时间，提高仓储服务的效率。In this embodiment, the operation task is defined as a warehouse-in task, thereby defining the target operation to be executed and the execution result to be output. The warehousing task can be carried out by selecting the operation area, and the warehousing can be performed in any area including the operation table. Since the selected operation area can be the storage area of the object to be operated, it does not need to be transported from the object to be operated. The area is moved to the operation table, and then transported to the storage area, which can significantly reduce the transport distance of the objects to be operated, shorten the execution time of storage tasks, and improve the efficiency of storage services.
本实施例提供的仓储管理方法是在图2所示实施例的基础上将操作任务细化为出库任务。本实施例提供的仓储管理方法包括以下步骤：The warehouse management method provided in this embodiment is based on the embodiment shown in FIG. 2 and refines the operation tasks into outbound tasks. The storage management method provided in this embodiment includes the following steps:
步骤S601，通过交互装置的信息收发模块接收到来自客户系统的出库任务。In step S601, the delivery task from the client system is received through the information sending and receiving module of the interaction device.
具体的，出库任务可以包括待进行出库的待操作对象的具体信息，如待拣选物料、物料批次、拣选数量和目标产线位置。待操作对象需要放置的位置可以为任意指定位置，如操作台邻近位置处，可以为指定货架，或指定运输车辆。Specifically, the outbound task may include specific information on the object to be operated, such as the material to be picked, the material batch, the picking quantity, and the location of the target production line. The position where the object to be operated needs to be placed can be any specified position, such as a position adjacent to the operation table, it can be a designated shelf, or a designated transport vehicle.
在一些实施例中，出库任务通过采集指定位置的图像并回传智能仓储系统，得到具体的任务信息。In some embodiments, the outbound task obtains specific task information by collecting images of designated locations and sending them back to the intelligent storage system.
步骤S602，通过交互装置的图像采集模块确定操作区。Step S602, determine the operation area through the image acquisition module of the interactive device.
具体的，在出库任务中，操作区一般选择待执行出库操作的待操作对象所在货架；当待操作对象需要放置的目标位置为指定货架或任意智能仓储系统中预先录入的位置时，操作区也可以为待操作对象需要放置的目标位置。Specifically, in the outbound task, the operation area generally selects the shelf where the object to be operated is located; when the target position to be placed is the designated shelf or the pre-entered position in any intelligent storage system, the operation The area can also be the target location where the object to be operated needs to be placed.
步骤S603，在操作区内，对待操作对象执行操作类型的目标操作。Step S603, in the operation area, perform a target operation of the operation type on the object to be operated.
如图6所示，在出库任务中，对待操作对象执行操作类型的目标操作为将待操作对象放置在操作区。As shown in FIG. 6 , in the outbound task, the target operation of the type of operation performed on the object to be operated is to place the object to be operated in the operation area.
可选地，待操作对象为物料，对待操作对象执行操作类型的目标操作，包括：将物料放置在操作区。Optionally, the object to be operated is a material, and the target operation of the operation type is performed on the object to be operated, including: placing the material in the operation area.
对于待操作对象为物料的情况，直接将待操作对象放置到操作区，即完成目标操作。例如将需要出库的预先包装好的快递直接放置在指定货架上。For the case where the object to be operated is a material, directly place the object to be operated in the operation area to complete the target operation. For example, the prepackaged express delivery that needs to be shipped is placed directly on the designated shelf.
可选地，待操作对象为物料和货箱，对待操作对象执行操作类型的目标操作，包括：将货箱放置在操作区；将物料放置于货箱中。Optionally, the object to be operated is a material and a container, and the target operation of the operation type is performed on the object to be operated, including: placing the container in the operation area; placing the material in the container.
在一些实施例中，对于待操作对象包括物料和货箱，且需要将物料放进货箱的情况，需要额外将目标货箱搬运至操作区，并将物料放在货箱中并根据任务要求选择打包或不打包。目标货箱可以通过采集待操作对象的指定放置位置的图像并回传智能仓储系统，得到目标货箱的位置信息。In some embodiments, when the objects to be operated include materials and containers, and the materials need to be put into the container, it is necessary to additionally move the target container to the operation area, and place the materials in the container and select according to the task requirements. To pack or not to pack. The target container can obtain the location information of the target container by collecting the image of the designated location of the object to be operated and sending it back to the intelligent storage system.
可选地，待操作对象为物料和货箱，且货箱放置在操作区，对待操作对象执行操作类型的目标操作，包括：Optionally, the objects to be operated are materials and boxes, and the boxes are placed in the operation area, and the target operations of the operation type are performed on the objects to be operated, including:
对于待操作对象为物料的情况，直接将待操作对象放置到操作区，即完成目标操作。For the case where the object to be operated is a material, directly place the object to be operated in the operation area to complete the target operation.
在一些实施例中，货箱为预先放置在待出库货架上，或直接选择货箱所在货架为操作区时，可以省去搬运货箱的步骤。In some embodiments, when the container is pre-placed on the shelf to be shipped, or the shelf where the container is located is directly selected as the operation area, the step of moving the container can be omitted.
进一步地，当待操作对象位于仓储管理人员邻近位置处时，仓储管理人员可以直接将待操作对象放置到货箱中，省去需要仓储机器人搬运的环节。Furthermore, when the object to be operated is located near the warehouse management personnel, the warehouse management personnel can directly place the object to be operated into the container, eliminating the need for storage robots to carry it.
在一些实施例中，将待操作对象放置到操作区的动作通过仓储管理人员完成，也可以通过向仓储机器人下发搬运指令，将已录入信息的待操作对象搬运至操作区。In some embodiments, the action of placing the object to be operated in the operation area is completed by the warehouse manager, or the object to be operated with entered information can be transported to the operation area by sending a handling instruction to the warehouse robot.
步骤S604，通过信息收发模块输出操作任务的执行结果。Step S604, outputting the execution result of the operation task through the information transceiving module.
可选地，在出库任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，经由信息收发模块向客户系统输出更新库存信息的指令，更新库存信息的指令用于表示根据待操作对象的图像重新确定库存信息。Optionally, in the outbound task, outputting the execution result of the operation task includes: collecting the image of the object to be operated via the image acquisition module; outputting an instruction to update the inventory information to the client system via the information sending and receiving module according to the image of the object to be operated, The instruction to update the inventory information is used to indicate that the inventory information is re-determined according to the image of the object to be operated.
具体的，由于出库任务中，待操作对象的放置位置已经预先指定，当操作区位于指定放置位置时，无须录入位置信息，只需要录入待操作对象的信息。而当操作区不在指定放置位置时，还需要录入到操作区的信息并向仓储机器人下发命令，以便仓储机器人进行搬运，但也不需要将操作区位置再回传智能仓储系统并记录。Specifically, since the location of the object to be operated has been pre-designated in the outbound task, when the operation area is located at the designated location, there is no need to enter the location information, only the information of the object to be operated needs to be entered. And when the operation area is not in the designated location, it is necessary to enter the information in the operation area and issue a command to the storage robot so that the storage robot can carry it, but there is no need to send the location of the operation area back to the intelligent storage system and record it.
更新库存信息不需要仓储机器人动作，只需要将被执行出库处理的待操作对象传输至智能仓储系统。对于待操作对象由仓储管理人员而非仓储机器人搬运至指定放置位置时，需要经由图像采集模块采集待操作对象的图像，通过交互装置录入或识别待操作对象的信息，以避免智能仓储系统中未记录该搬运结果。Updating the inventory information does not require the action of the warehouse robot, but only needs to transmit the objects to be operated that are processed out of the warehouse to the intelligent warehouse system. When the object to be operated is transported to the designated location by the warehouse manager instead of the warehouse robot, it is necessary to collect the image of the object to be operated through the image acquisition module, and input or identify the information of the object to be operated through the interactive device, so as to avoid unintended errors in the intelligent storage system. Record the result of this transfer.
具体的，待操作对象的图像为操作区和待操作对象的位置信息和特征图像。Specifically, the image of the object to be operated is the position information and feature image of the operation area and the object to be operated.
一般的，在操作区的全部位置都已经放置待操作对象或待操作对象已经放置完毕，才输出执行结果。Generally, the execution result is output only when the objects to be operated have been placed in all positions of the operation area or the objects to be operated have been placed.
可选地，执行结果发送到智能仓储系统后，智能仓储系统会回传确定清单，以便仓储管理人员检查是否有遗漏。Optionally, after the execution result is sent to the intelligent storage system, the intelligent storage system will send back the confirmation list, so that the warehouse management personnel can check whether there is any omission.
示例性的，出库任务为分布在不同位置的20枚的钢锭，且出库任务中的指定放置位置已有储放钢锭的货架和货箱，因此，仓储管理人员可以选择指定放置位置为操作区，并向仓储机器人下发搬运钢锭的指令，并将邻近位置处的钢锭手动搬运至指定放置位置，当仓储机器人将钢锭搬运至指定放置位置，通过交互装置录入钢锭信息，并输出更新库存的信息，完成全部出库流程。Exemplarily, the outbound task is 20 steel ingots distributed in different locations, and the designated placement location in the outbound task already has shelves and boxes for storing steel ingots. Therefore, the warehouse manager can choose to specify the placement location as an operation area, and issue instructions to the storage robot to move the steel ingots, and manually move the steel ingots in the adjacent position to the designated placement location. When the storage robot transfers the steel ingots to the designated placement location, the information of the steel ingots is entered through the interactive device, and the update inventory is output. Information to complete all outbound processes.
本实施例中，操作任务限定为出库任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行入库任务，可以在待操作对象需要放置的指定位置进行出库，不需要从待操作对象的储放区域移动到操作台，再搬运至指定位置，由此可以显著减小待操作对象的搬运距离，缩短入库任务的执行时间，提高仓储服务的效率。In this embodiment, the operation task is defined as a warehouse-out task, thereby defining the target operation to be executed and the execution result to be output. By selecting the operation area for the storage task, the storage can be carried out at the designated location where the object to be operated needs to be placed, without moving from the storage area of the object to be operated to the operation table, and then transported to the designated location, which can significantly reduce The transportation distance of the objects to be operated is reduced, the execution time of storage tasks is shortened, and the efficiency of storage services is improved.
本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务细化为盘点任务。本实施例提供的仓储管理方法包括以下步骤：The warehouse management method improved in this embodiment is based on the embodiment shown in FIG. 2 and refines the operation tasks into inventory tasks. The storage management method provided in this embodiment includes the following steps:
步骤S701，通过交互装置的信息收发模块接收到来自客户系统的出库任务。In step S701, the delivery task from the client system is received through the information sending and receiving module of the interaction device.
具体的，盘点任务可以包括待进行盘点的待操作对象的具体信息，如待盘点的物料种类、库存数量，且包括待操作对象的所在位置。Specifically, the counting task may include specific information of objects to be counted, such as types of materials to be counted, inventory quantities, and locations of objects to be counted.
步骤S702，通过交互装置的图像采集模块确定操作区。Step S702, determine the operation area through the image acquisition module of the interactive device.
具体的，在盘点任务中，操作区一般选择待执行整理操作的待操作对象所在货架，而不需要用临时的缓存架，以避免搬运操作，提高操作任务的执行效率。Specifically, in the inventory task, the operation area generally selects the shelf where the object to be operated for the sorting operation is located, instead of using a temporary buffer shelf, so as to avoid the handling operation and improve the execution efficiency of the operation task.
步骤S703，在操作区内，对待操作对象执行操作类型的目标操作。Step S703, in the operation area, perform a target operation of the operation type on the object to be operated.
可选地，在盘点任务中，对待操作对象执行操作类型的目标操作为：经由图像采集模块采集包含待操作对象的图像；根据包含待操作对象的图像，盘点待操作对象的信息，待操作对象的信息包含待操作对象的数量、种类和位置信息中的至少一种。Optionally, in the inventory task, the target operation of the type of operation performed on the object to be operated is: collecting an image containing the object to be operated via the image acquisition module; taking stock of the information of the object to be operated according to the image containing the object to be operated, and the object to be operated The information includes at least one of the quantity, type and location information of the objects to be operated.
具体的，物料盘点包括盘点和核对物料的数量和种类是否与操作任务中的记录相同，或者核对物料的数量和种类并录入。Specifically, material inventory includes inventory and checking whether the quantity and type of materials are the same as those recorded in the operation task, or checking and entering the quantity and type of materials.
步骤S704，通过信息收发模块输出操作任务的执行结果。Step S704, outputting the execution result of the operation task through the information transceiving module.
可选地，在盘点任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，向客户系统输出盘点完成信息，盘点完成信息用于表示根据待操作对象的图像重新确定库存的信息。Optionally, in the inventory task, outputting the execution result of the operation task includes: collecting the image of the object to be operated via the image acquisition module; outputting inventory completion information to the client system according to the image of the object to be operated, the inventory completion information is used to indicate The image of the object to be operated redetermines the information of the inventory.
具体的，盘点任务的执行结果为待操作对象的信息，而不需要操作区的信息。包含待操作对象的图像可以为待操作对象的整体摄像，也可以为待操作对象的可识别特征信息的局部摄像。Specifically, the execution result of the inventory task is the information of the object to be operated, and does not need the information of the operation area. The image containing the object to be operated may be an overall image of the object to be operated, or may be a partial image of identifiable feature information of the object to be operated.
无论盘点结果是否与智能仓储系统中的操作任务上的记录相同，盘点任务完成之后需要重新确定库存，以记录完成的任务情况。Regardless of whether the inventory result is the same as the record on the operation task in the intelligent warehousing system, after the inventory task is completed, the inventory needs to be re-determined to record the completed task.
一般的，在盘点任务全部完成后，才输出执行结果。Generally, the execution results are not output until all inventory tasks are completed.
本实施例中，操作任务限定为盘点任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行盘点任务，可以直接在待操作对象所在位置进行盘点，不需要移动待操作对象，且能快速更新盘点的库存信息记录。由此可以显著减小待操作对象的搬运距离，缩短盘点任务的执行时间，提高库存信息更新的速率，提高仓储服务的效率。In this embodiment, the operation task is defined as an inventory task, thereby defining the target operation to be executed and the execution result to be output. By selecting the operation area to carry out the inventory task, the inventory can be carried out directly at the location of the object to be operated, without moving the object to be operated, and the inventory information record of the inventory can be quickly updated. As a result, the transport distance of the objects to be operated can be significantly reduced, the execution time of inventory tasks can be shortened, the update rate of inventory information can be improved, and the efficiency of warehousing services can be improved.
本实施例提高的仓储管理方法是在图2所示实施例的基础上将操作任务细化为整理任务。本实施例提供的仓储管理方法包括以下步骤：The warehouse management method improved in this embodiment is based on the embodiment shown in FIG. 2 and refines the operation tasks into sorting tasks. The storage management method provided in this embodiment includes the following steps:
步骤S801，通过交互装置的信息收发模块接收到来自客户系统的出库任务。In step S801, the delivery task from the client system is received through the information sending and receiving module of the interaction device.
具体的，整理任务可以包括待进行整理的待操作对象的具体信息，如待整理的物料种类和所在位置。Specifically, the sorting task may include specific information of objects to be sorted, such as types and locations of materials to be sorted.
步骤S802，通过交互装置的图像采集模块确定操作区。Step S802, determine the operation area through the image acquisition module of the interactive device.
具体的，在整理任务中，操作区一般选择待执行整理操作的待操作对象所在货架，或邻近待操作对象的空置的缓存架，以保证有足够的空间执行整理操作。Specifically, in the sorting task, the operation area generally selects a shelf where the object to be operated is located, or an empty buffer shelf adjacent to the object to be operated, so as to ensure that there is enough space to perform the sorting operation.
步骤S803，在操作区内，对待操作对象执行操作类型的目标操作。Step S803, in the operation area, perform a target operation of the operation type on the object to be operated.
可选地，在盘点任务中，对待操作对象执行操作类型的目标操作为：对待操作对象进行物料整理。Optionally, in the inventory task, the target operation of the type of operation performed on the object to be operated is: material sorting of the object to be operated.
具体的，物料整理的对象一般包括物料和货箱，物料整理包括对待整理的待操作对象所在位置，及货箱内物料的放置进行整理。Specifically, the objects of material sorting generally include materials and containers, and the material sorting includes the location of objects to be sorted and the placement of materials in the container.
步骤S804，通过信息收发模块输出操作任务的执行结果。Step S804, outputting the execution result of the operation task through the information transceiving module.
可选地，在整理任务中，输出操作任务的执行结果包括：经由图像采集模块采集待操作对象的图像；根据待操作对象的图像，向客户系统输出整理完成信息，整理完成信息用于表示根据待操作对象的图像重新确定库存的信息。Optionally, in the sorting task, outputting the execution result of the operation task includes: collecting an image of the object to be operated via the image acquisition module; outputting sorting completion information to the client system according to the image of the object to be operated, and the sorting completion information is used to indicate the The image of the object to be operated redetermines the information of the inventory.
具体的，整理任务的执行结果为待操作对象的信息，而不需要操作区的信息。包含待操作对象的图像一般为整理后的待操作对象的整体状态图像。Specifically, the execution result of the sorting task is the information of the object to be operated, and does not need the information of the operation area. The image containing the object to be operated is generally an image of the overall state of the object to be operated after sorting out.
一般的，在整理任务全部完成后，才输出执行结果。Generally, the execution result is not output until all finishing tasks are completed.
本实施例中，操作任务限定为整理任务，由此限定执行的目标操作和输出的执行结果。通过选定操作区进行整理任务，可以直接在待操作对象所在位置或邻近的缓存架上进行整理，减小对待操作对象的移动，且能快速更新整理后的待操作对象信息。由此可以显著减小待操作对象的搬运距离，缩短整理任务的执行时间，提高库存信息更新的速率，提高仓储服务的效率。In this embodiment, the operation task is defined as a sorting task, thereby defining the target operation to be executed and the execution result to be output. By selecting the operation area to sort out tasks, it can be sorted directly at the location of the object to be operated or on the adjacent buffer shelf, reducing the movement of the object to be operated, and can quickly update the information of the object to be operated after sorting. As a result, the transport distance of the objects to be operated can be significantly reduced, the execution time of sorting tasks can be shortened, the update rate of inventory information can be improved, and the efficiency of warehousing services can be improved.
图7为本公开一个实施例提供的仓储管理装置的结构示意图。如图7所示，该仓储管理装置包括：信息收发模块910，对象确定模块920和操作执行模块930。Fig. 7 is a schematic structural diagram of a storage management device provided by an embodiment of the present disclosure. As shown in FIG. 7 , the warehouse management device includes: an
其中，信息收发模块910，用于接收来自客户系统的操作任务并输出操作任务的执行结果；对象确定模块920，用于确定操作区和待操作对象；操作执行模块930，用于对待操作对象执行操作类型的目标操作。Among them, the
可选地，信息收发模块910具体用于接收来自客户系统的操作任务，并将操作任务对外显示或打印输出，和将操作任务的执行结果向智能仓储系统回传，并回传需要进一步操作的指令信息，如向仓储机器人下发搬运物料的指令、向智能仓储系统回传的更新库存信息的指令。Optionally, the
进一步地，信息收发模块910还用于打印上述操作任务和执行结果，以便仓储管理人员留档记录。Further, the
可选地，对象确定模块920包括：Optionally, the
图像采集模块，用于采集操作区和待操作对象的图像；An image acquisition module, configured to acquire images of the operation area and the object to be operated;
图像识别交互模块，用于识别操作区和待操作对象的图像中的可识别特征信息。The image recognition interaction module is used to recognize identifiable feature information in the image of the operation area and the object to be operated.
进一步地，图像识别交互模块还用于通过与智能仓储系统和仓储管理人员的交互，确认操作区和待操作对象，并能通过信息收发模块910回传识别和交互的内容。Furthermore, the image recognition interaction module is also used to confirm the operation area and the object to be operated through the interaction with the intelligent storage system and the warehouse management personnel, and can return the identification and interaction content through the information sending and receiving
可选地，操作执行模块930包括：Optionally, the
物料搬运模块，用于将待操作对象搬运到指定位置，如在出库任务或入库任务中将物料和货箱搬运至操作区；The material handling module is used to move the object to be operated to the designated location, such as moving materials and containers to the operation area in the outbound task or inbound task;
物料整理模块，用于对放置在货架上的待操作对象进行具体整理和盘点。The material sorting module is used for specific sorting and inventory of the objects placed on the shelves to be operated.
物料搬运模块和物料整理模块都可以通过机械手实现，物料搬运模块还包括运动结构，以便于在智能仓储系统内移动。Both the material handling module and the material sorting module can be realized by manipulators, and the material handling module also includes a kinematic structure to facilitate movement within the intelligent storage system.
本公开实施例提供的仓储管理装置，能够实现前述方法实施例提供的仓储管理方法，且相比前述方法实施例，可以减少仓储管理人员的参与，提高智能仓储系统整体自动化率，进而提高仓储服务效率。The warehouse management device provided by the embodiments of the present disclosure can realize the warehouse management method provided by the foregoing method embodiments, and compared with the foregoing method embodiments, it can reduce the participation of warehouse management personnel, improve the overall automation rate of the intelligent warehouse system, and further improve warehouse services efficiency.
图8为本公开一个实施例提供的仓储机器人的结构示意图，如图8所示，该仓储机器人包括：存储器1010，处理器1020以及计算机程序。Fig. 8 is a schematic structural diagram of a storage robot provided by an embodiment of the present disclosure. As shown in Fig. 8, the storage robot includes: a
其中，计算机程序存储在存储器1010中，并被配置为由处理器1020执行以实现本公开前述方法实施例中任一实施例提供的仓储管理方法。Wherein, the computer program is stored in the
其中，存储器1010和处理器1020通过总线1030连接。Wherein, the
相关说明可以对应参见前述方法实施例中各步骤所对应的相关描述和效果进行理解，此处不做过多赘述。Relevant descriptions can be understood by correspondingly referring to the relevant descriptions and effects corresponding to the steps in the foregoing method embodiments, and details are not repeated here.
图9为本公开一个实施例提供的仓储系统的结构示意图。如图9所示，该仓储系统包括：仓储机器人1110、货架1120和智能仓储系统1130。Fig. 9 is a schematic structural diagram of a storage system provided by an embodiment of the present disclosure. As shown in FIG. 9 , the storage system includes: a
其中，待操作对象1121放置于货架1120上，仓储机器人1110为本公开前述仓储机器人实施例中提供的仓储机器人，仓储机器人1110与智能仓储系统1130连接，用于根据智能仓储系统1130下发的操作任务移动至设定位置并建立操作区，如货架1120上，然后对待操作对象1121执行操作任务，并向智能仓储系统1130回传执行结果。Among them, the object to be operated 1121 is placed on the
可选地，上述仓储系统还包括交互装置；交互装置与仓储机器人通信连接，交互装置用于得到货架图像并传输给仓储机器，货架图像用于确定操作区。Optionally, the above-mentioned storage system further includes an interaction device; the interaction device communicates with the storage robot, and the interaction device is used to obtain a shelf image and transmit it to the storage machine, and the shelf image is used to determine the operation area.
本公开一个实施例提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本公开方法实施例中任一实施例提供的仓储管理方法。An embodiment of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the warehouse management method provided in any one of the method embodiments of the present disclosure.
其中，计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。Among them, the computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device and the like.
本公开一个实施例提供了一种计算机程序产品，其包含计算机执行指令，该计算机执行指令被处理器执行时用于实现如上述方法实施例中的仓储管理方法。An embodiment of the present disclosure provides a computer program product, which includes computer-executable instructions, and when executed by a processor, the computer-executable instructions are used to implement the warehouse management method in the above-mentioned method embodiments.
在本公开所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods may 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 or components can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in electrical, mechanical or other forms.
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. The present disclosure is intended to cover any modification, use or adaptation of the present disclosure. These modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
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| CN113320865B (en)* | 2021-04-19 | 2023-07-04 | 深圳市库宝软件有限公司 | Warehouse management method, device, warehouse robot, warehouse system and medium |
| CN117270544A (en)* | 2023-11-21 | 2023-12-22 | 天津华燕康源科技有限公司 | Intelligent logistics machine character flow method and system based on AI identification |
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| TW202242741A (en) | 2022-11-01 |
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| CN113320865A (en) | 2021-08-31 |
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