CN114095697A

Movatterモバイル変換

Info

Publication number: CN114095697A
Application number: CN202111264552.XA
Authority: CN
Inventors: 张守荣
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2022-02-25

Abstract

Translated fromChinese

本说明书实施例提供了容器存取监控方法及系统，其中，所述方法应用于容器存取监控系统，所述系统包括控制服务器、存取设备以及摄像设备，其中，所述存取设备响应于所述控制服务器发送的容器存取指令，基于所述容器存取指令对货架中的目标容器进行存取；以及在确定所述目标容器的存取异常的情况下，向所述控制服务器发送针对所述目标容器的存取异常信息；所述控制服务器基于所述存取异常信息触发所述摄像设备确定所述存取设备的存取环境图像，并基于所述存取环境图像对所述存取设备针对所述目标容器的存取状态进行确定。

Embodiments of this specification provide a container access monitoring method and system, wherein the method is applied to a container access monitoring system, the system includes a control server, an access device, and a camera device, wherein the access device responds to a The container access instruction sent by the control server is used to access the target container in the shelf based on the container access instruction; and when it is determined that the access of the target container is abnormal, a target container is sent to the control server. The access abnormality information of the target container; the control server triggers the camera device to determine an access environment image of the access device based on the access abnormality information, and based on the access environment image The retrieval device determines the access state of the target container.

Description

Container access monitoring method and system

Technical Field

The embodiment of the specification relates to the technical field of warehouse logistics, in particular to a container access monitoring method.

Background

The intelligent storage is the development trend of commodity circulation, and in the application of intelligent storage, transfer robot plays important role in intelligent storage, and transfer robot replaces artifical transport goods, but present transfer robot carries out taking out of workbin or returning the workbin to the work or material rest from the work or material rest when, if the abnormal conditions appears, very difficult audio-visual investigation goes out the emergence reason of abnormal conditions, often needs the manual work to go up to higher place with the help of high-order lift platform car to look over abnormal reasons. And when abnormal states such as empty and empty of the bin occur, the abnormal state of the transfer robot at that time cannot be traced.

Disclosure of Invention

In view of the above, the present disclosure provides a container access monitoring method. One or more embodiments of the present disclosure also relate to a container access monitoring system, a computing device, and a computer-readable storage medium to address technical deficiencies in the prior art.

According to a first aspect of embodiments of the present specification, there is provided a container access monitoring method applied to a container access monitoring system including a control server, an access apparatus, and an image pickup apparatus, wherein the image pickup apparatus is provided on the access apparatus, and the control server, the access apparatus, and the image pickup apparatus are communicatively connected;

the access equipment responds to a container access instruction sent by the control server and accesses a target container in a shelf based on the container access instruction; and

if the access abnormality of the target container is determined, sending access abnormality information for the target container to the control server;

the control server triggers the image pickup device to determine an access environment image of the access device based on the access abnormal information, and determines an access state of the access device for the target container based on the access environment image.

Optionally, the sending, to the control server, access abnormality information for the target container in a case where the access abnormality of the target container is determined includes:

the access equipment sends access abnormity information aiming at the target container to the control server under the condition that the access abnormity of the target container is determined to be container retrieval failure;

accordingly, the control server triggers the image pickup apparatus to determine an access environment image of the access apparatus based on the access abnormality information, and determines an access state of the access apparatus with respect to the target container based on the access environment image, including:

the control server triggers the camera equipment to continuously record and acquire the access environment image of the access equipment based on the access abnormal information, and determines the access state of the access equipment for the target container based on the access environment image.

the access equipment sends access abnormal information aiming at the target container to the control server under the condition that the access abnormality of the target container is determined to be empty and empty;

the control server triggers the camera equipment to shoot and acquire an access environment image of the access equipment based on the access abnormal information, and determines the access state of the access equipment for the target container based on the access environment image.

Optionally, the acquiring an access environment image of the access device includes:

the control server acquires an access environment image of the access device determined by the image pickup device from an application program of the image pickup device; or

And the control server acquires the access environment image of the access equipment determined by the camera equipment through a local area network port.

Optionally, the container access monitoring system further comprises a terminal;

the control server triggers the camera equipment to determine an access environment image of the access equipment based on the access abnormal information, and sends the access abnormal information to the terminal; and

and receiving the access state of the access equipment, which is sent by the terminal and determined based on the access abnormal information and the acquired access environment image, aiming at the target container.

Optionally, after the sending the access exception information to the terminal, the method further includes:

and the terminal acquires the access environment image determined by the camera equipment from an application program of the camera equipment or through a local area network port based on the access abnormal information.

Optionally, the determining, based on the access environment image, an access state of the access device for the target container includes:

the control server analyzes the access environment image, determines the relative position relationship between the access device and the target container in the access environment image, and determines the access state of the access device for the target container based on the relative position relationship between the access device and the target container.

the control server analyzes the access environment image, determines a container identifier on a shelf corresponding to the access equipment in the access environment image, analyzes the container identifier, and determines the access state of the access equipment for the target container based on the analysis result.

Optionally, after determining the access state of the access device for the target container based on the access environment image, the method further includes:

the control server displays the access state of the access equipment for the target container to a user through a user interaction interface, and adjusts the access operation of the access equipment for the target container based on an adjustment instruction when the adjustment instruction generated by the user based on the user interaction interface and aiming at the access equipment is received.

Optionally, after the terminal obtains the access environment image determined by the image capturing apparatus from an application program of the image capturing apparatus or through a local area network port based on the access abnormality information, the method further includes:

the terminal analyzes the access environment image, determines the relative position relationship between the access equipment and the target container in the access environment image, and determines the access state of the access equipment for the target container based on the relative position relationship between the access equipment and the target container; and

and displaying the access state of the access equipment to a user, and sending an adjusting instruction to the control server under the condition of receiving the adjusting instruction which is sent by the user based on the access state of the access equipment and aims at the access equipment.

Optionally, the access apparatus comprises a handling assembly for accessing the target container, the camera apparatus being mounted on the handling assembly.

According to a second aspect of embodiments of the present specification, there is provided a container access monitoring system including a control server, an access apparatus, and an image pickup apparatus, wherein the image pickup apparatus is provided on the access apparatus, and the control server, the access apparatus, and the image pickup apparatus are communicatively connected;

the access device is configured to respond to a container access instruction sent by the control server and access a target container in a shelf based on the container access instruction; and

the control server is configured to trigger the image pickup device to determine an access environment image of the access device based on the access abnormality information, and determine an access state of the access device with respect to the target container based on the access environment image.

According to a third aspect of embodiments herein, there is provided a computing device comprising:

a memory and a processor;

the memory is configured to store computer-executable instructions and the processor is configured to execute the computer-executable instructions, which when executed by the processor, implement the steps of the container access monitoring method described above.

According to a fourth aspect of embodiments herein, there is provided a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the above-described container access monitoring method.

One embodiment of the present specification implements a method and a system for monitoring container access, where the method is applied to a container access monitoring system, and the system includes a control server, an access device, and an image capture device, where the access device responds to a container access instruction sent by the control server, and accesses a target container in a shelf based on the container access instruction; and in the case that the access abnormality of the target container is determined, sending access abnormality information for the target container to the control server; the control server triggers the image pickup device to determine an access environment image of the access device based on the access abnormal information, and determines an access state of the access device for the target container based on the access environment image.

Specifically, the container access monitoring method realizes monitoring of the whole state flow of the access device for accessing the target container by adding the camera device to the access device, and can analyze the access state of the access device based on the access environment image of the access device shot by the camera device under the condition that the access device for accessing the target container is abnormal, so that the abnormal reason does not need to be checked manually, and the abnormal state of the access device can be traced.

Drawings

Fig. 1 is a schematic system structure diagram of a warehouse management system in a warehouse management scenario provided in an embodiment of the present specification;

fig. 2 is a schematic diagram of a container access monitoring system applied to a container access monitoring method according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of a method for monitoring container access provided in one embodiment of the present disclosure;

fig. 4 is an assembly schematic diagram of a carrying assembly and an image pickup apparatus of an access apparatus in a container access monitoring method provided in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a container access monitoring system according to an embodiment of the present disclosure;

fig. 6 is a block diagram of a computing device according to an embodiment of the present disclosure.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make and use the present disclosure without departing from the spirit and scope of the present disclosure.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

First, the noun terms to which one or more embodiments of the present specification relate are explained.

AGV: automated Guided Vehicle, abbreviated AGV, is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions.

And wifi: mobile hotspot, a wireless communication technology.

The workbin robot: a robot for carrying a work bin, a pallet, or the like.

In practical application, the bin robot is difficult to directly examine abnormal reasons after the abnormal conditions such as bin taking and returning failure appear at the eminence, and often needs to go to a higher place to check the state by the help of a high-level lifting platform car. In addition, when the bin robot has an abnormal state such as empty taking and returning, the abnormal condition of the mechanism at that time can not be tracked after the mechanism is traced.

The specific reason is as follows: the workbin robot is high in body, needs to enter a roadway with the help of a high-level lifting platform car for treatment, the roadway is narrow, the treatment efficiency is low, the workbin robot height can reach 8m or even more than 8m, special climbing equipment is needed, and personnel climb and have safety risks. In addition, abnormal situations cannot be checked, for example, when the bin robot is empty and returned, a user needs to confirm the state of the bin at that time, and cannot trace back.

In view of the above, in the present specification, there is provided a container access monitoring method, and the present specification relates to a container access monitoring system, a computing device, and a computer-readable storage medium, which are described in detail in the following embodiments one by one.

In specific implementation, the container access monitoring method provided in the embodiment of the present specification is applied to a warehouse management scenario, that is, the method can monitor the access state of a high-altitude access device (such as a bin robot) to a bin or a tray in the warehouse management scenario. For the sake of understanding, the following embodiments are described in detail with respect to the bin robot for the high-order storage container to monitor the access status of the bin.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a system structure of a warehouse management system in a warehouse management scenario provided in an embodiment of the present disclosure, the system including one ormore control servers 110, an inventory area 120 including a plurality ofinventory racks 130, a channel formed between the plurality of inventory racks, one ormore access devices 140 and one ormore handling devices 150 operating in the channel, and a plurality ofworkstations 160 disposed outside the inventory area.

Thecontrol server 110 is connected with theaccess device 140 and/or thehandling device 150 in a wireless communication manner, a worker operates thecontrol server 110 through theoperation console 114, thecontrol server 110 is a software system with data storage and information processing capabilities running on the server, and can be connected with theaccess device 140, thehandling device 150, the software system of theworkstation 160 and the like in a wireless manner, thecontrol server 110 can include one or more servers, and can be a centralized control architecture or a distributed computing architecture, thecontrol server 110 has a processor 111 and a memory 112, anorder pool 113 can be provided in the memory 112, and order information is stored in theorder pool 113.

The inventory area 120 may be a dense storage area or a non-dense storage area, a plurality ofinventory racks 130 are disposed in the inventory area 120, and the inventory racks 130 are placed with containers of inventory goods, which may be bins.

The container access monitoring method provided by the embodiment of the present disclosure may be applied to the warehouse management system, and is used to monitor the access state of the bin (i.e., the container) by the bin robot (i.e., the access device 140) in the system.

Referring to fig. 2, fig. 2 is a schematic diagram illustrating a framework of a container access monitoring system applied to a container access monitoring method according to an embodiment of the present disclosure.

The container access monitoring system may be understood as a subsystem of the warehouse management system in the above embodiments.

Including robot main control 202, surveillance camera 204 andwifi router 206 in fig. 2, wherein, robot main control 202 can understand as the controller of workbin robot, and robot main control 202 and surveillance camera 204 are in same wifi and link down, and surveillance camera 204 is installed on the handling subassembly that workbin robot carries out workbin access, is connected with robot main control 202 electricity, is supplied power to surveillance camera 204 by robot main control 202, but does not exclude in practical application, the condition that surveillance camera 204 can independently supply power. During specific work, the monitoring camera 204 is used for monitoring the storage and taking process of the bin robot for the bin, the real-time images of the bin robot for storage and taking of the bin can be acquired through the monitoring camera 204, and then the working condition of the carrying assembly of the bin robot can be monitored based on the real-time images. Specifically, the monitoring camera 204 is in a real-time on state, and may be in a sleep state before being triggered, and after the bin robot detects an access abnormality, the monitoring camera 204 is waken up, so that the monitoring camera 204 is in a continuous recording state or a shooting state according to different access abnormalities.

Referring to fig. 3, fig. 3 is a flowchart illustrating a container access monitoring method according to an embodiment of the present disclosure, where the method is applied to a container access monitoring system, and the system includes a control server, an access device, and an image capturing device, where the image capturing device is disposed on the access device, and the control server, the access device, and the image capturing device are in communication connection. Specifically, the container access monitoring method specifically comprises the following steps.

Step 302: the access equipment responds to a container access instruction sent by the control server and accesses a target container in a shelf based on the container access instruction; and transmitting access abnormality information for the target container to the control server if it is determined that the access of the target container is abnormal.

Specifically, the control server may be understood as thecontrol server 110 of the above embodiment, and may also be understood as a control server of the access device itself; the access device may be understood as theaccess device 140 of the above described embodiment, i.e. a bin robot; the camera device can be understood as any type of camera.

In practical applications, the access device includes a handling assembly for accessing the target container, and the camera device is mounted on the handling assembly.

Referring to fig. 4, fig. 4 is a schematic diagram illustrating an assembly of a carrying assembly of an access apparatus and an image capturing apparatus in a container access monitoring method according to an embodiment of the present disclosure.

The handlingassembly 404 in fig. 4 includes, but is not limited to, a telescoping arm configuration.

In the diagram a of fig. 4, thecamera 402 can be installed at the rear upper part of the carryingassembly 404, and can record the internal part of the carryingassembly 404 and the environment image of the carryingassembly 404 in the case that the carryingassembly 404 has abnormal access to the bin;

in the b diagram of fig. 4, acamera mounting part 406 may be added on the upper part of the carryingassembly 404, and then theimage capturing apparatus 402 is mounted in the middle of thecamera mounting part 406, which is located at the middle upper part of the carryingassembly 404, so as to increase the image capturing angle of theimage capturing apparatus 402, thereby realizing recording of the internal part of the carryingassembly 404 and the environment image of the carryingassembly 404 in the case that the carryingassembly 404 has abnormal access to the bin.

The installation positions of theimage capturing apparatus 402 are not limited to the two positions in fig. 4, and any position where images of the surroundings inside the carryingassembly 404 and around the carryingassembly 404 can be clearly recorded may be used.

In specific implementation, the access equipment responds to a container access instruction sent by the control server and accesses a target container in the shelf based on the container access instruction; wherein based on the container access command it can be determined which shelf the access device is required to store or retrieve that container. The rack may be understood as theinventory rack 130 of the above described embodiment and the target container may be understood as a target bin, i.e. a bin to be stored or taken.

And the access device sends access abnormality information for the target container to the control server if it is determined that the access of the target container is abnormal; that is, when the access device determines that an abnormality occurs in the access to the target container by its own sensor during the access to the target container, the access device transmits access abnormality information for the target container to the control server.

Step 304: the control server triggers the image pickup device to determine an access environment image of the access device based on the access abnormal information, and determines an access state of the access device for the target container based on the access environment image.

Specifically, the control server triggers the image pickup device to determine an access environment image of the access device based on the access abnormal information, and determines an access state of the access device for the target container based on the access environment image; it is understood that the control server triggers the image pickup device to continuously record or pick up an access environment image of the access device based on the access abnormality type carried in the access abnormality information, and determines the access state of the access device with respect to the target container based on the access environment image.

The access exception information carries the type of the access exception; in practical applications, the types of access exceptions are different, and the specific processing mode of the access exceptions subsequently based on the image pickup apparatus is also different. For example, an access exception for a target container may be a container return failure exception, or a container empty return exception.

If the access abnormality of the target container is a container retrieval failure abnormality, the control server triggers the image pickup device to continuously record the access environment image of the access device after receiving the access abnormality information, so that the control server can determine the access state of the access device for the target container based on the continuously recorded access environment image of the access device, and subsequently can adjust the access operation of the access device for the target container based on the access state, thereby ensuring the access accuracy of the target container. The specific implementation mode is as follows:

the sending, to the control server, access anomaly information for the target container if it is determined that the access of the target container is anomalous includes:

The container retrieval failure can be understood as a container retrieval failure of the access device for the target container, including but not limited to a failure in the position of a telescopic arm of a handling assembly in the access device, and the target container cannot be retrieved; the front of the target container on the shelf is provided with a barrier, and the access equipment cannot take out the target container from the shelf; the target container is placed at a position deviated from the shelf position, and the storage facility cannot take out the target container from the shelf.

The above situations all belong to the case that the container taking back fails, that is, when the above situations occur, the access device sends access abnormal information aiming at the target container to the control server, and after the control server receives the access abnormal information, the control server triggers the image pickup device to continuously record the access environment image of the access device, and determines the access state of the access device aiming at the target container based on the continuously recorded access environment image.

In practical application, the image pickup device is always in an on state, when no access abnormality occurs, the image pickup device is in a sleep mode for saving resources, when the access abnormality occurs and the access abnormality is that container retrieval fails, the control server triggers the image pickup device to continuously record an access environment image of the bin robot (access device), and determines the access state of the access device for a target container, such as whether the access device is offset relative to the target container, the offset angle and the like, based on analysis of the access environment image; the subsequent control server can control the access operation of the bin robot for the target container based on the access state of the access device for the target container; for example, the access environment image is analyzed, the telescopic arm of the carrying assembly in the bin box robot is determined to be biased to the left, the telescopic arm of the carrying assembly in the bin box robot is controlled to rotate to the right and return to the right, so that the telescopic arm of the carrying assembly in the bin box robot is opposite to the target container, and the target container can be conveniently and correctly taken out.

Specifically, the specific analysis process of the control server on the acquired access environment image continuously recorded by the image capturing apparatus is as follows:

the determining, based on the access environment image, an access status of the access device for the target container includes:

The relative position relationship between the access device and the target container can be understood as the relative position relationship between the handling assembly for accommodating the target container in the access device and the target container.

In specific implementation, whether a position deviation exists between the access device and the target container or not can be determined based on the relative position relationship between the access device and the target container, and if so, a deviation angle between the access device and the target container is determined based on the relative position relationship between the access device and the target container; subsequently, based on the deviation angle, an access operation of the access device with respect to the target container may be adjusted, for example, a position of the access device is moved or a position of a handling assembly in the access device is moved.

And under the condition that the access abnormality of the target container is empty and abnormal, after receiving the access abnormality information, the control server triggers the camera equipment to shoot the access environment image of the access equipment, so that the control server can determine the access state of the access equipment for the target container based on the shot access environment image of the access equipment, and the access accuracy of the target container is ensured. The specific implementation is as follows.

The empty container taking exception in the container empty taking exception is understood to be that the access device cannot find a target container when taking the container based on an order in an order pool of the control server, for example, the target container is not located in the position of the target container in the order arranged for the access device by the system, or other containers (namely, non-target containers) are placed, so that the container empty taking exception is caused; the empty return exception in the container empty return exception may be understood as a container empty return exception caused by the fact that when the access device returns the target container taken from the workbench or other position to the storage location of the target container, the storage location allocated by the system for the target container has already placed another container (i.e., a non-target container).

In addition, a container empty exception may also occur in a scenario where the access device takes a target container from the workstation based on an order (i.e., a non-high access scenario); in this case, if the access facility cannot access the target container in the order from the work table, it may be referred to as a container empty exception.

When the situation occurs, the access device sends access abnormal information aiming at the target container to the control server, and the control server triggers the image pickup device to shoot an access environment image of the access device after receiving the access abnormal information, and determines the access state of the access device aiming at the target container based on the shot access environment image.

In practical application, the camera device is always in an open state, when the access abnormality does not occur, the camera device is in a sleep mode in order to save resources, and when the access abnormality occurs and the access abnormality is that the container is empty and empty, the control server triggers the camera device to shoot an access environment image of the bin robot (access device), and determines the access state of the access device for a target container based on analysis of the access environment image; the subsequent control server can control the access operation of the bin robot for the target container based on the access state of the access device for the target container; for example, the control server analyzes the access environment image, and if it is determined that the container placed on the shelf corresponding to the bin robot does not have the target container carried in the container access instruction, the abnormality may be reported, and the worker verifies the position of the target container carried in the container access instruction.

Specifically, the specific analysis process of the control server on the acquired access environment image captured by the image capturing apparatus is as follows:

The container identifier may be understood as a mark that uniquely identifies a certain container.

In specific implementation, after acquiring an access environment image shot by the camera device, the control server analyzes the access environment image to determine a container identifier on a shelf corresponding to the access device in the access environment image, analyzes the container identifier, and determines the access state of the access device for a target container based on an analysis result; and under the condition that the access state is determined that the container identifier does not correspond to the target container in the container access command, verifying the position of the target container carried in the container access command by a staff member of the workbench, and reallocating the access command for the access equipment (the access equipment can be the same access equipment or other idle access equipment) according to the verified actual position of the target container.

If the container is empty and abnormal, the staff can send a target container taking instruction to the access equipment according to the actual position of the verified target container, so that the access equipment can successfully take the target container based on the actual position of the verified target container in the target container taking instruction; when the empty returning of the container is determined to be abnormal, two solutions exist, wherein in the first solution, when the storage position of the target container to be returned is occupied by other containers, the system can allocate other storage positions for the target container to be returned; secondly, when the storage location (target storage location) of the target container to be returned is occupied by other containers, the system may also issue a container fetching instruction to the access device, so that the access device moves other containers in the target storage location to other storage locations, and then the target container is stored in the target storage location.

In practical application, after analyzing and determining the access state of the access device for the target container, the control server may show the access state to a user through a user interaction interface thereof, and adjust the access device based on an adjustment instruction when receiving the adjustment instruction for the access device, which is sent by the user through the user interaction interface according to the access state, thereby improving the container access efficiency. The specific implementation mode is as follows:

after determining the access state of the access device for the target container based on the access environment image, the method further comprises:

The user interaction interface may be understood as a visual interface of the control server, through which the user may send instructions to the control server to control the operation of the access device.

In specific implementation, when the control server acquires the access environment image of the access device, which is continuously recorded or shot by the image capture device, the control server may acquire the access environment image from an application program (i.e., app) of the image capture device, or may acquire the access environment image from a web page according to the lan port. The specific implementation mode is as follows:

the acquiring of the access environment image of the access device includes:

In practical applications, the control server, the access device and the image pickup device are under the same wireless link.

The application program of the image pickup device can be understood as the app configured for the monitoring camera by the producer of the monitoring camera; after the control server receives the access abnormality information sent by the access device, the captured access environment image of the access device may be acquired from the app of the image capture device based on the access abnormality information.

The local area network port can be understood as a website of the access environment image shot by the camera equipment, and after the control server receives the access abnormal information sent by the access equipment, the access environment image shot by the camera equipment can be obtained from a webpage in which the access environment image shot by the camera equipment is stored.

In the embodiment of the present specification, there may be a plurality of access environment image acquisition modes for the access device photographed by the image pickup device, and a user may select an appropriate mode according to actual needs, so as to greatly improve user experience.

In another implementation scheme, the container access monitoring system further comprises a terminal, wherein the control server, the access device, the camera device and the terminal are in communication connection;

In specific implementation, the control server triggers the camera equipment to continuously record or shoot an access environment image of the access equipment based on the access abnormity type carried in the access abnormity information under the condition that the access abnormity information sent by the access equipment is received; meanwhile, the control server sends the access abnormal information to the terminal and receives the access state of the access equipment, which is determined by the terminal based on the access abnormal information and the access environment image of the access equipment, aiming at the target container.

In the embodiment of the description, the control server sends the access abnormal information to the terminal, and the terminal acquires and analyzes the access environment image based on the access abnormal information to determine the access state of the access device for the target container, so that the processing amount of the control server is reduced, and the working efficiency of the control server is improved.

In practical applications, after the control server sends the access abnormality information to the terminal, the terminal may acquire, from the image capturing apparatus, an access environment image of the access apparatus that it continuously records or captures, based on the access abnormality information. The specific implementation mode is as follows:

after sending the access exception information to the terminal, the method further includes:

and the terminal acquires the access environment image of the access equipment determined by the camera equipment from an application program of the camera equipment or through a local area network port based on the access abnormal information.

Specifically, the application program of the image capturing apparatus may be understood as an app configured for the monitoring camera by a producer of the monitoring camera, and the app may be installed in the terminal; after the terminal receives the access abnormality information transmitted by the control server, the captured access environment image of the access device may be acquired from the app of the image capture device installed therein based on the access abnormality information.

The local area network port can be understood as a website of the access environment image shot by the camera equipment, and after the terminal receives the access abnormal information sent by the control server, the terminal can also obtain the shot access environment image of the access equipment from a webpage in which the access environment image of the access equipment shot by the camera equipment is stored based on the local area network port.

In specific implementation, after acquiring an access environment image of the access device continuously recorded or shot by the camera device, the terminal analyzes the access environment image to determine the access state of the access device for the target container, subsequently displays the access state of the access device to a user, and determines an adjustment mode for the access device by the user based on the access state; through user interaction, the use experience of the user is improved. The specific implementation mode is as follows:

The specific implementation of the determining of the access state of the access device for the target container based on the access environment image by the terminal may refer to the specific operation steps of the control server in the above embodiments, which is not described herein again.

Specifically, the control server triggers the image pickup device to continuously record or shoot an access environment image of the access device based on the access abnormal information, and sends the access abnormal information to the terminal.

After receiving the access abnormal information sent by the control server, the terminal acquires an access environment image which is continuously recorded or shot by the camera equipment from an application program of the camera equipment or through a local area network port based on the access abnormal information, analyzes the access environment image which is continuously recorded or shot by the camera equipment, and determines the access state of the access equipment aiming at the target container; in addition, the terminal displays the access state to the user, and when receiving an adjustment instruction of the operation of the access device on the target container, which is sent by the user based on the access state, sends the adjustment instruction to the control server.

And after receiving the adjusting instruction, the control server adjusts the access operation of the access equipment for the target container based on the adjusting instruction.

The container access monitoring method provided in the embodiment of the present specification implements monitoring of the entire state flow of the access device accessing the target container by adding the image pickup device to the access device, and when the access device accesses the target container and is abnormal, the access state of the access device can be analyzed based on the access environment image of the access device that is continuously recorded or photographed by the image pickup device, and the abnormal state of the access device can be traced without manually checking the abnormal cause.

Specifically, when the bin storing and taking operation is performed by the bin robot, under the condition that the bin taking and returning operation is abnormal, a user can monitor the abnormality through a monitoring camera on the ground without using a climbing ladder, and after the abnormal state of the bin robot is obtained, the motion mechanism of the bin robot can be remotely controlled by means of a remote control application program of a terminal based on the bin taking and returning environment image of the bin robot obtained from the monitoring camera, so that the remote recovery operation (such as the bin taking and returning operation) of the bin robot is realized; when the abnormal conditions such as empty taking, returning and the like occur, the bin robot detects and reports the abnormality to the control server, and after the control unit (control server) in the local area network receives the abnormality reported by the bin robot, the camera module is accessed, the photographing function of the monitoring camera is started, and the reason of the abnormality is conveniently traced. The container access monitoring method provided by the embodiment of the specification monitors the state of the AGV in taking and returning the box, improves the convenience and safety of processing abnormal problems on site, and enhances the capability of tracing the abnormal state detected by the system.

Corresponding to the above method embodiment, this specification further provides an embodiment of a container access monitoring system, and fig. 5 shows a schematic structural diagram of a container access monitoring system provided in an embodiment of this specification. As shown in fig. 5, the system includes a control server 502, an access apparatus 504, and an image pickup apparatus 506, wherein the image pickup apparatus 506 is provided on the access apparatus 504, and the control server 502, the access apparatus 504, and the image pickup apparatus 506 are communicatively connected;

the access device 504 is configured to respond to the container access instruction sent by the control server 502, and access the target container in the shelf based on the container access instruction; and

if the access abnormality of the target container is determined, sending access abnormality information for the target container to the control server 502;

the control server 502 is configured to trigger the image capturing apparatus 506 to determine an access environment image of the access apparatus 504 based on the access abnormality information, and determine an access state of the access apparatus 504 with respect to the target container based on the access environment image.

Optionally, the access device 504 is further configured to send access exception information for the target container to the control server 502 if it is determined that the access exception of the target container is a container retrieval failure;

accordingly, the control server 502 is further configured to trigger the image capturing apparatus 506 to continuously record and acquire the access environment image of the access apparatus 504 based on the access abnormality information, and determine the access state of the access apparatus 504 with respect to the target container based on the access environment image.

Optionally, the access device 504 is further configured to send access exception information for the target container to the control server 502 if it is determined that the access exception of the target container is that the container is empty and empty;

accordingly, the control server 502 is further configured to trigger the image capturing device 506 to capture and acquire an access environment image of the access device 504 based on the access abnormality information, and determine an access state of the access device 504 with respect to the target container based on the access environment image.

Optionally, the control server 502 is further configured to acquire the access environment image of the access device 504 determined by the image pickup device 506 from an application program of the image pickup device 506; or

The control server 502 acquires the access environment image of the access device 504 determined by the image pickup device 506 through a lan port.

accordingly, the control server 502 is further configured to trigger the image capturing apparatus 506 to determine an access environment image of the access apparatus 504 based on the access abnormality information, and to send the access abnormality information to the terminal; and

receiving the access state of the access device 504 for the target container, which is determined based on the access anomaly information and the acquired access environment image and sent by the terminal.

Optionally, the terminal is further configured to acquire the access environment image determined by the image pickup apparatus 506 from an application program of the image pickup apparatus 506 or through a local area network port based on the access abnormality information.

Optionally, the control server 502 is further configured to analyze the access environment image, determine a relative positional relationship between the access device 504 and the target container in the access environment image, and determine an access status of the access device 504 for the target container based on the relative positional relationship between the access device 504 and the target container.

Optionally, the control server 502 is further configured to analyze the access environment image, determine a container identifier on a shelf corresponding to the access device 504 in the access environment image, parse the container identifier, and determine an access status of the access device 504 for the target container based on a parsing result.

Optionally, the control server 502 is further configured to present the access status of the access device 504 for the target container to a user through a user interaction interface, and in a case that an adjustment instruction for the access device 504 generated by the user based on the user interaction interface is received, adjust the access operation of the access device 504 for the target container based on the adjustment instruction.

Optionally, the terminal analyzes the access environment image, determines a relative positional relationship between the access device 504 and the target container in the access environment image, and determines an access status of the access device 504 for the target container based on the relative positional relationship between the access device 504 and the target container; and

the access state of the access device 504 is displayed to a user, and when an adjustment instruction for the access device 504 sent by the user based on the access state of the access device 504 is received, the adjustment instruction is sent to the control server 502.

Optionally, the access device 504 includes a carrier assembly for accessing the target container, and the camera device 506 is mounted at a rear or upper portion of the carrier assembly.

The container access monitoring system provided in the embodiment of the present description implements monitoring of the entire state flow of the access device accessing the target container by adding the image pickup device to the access device, and can analyze the access state of the access device based on the access environment image of the access device photographed by the image pickup device when the access device accesses the target container and is abnormal, without manually checking the reason for the abnormality, and trace the abnormal state of the access device.

The above is an illustrative scheme of a container access monitoring system of the present embodiment. It should be noted that the technical solution of the container access monitoring system and the technical solution of the container access monitoring method belong to the same concept, and details of the technical solution of the container access monitoring system, which are not described in detail, can be referred to the description of the technical solution of the container access monitoring method.

FIG. 6 illustrates a block diagram of a computing device 600 provided in accordance with one embodiment of the present description. The components of the computing device 600 include, but are not limited to, a memory 610 and a processor 620. The processor 620 is coupled to the memory 610 via a bus 630 and a database 650 is used to store data.

Computing device 600 also includes access device 640, access device 640 enabling computing device 600 to communicate via one or more networks 660. Examples of such networks include the Public Switched Telephone Network (PSTN), a Local Area Network (LAN), a Wide Area Network (WAN), a Personal Area Network (PAN), or a combination of communication networks such as the internet. Access device 640 may include one or more of any type of network interface (e.g., a Network Interface Card (NIC)) whether wired or wireless, such as an IEEE802.11 Wireless Local Area Network (WLAN) wireless interface, a worldwide interoperability for microwave access (Wi-MAX) interface, an ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a bluetooth interface, a Near Field Communication (NFC) interface, and so forth.

In one embodiment of the present description, the above-described components of computing device 600, as well as other components not shown in FIG. 6, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device architecture shown in FIG. 6 is for purposes of example only and is not limiting as to the scope of the present description. Those skilled in the art may add or replace other components as desired.

Computing device 600 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smartphone), wearable computing device (e.g., smartwatch, smartglasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. Computing device 600 may also be a mobile or stationary server.

Wherein the processor 620 is configured to execute computer-executable instructions that, when executed by the processor, implement the steps of the container access monitoring method described above.

The above is an illustrative scheme of a computing device of the present embodiment. It should be noted that the technical solution of the computing device and the technical solution of the container access monitoring method described above belong to the same concept, and details that are not described in detail in the technical solution of the computing device can be referred to the description of the technical solution of the container access monitoring method described above.

An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which when executed by a processor, implement the steps of the container access monitoring method described above.

The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the container access monitoring method, and details that are not described in detail in the technical solution of the storage medium can be referred to the description of the technical solution of the container access monitoring method.

An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the container access monitoring method.

The above is an illustrative scheme of a computer program of the present embodiment. It should be noted that the technical solution of the computer program is the same as the technical solution of the container access monitoring method, and details that are not described in detail in the technical solution of the computer program can be referred to the description of the technical solution of the container access monitoring method.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts, but those skilled in the art should understand that the present embodiment is not limited by the described acts, because some steps may be performed in other sequences or simultaneously according to the present embodiment. Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that acts and modules referred to are not necessarily required for an embodiment of the specification.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present specification disclosed above are intended only to aid in the description of the specification. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the embodiments and the practical application, to thereby enable others skilled in the art to best understand and utilize the embodiments. The specification is limited only by the claims and their full scope and equivalents.