Identification code recognition method, recognition device, and warehousing system

Abstract

The present application relates to the technical field of warehousing and logistics, and discloses an identification code recognition method, a recognition device, and a warehousing system. The method comprises: acquiring a warehouse map corresponding to a warehouse area, wherein the warehouse map comprises a plurality of cells, a plurality of identification codes are provided in the warehouse area, and the plurality of identification codes correspond to the plurality of cells; determining initial identification information of the cells on the basis of position information of the cells; on the basis of the position information of the cells, controlling a scanning robot to scan the identification codes, and acquiring scanning results of the identification codes, wherein the scanning result of each identification code comprises identification information of the identification code; and when the identification information of a target identification code corresponding to a target cell is different from the initial identification information of the target cell, updating the initial identification information of the target cell on the basis of the identification information of the target identification code to obtain target identification information of the target cell.

Description

Identification code recognition method, recognition device and storage system

[0001] This application claims priority to Chinese patent application No. 202410302786.6 filed on March 15, 2024, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the technical field of warehousing and logistics, and in particular to an identification code recognition method, an identification device, and a warehousing system. Background Art

[0003] Usually, after the creation of the warehouse map is completed, the QR code required for the warehouse can be generated according to the position of each cell in the warehouse map. After the QR code is generated, the implementation personnel need to paste it strictly according to the position of each QR code in the warehouse, which increases the cycle of the QR code implementation process and also increases the implementation cost. In addition, since each QR code is unique, when the QR code pasted in the warehouse is contaminated or damaged, it may be necessary to re-customize the QR code, which makes the QR code maintenance process more complicated. Therefore, the implementation process of the QR code in the related art has the problems of long implementation cycle, high implementation cost and high maintenance cost. Summary of the Invention

[0004] The embodiments of the present disclosure provide an identification code recognition method, an identification device, and a warehousing system.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a method for identifying an identification code, which is applied to a control device in a warehousing system, and the method comprises: first, obtaining a warehousing map corresponding to a warehousing area; wherein the warehousing map comprises a plurality of cells, a plurality of identification codes are provided in the warehousing area, and the plurality of identification codes correspond to a plurality of cells. Secondly, based on the position information of each cell, the initial identification information of each cell is determined. Then, in the case where at least one identification code is randomly provided in the warehousing area, the scanning robot in the warehousing system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtain the scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes the identification information of the identification code. Finally, in the case where the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein the target cell is any one of the plurality of cells.

[0006] A second aspect of an embodiment of the present disclosure provides a warehousing system, comprising a scanning robot and a control device. The scanning robot is configured to scan a plurality of identification codes set in a storage area. The control device is configured to obtain a storage map corresponding to the storage area; the storage map includes a plurality of cells, a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to a plurality of cells. Based on the position information of each cell, the initial identification information of each cell is determined. When at least one identification code is randomly set in the storage area, the scanning robot in the warehousing system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtain the scanning result of the identification code corresponding to the cell; the scanning result of the identification code includes the identification information of the identification code. When the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell; the target cell is any one of the plurality of cells.

[0007] The third aspect of the embodiment of the present disclosure provides an identification device, including an acquisition module, a determination module, a control module and an update module. The acquisition module is configured to: acquire a storage map corresponding to the storage area; wherein the storage map includes multiple cells, and multiple identification codes are set in the storage area, and the multiple identification codes correspond to multiple cells. The determination module is configured to: determine the initial identification information of each cell based on the position information of each cell. The control module is configured to: when at least one identification code is randomly set in the storage area, control the scanning robot in the storage system to scan the identification code corresponding to each cell according to the position information of each cell, and obtain the scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes the identification information of the identification code. The update module is configured to: when the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, update the initial identification information of the target cell based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein the target cell is any cell among the multiple cells.

[0008] The fourth aspect of the embodiments of the present disclosure provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store computer-executable instructions; the processor is used to read the instructions from the memory and execute the instructions to implement the identification code recognition method described in the first aspect above.

[0009] A fifth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, which stores computer program instructions. When a computer reads the instructions, the identification code recognition method described in the first aspect is executed.

[0010] A sixth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the identification code recognition method described in the first aspect above.

[0011] A seventh aspect of the embodiments of the present disclosure provides a computer program, which, when executed by a processor, can implement the identification code recognition method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] FIG1 is a schematic diagram of a method for identifying an identification code provided by an embodiment of the present disclosure;

[0014] FIG2 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure;

[0015] FIG3 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure;

[0016] FIG4 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure;

[0017] FIG5 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure;

[0018] FIG6 is a schematic diagram of a warehousing system provided by an embodiment of the present disclosure;

[0019] FIG7 is a schematic diagram of an identification device provided by an embodiment of the present disclosure;

[0020] FIG8 is a schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention and to make the above-mentioned purposes, features and advantages of the embodiments of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0022] When implementing QR code pasting in a warehouse, it is usually necessary to generate a map corresponding to the warehouse and then generate a QR code corresponding to each cell based on the location information of each cell in the map. The code value of the generated QR code corresponds one-to-one to the pasting position of each QR code in the warehouse. After generating the QR code, the implementation personnel need to strictly implement the code pasting operation according to the corresponding position of each QR code in the warehouse, that is, paste each QR code to the corresponding pasting position. For example, the implementation personnel need to select the corresponding QR code for pasting based on the location information of each cell in the map on site. In this case, the labor cost required for the implementation process of a QR code project corresponding to a warehouse is about 15-20 man-days. At the same time, when problems such as pasting errors occur during the pasting process, rework may be required, resulting in low implementation efficiency and high labor costs.

[0023] Secondly, the QR codes needed to be notified to the supply chain for production after the map was generated. Since each warehouse's situation was different, the number of QR codes required to be printed also varied. This meant that each warehouse needed to customize its own QR code, which lengthened the QR code project implementation cycle and increased project costs. Furthermore, since QR codes could only be notified to suppliers for production after the map was generated, bulk purchases could not be made in advance, further increasing the project implementation cycle.

[0024] In addition, when the QR codes pasted in the warehouse are stained or damaged, since the QR codes are unique, when any QR code in the warehouse is stained, the same QR code needs to be replaced. Therefore, the supply chain needs to be notified to reprint the QR code, which results in a longer maintenance cycle for the QR code and higher maintenance costs.

[0025] Therefore, the QR code implementation scheme in the related art has the problems of long implementation cycle and high maintenance cost. In order to solve the above problems, the embodiment of the present disclosure provides an identification code recognition method, an identification device and a warehousing system. By adopting a random QR code scheme, the implementation efficiency of the QR code implementation process is improved, and the implementation cost and maintenance cost are reduced. Before the storage map corresponding to the storage area is generated, the embodiment of the present disclosure determines the number of identification codes required for the storage area and randomly generates each identification code. After the required identification codes are generated, each identification code is randomly set in the storage area, and after the pasting is completed, each identification code is scanned by a scanning robot, so that the initial identification information of each cell is updated according to the identification information of each identification code in the scanning result, and a one-to-one correspondence between the cell and the identification code is achieved. Since the identification information of each identification code in the embodiment of the present disclosure is random, and the pasting process is random, compared with the related art of pasting each identification code according to the position information, the efficiency of the implementation process of the identification code can be improved.

[0026] The identification code recognition method provided by the embodiment of the present disclosure is described in detail below with reference to Figures 1 to 5. It should be noted that the identification code recognition method provided by the embodiment of the present disclosure can be implemented by a control device in a warehousing system.

[0027] In some examples, the control device may be a server or a terminal device, or a device deployed with a Robot Management System (RMS). The terminal device may include at least one of a personal computer, a laptop computer, a smartphone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster consisting of multiple servers, which is not limited in the present embodiment. For example, the control device in the embodiments of the present disclosure may be a device deployed with an RMS, and the following embodiments are illustrative using the RMS as an example.

[0028] Figure 1 is a schematic diagram of a method for identifying an identification code provided by an embodiment of the present disclosure. As shown in Figure 1 , the method includes steps 110 to 140 as described below.

[0029] Step 110: Obtain a storage map corresponding to the storage area.

[0030] For example, the storage area may be the entire area of ​​a warehouse or a partial area of ​​a warehouse, wherein the storage area may correspond to a storage map.

[0031] For example, the warehouse map may include multiple cells, that is, the warehouse map is composed of multiple cells, each cell has a corresponding area in the warehouse area. Multiple identification codes may be set in the warehouse area, and the multiple identification codes correspond to the multiple cells.

[0032] In some examples, the storage area can be divided into multiple grids, each of which can be of the same or different sizes. For example, the grids can be the corresponding areas of the storage area to the cells in the storage map, and each grid can have a corresponding relationship with each cell. For example, each grid can correspond to a cell in the storage map.

[0033] For example, a cell can be set with an identification code in the corresponding area (i.e., a grid) of the storage area, that is, the identification code and the cell are one-to-one corresponding; or, the corresponding areas of multiple cells (i.e., multiple grids) can be set with an identification code, or, the corresponding area of ​​a cell (i.e., a grid) can be set with multiple identification codes, that is, the identification code and the cell are many-to-one. It should be noted that the embodiments of the present disclosure do not limit the correspondence between identification codes and cells. The following embodiments are illustrative of the one-to-one correspondence between identification codes and cells. In other words, there is a one-to-one correspondence between the setting position of the identification code and the grid of the storage area, that is, an identification code can be pasted in each grid in the storage area.

[0034] In some examples, before generating a warehouse map, the identification codes required for each grid in the warehouse area can be pre-generated. The identification codes can include QR codes, or other types of identifiers. The present disclosure does not limit the type of identification codes. The present disclosure uses QR codes as an example for illustrative purposes.

[0035] In some embodiments, a first number of identification codes required for a storage area can be determined based on the size information of the storage area and the size information corresponding to the cells in the storage area; based on the first number, a second number of identification codes is generated; wherein the second number is greater than or equal to the first number, and each identification code has identification information.

[0036] In some examples, the size information corresponding to the cell in the storage area is the size of each grid in the storage area. Since a QR code needs to be pasted in each grid, the size of the grid can be greater than or equal to the size of the QR code.

[0037] Exemplarily, the first number of identification codes required for the storage area can be determined based on the size of the storage area and the size of each grid.

[0038] For example, if the length of the storage area is 150m and the width is 150m, the area of ​​the storage area is 150m*150m=22500 square meters. If the size of each grid in the storage area is 1.5m*1.5m=2.25 square meters, it can be determined that the number of identification codes (such as QR codes) required for the storage area is at least 22500 / 2.25=10000.

[0039] In some examples, after determining a first number of identification codes required for a storage area (e.g., 10,000), a second number of identification codes may be generated, and the identification information of each generated identification code may be randomly generated, or may be set according to a preset rule. Since the identification codes in the embodiment of the present disclosure are randomly pasted on each grid in the storage area, that is, there is no binding relationship between the identification information of each QR code and the position of each cell in the storage map, the embodiment of the present disclosure does not need to rely on the pasting position of the identification code when generating the identification code. The embodiment of the present disclosure may generate a larger number (e.g., a second number) of identification codes at one time, that is, the second number is greater than the first number, as a backup identification code for subsequent maintenance.

[0040] For example, 100 million identification codes can be generated and produced at once, sufficient to support 10,000 warehouses of approximately 20,000 square meters. This eliminates the need to individually notify the supply chain when implementing the QR code project in other warehouses, thus shortening the QR code implementation cycle. The identification information of the identification code can be its corresponding serial number, for example, the identification information of each identification code can range from 000000001 to 99999999.

[0041] In some examples, you can create QR codes with different number ranges in advance based on different regions, and then bind the regions to the number ranges. For example, the number range for the Asia-Pacific region is 000000001 to 09999999.

[0042] The identification code recognition method provided by the embodiment of the present disclosure can implement the pasting of QR codes in the storage area after generating the QR codes of the storage area. Since each QR code is not bound to each cell in the storage map, the pasting process of the QR codes in the storage area can also be random, that is, the pasting order of the QR codes does not need to be based on the position of each cell, thereby improving the implementation efficiency of the QR codes. At the same time, it can also prevent the QR codes from being pasted in the wrong position, thereby avoiding multiple rework, further improving implementation efficiency and reducing labor costs.

[0043] In some embodiments, the storage area can be divided into multiple scanning areas, and the sizes of the scanning areas can be the same or different. Each scanning area can include multiple grids, and the number of grids included in different scanning areas can be the same or different.

[0044] For example, after generating the QR code corresponding to the storage area, the implementation personnel can simultaneously implement the pasting of QR codes to multiple scanning areas. A QR code can be pasted on each grid in the scanning area. The QR code pasted on each grid can be any QR code among the multiple QR codes generated (i.e., the second number of identification codes), thereby further improving the implementation efficiency of the QR code.

[0045] The identification code recognition method provided by the disclosed embodiment estimates the number of identification codes required for a storage area before generating a storage map. Furthermore, there is no binding relationship between the identification information of each identification code and its location. That is, each identification code is random, and thus the process of setting each identification code is also random. Therefore, the disclosed embodiment can improve the efficiency of the identification code implementation process. Furthermore, because the identification codes are random, each scanning area in the storage area can also be set synchronously, further improving implementation efficiency.

[0046] Step 120: Determine initial identification information of each cell based on the position information of each cell.

[0047] For example, after generating a warehouse map, the location information of each cell in the warehouse map can be obtained. For example, the location information of each cell can be the coordinate value of each cell in the warehouse map.

[0048] In some examples, an initial identification information may be generated for each cell in the warehouse map. For example, the initial identification information of each cell may be randomly generated, and the initial identification information of each cell may be different. For example, the initial identification information of each cell may be the number of each cell. For example, when the warehouse area includes 10,000 cells, the initial identification information of each cell may be 00001-10000; or, the initial identification information of each cell may be in other different ways, such as using the index method A1-A 10000 The embodiments of the present disclosure are not limited to this.

[0049] For example, after determining the initial identification information of each cell, the initial information of each cell can be bound to the location information of each cell. The initial information and location information of each cell can uniquely identify the cell, and each cell can be identified and located by the location information and initial identification information.

[0050] In some examples, binding the initial identification information of each cell with the location information of each cell may include: establishing a mapping relationship (which may be referred to as a first mapping relationship) between the initial identification information of multiple cells and the location information of multiple cells. For example, after the first mapping relationship is established, the initial identification information of each cell can be queried based on the location information of each cell and the first mapping relationship.

[0051] Step 130, when at least one identification code is randomly set in the storage area, the scanning robot in the storage system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtain the scanning result of the identification code corresponding to the cell.

[0052] In some examples, randomly setting at least one identification code within the storage area may include: completing the setting of identification codes for the entire storage area, or completing the setting of identification codes for at least one scanning area within the storage area. According to the above embodiment, since the setting process of each identification code in the storage area is random, the identification code scanning task can be executed after at least one identification code is randomly set.

[0053] In some examples, the task of scanning the identification code can be performed by a scanning robot in the warehouse system. For example, the warehouse system may include multiple scanning robots. The scanning robot can be any type of autonomous mobile device, such as an automated guided vehicle (AGV).

[0054] For example, the scanning robot is provided with a scanning device, which may include an image acquisition device, such as a camera, disposed on the bottom of the scanning robot. The camera is used to capture an identification code attached to the floor of the storage area and transmit the captured image information of the identification code to the scanning robot for identification. For example, the scanning device may be a camera, a fisheye camera, or a panoramic camera, or other image acquisition devices, which are not limited in the present embodiment.

[0055] In some examples, a control device (e.g., an RMS) may send a scanning instruction to a scanning robot. The scanning instruction may include the location information of each cell. The scanning robot moves to the corresponding cell location according to the scanning instruction. After arriving at the cell location, the scanning robot uses the scanning device to capture the identification code corresponding to the cell to obtain a scan result, which is then reported to the control device for processing. The identification code corresponding to the cell is the identification code set on the grid of the storage area corresponding to the cell.

[0056] Figure 2 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure. As shown in Figure 2, the above step 130 includes steps 210 to 230 as described below.

[0057] Step 210 : determining at least one target scanning robot and a target scanning area corresponding to each target scanning robot among a plurality of scanning robots in the warehouse system.

[0058] In some examples, the storage area is divided into multiple scanning areas. If at least one target scanning area in the multiple scanning areas has completed the affixing of the identification code, at least one target scanning robot can simultaneously perform a scanning task for its corresponding target scanning area. For example, if two or more scanning areas in the multiple scanning areas have completed the affixing of the identification code, the scanning robots corresponding to each scanning area can simultaneously perform scanning tasks for these multiple scanning areas, thereby further improving implementation efficiency.

[0059] For example, the at least one target scanning robot can be all or part of the multiple scanning robots. The target scanning area can be all or part of the multiple scanning areas. The number of target robots is related to the number of target scanning areas. For example, the number of target scanning robots can be the same as the number of target scanning areas. In this case, one target scanning robot can perform a corresponding scanning task for each target scanning area.

[0060] In some examples, when the number of scanning robots in a warehouse system is greater than or equal to the number of scanning zones, a scanning robot can be assigned to each scanning zone, with each scanning robot performing scanning tasks for its corresponding scanning zone. When the number of scanning robots is less than the number of scanning zones, the same scanning robot can be assigned to multiple scanning zones, with the scanning robot sequentially performing scanning tasks for each of its corresponding scanning zones.

[0061] It should be noted that when the number of scanning robots is less than the number of scanning areas, a corresponding scanning area can be assigned to each scanning robot first. When there is an idle scanning robot in the warehouse system, the remaining scanning area can be assigned to the idle scanning robot to perform the scanning task.

[0062] Exemplarily, the target scanning robot corresponding to each target scanning area may be determined based on the target scanning area, or the target scanning area corresponding to each target scanning robot may be determined based on the target scanning robot.

[0063] For example, after determining at least one target scanning area, a scanning robot (i.e., a target scanning robot) may be randomly assigned to each target scanning area. Alternatively, based on the distances between each scanning robot and the target scanning area, the scanning robot closest to the target scanning area may be determined as the target scanning robot corresponding to the target scanning area. For another example, after determining at least one target scanning robot, based on the distances between each scanning area and the target scanning robot, the scanning area closest to the target scanning robot may be determined as the target scanning area corresponding to the target scanning robot. This disclosure is not limited to this aspect.

[0064] Step 220 : Determine the scanning starting point of each target scanning robot in the corresponding target scanning area according to the position of each target scanning robot.

[0065] For example, after determining the target scanning robot and the target scanning area corresponding to the target scanning robot, a scanning starting point can be determined in the target scanning area, wherein the scanning starting point is the initial position of the target scanning robot when performing a scanning task on the target scanning area.

[0066] In some examples, the target scanning area may include grids corresponding to multiple cells, and the scanning starting point of the scanning task may be determined based on the position of the target scanning robot and the positions of each grid in the target scanning area. The scanning starting point may be one of the multiple grids. For example, the distance between the target robot and each grid in the target scanning area may be determined based on the position of the target robot and the positions of each grid in the target scanning area, and the scanning starting point of the scanning task may be determined based on the distance between the target robot and each grid in the target scanning area.

[0067] In some embodiments, in each target scanning area, the cell closest to the position of the target scanning robot can be determined as the scanning starting point.

[0068] For example, when the target scanning area is rectangular, the target scanning area may include four vertex meshes, and the vertex mesh closest to the target scanning robot in the target scanning area may be used as the scanning starting point of the target scanning area. In other words, the scanning starting point of the target scanning robot may be the vertex mesh closest to the target robot in the target scanning area.

[0069] For example, after determining the scanning starting point, a scanning path of each target scanning robot within the target scanning area can also be determined based on the scanning starting point. The scanning path is the path that the target scanning robot follows when performing a scanning task within the target scanning area. For example, when the target scanning robot performs a scanning task within the target scanning area according to the scanning path, it can complete the scanning of each identification code within the target scanning area.

[0070] In some examples, when determining the scanning path of a target scanning robot, the operating rules corresponding to each cell in the scanning path may not be considered. The operating rules are the rules that the robot must follow when operating in the storage area. For example, the operating rules corresponding to each cell may include allowing / disallowing one-way passage, allowing / disallowing two-way passage, allowing / disallowing unladen passage, and allowing / disallowing laden passage, etc., although this disclosure is not limited to these rules.

[0071] For example, if the operating rule for a cell only allows one-way passage, such as rightward movement, when determining the scanning path, if it is determined that the scanning robot needs to move left in the cell, the RMS can change the operating rule for the cell to allow left movement. For another example, if the operating rule for a cell only allows loaded robots to pass, if the scanning path of an unloaded scanning robot passes through the cell, the RMS can also adjust the operating rule for the cell to allow the unloaded robot to pass.

[0072] That is to say, since the scanning robot performs a scanning task rather than a formal handling task, when determining the scanning path of the target scanning robot, if the operating rules corresponding to the cell conflict with the scanning path, the RMS can modify the operating rules of the cell, so as to ensure that the determined scanning path can include the identification codes corresponding to all cells in the target scanning area as much as possible. In this case, the target scanning robot can scan as many identification codes as possible in the target scanning area when performing the scanning task according to the scanning path.

[0073] In some examples, when a non-rotatable or other special functional cell exists in the target scanning area, the RMS may ignore the functional cell during path planning, i.e., the scanning path determined by the RMS may not include the functional cell. A functional cell may be a cell that the target scanning robot cannot reach.

[0074] For example, when a function cell exists in the target scanning area, RMS can set the function cell's status to disabled or locked, thereby filtering the function cell during path planning. If the function cell is subsequently undisabled or unlocked, that is, the function cell is updated to a regular cell, the identification code corresponding to the cell can continue to be scanned.

[0075] Step 230 , control each target scanning robot to start from a scanning starting point in the corresponding target scanning area and scan each identification code corresponding to each cell in the target scanning area according to the corresponding scanning path.

[0076] For example, after determining the scanning starting point and scanning path, the RMS can send a scanning instruction to the target scanning robot. The target scanning robot moves to the scanning starting point of the corresponding target scanning area according to the scanning instruction, and starts from the scanning starting point and scans the identification code corresponding to each cell on the scanning path according to the scanning path to obtain the scanning result, and report the scanning result to the RMS.

[0077] In some embodiments, during the process of the target scanning robot scanning the identification codes corresponding to each cell in the target scanning area, if an abnormality occurs in the target scanning robot, the current scanning cell of the target scanning robot is determined; the candidate scanning robot among the multiple scanning robots is controlled to move to the current scanning cell, and continue to scan the identification codes corresponding to the unscanned cells in the target scanning area according to the scanning path.

[0078] In some examples, when a target scanning robot is performing a scanning task corresponding to a target scanning area, if the target scanning robot experiences an operational abnormality, such as being unable to continue moving due to low battery or being unable to continue performing the scanning task due to a hardware failure, the RMS can identify a candidate robot from among the idle scanning robots in the warehouse system, control the candidate robot to move to the current position of the target scanning robot (i.e., the position corresponding to the current scanning cell), and continue to perform the scanning task, i.e., continue to scan the identification codes corresponding to the remaining cells according to the scanning path. The remaining cells are the cells corresponding to the multiple identification codes in the target scanning area except the identification codes that have been scanned by the target scanning robot.

[0079] For example, before determining a candidate robot and controlling the candidate robot to move to the current position of the target scanning robot (i.e., the grid where the target scanning robot is currently located), the target scanning robot at the current position can be removed and its scanning task can be recovered to prevent the target scanning robot from affecting the candidate robot's continued execution of the scanning task. There may be multiple idle scanning robots in the warehouse system, and the candidate robot can be any of the multiple idle scanning robots, or the candidate robot can be the one of the multiple idle robots that is closest to the current scanning cell, which is not limited in the present embodiment.

[0080] In some examples, when a scanning robot cannot continue its scanning task due to special issues such as space or site conditions in a storage area, the current scanning task can be terminated using the stop button or button provided by the RMS, and the previous scanning results can be saved. At the same time, areas where scanning tasks have not been completed can be marked so that scanning tasks can be continued after the environmental factors are resolved. For example, when the environmental factors are resolved, the scanning robot only needs to continue scanning the areas where scanning tasks have not been completed, without having to repeat the scanning tasks in the areas where scanning tasks have been completed.

[0081] Step 140 : When the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell.

[0082] The target cell is any cell among the multiple cells.

[0083] In some embodiments, the scanning result of the identification code includes identification information of the identification code, wherein the identification information of the identification code is identification information randomly generated when the identification code is generated.

[0084] For example, after each cell is assigned an identification code to a corresponding area (i.e., a grid) in a storage area, the initial identification information of each cell needs to be updated to the identification information of the identification code corresponding to the cell. Since an identification code is assigned to each grid, the cell corresponding to the grid can be identified by the identification information of the identification code.

[0085] In some examples, because the identification information of each identification code in the related art is determined based on the location information of each cell, the identification information of the QR code pasted on each cell is pre-bound to the cell, so the cell can be identified and located by the identification information of the QR code. In the embodiment of the present disclosure, because the identification information of each identification code is random and not bound to the cell, after the identification code is pasted, the identification information of each identification code needs to be bound to each cell, so as to achieve a one-to-one correspondence between each cell and the identification code, that is, the identification code can uniquely identify the cell.

[0086] For example, if the target identification code scanning result includes identification information of the target identification code, the identification information of the target identification code is compared with the initial identification information of the target cell. If the identification information of the target identification code is inconsistent with the initial identification information of the target cell, the initial identification information of the target cell is updated to the identification information of the target identification code, thereby obtaining the target identification information of the target cell. The target identification information of the target cell is used to identify the target cell.

[0087] Exemplarily, if the identification information of the target identification code is consistent with the initial identification information of the target cell, the initial identification information of the target cell may not be updated, that is, the target identification information of the target cell is the initial identification information of the target cell.

[0088] In some examples, after determining the target identification information of each cell, each cell can be bound to its corresponding target identification information, i.e., a mapping relationship (which may be referred to as a second mapping relationship) can be established between each cell and its corresponding target identification information. After establishing the second mapping relationship, the robot can be positioned based on the second mapping relationship. For example, the cell corresponding to the robot and the location information corresponding to the cell can be determined based on the identification information of the identification code scanned by the robot and the second mapping relationship.

[0089] The identification code recognition method provided by the embodiment of the present disclosure obtains the storage map corresponding to the storage area, determines the initial identification information of each cell based on the position information of each cell; when at least one identification code is randomly set in the storage area, the scanning robot in the storage system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtains the scanning result of the identification code corresponding to the cell; when the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell. That is to say, the present disclosure can determine the number of identification codes required for the storage area before the storage map corresponding to the storage area is generated, and randomly generate each identification code. After the required identification codes are generated, each identification code is randomly set in the storage area, and after the pasting is completed, each identification code is scanned by the scanning robot, so that the initial identification information of each cell is updated according to the identification information of each identification code in the scanning result, thereby realizing the correspondence between the cell and the identification code. Since the identification information of each identification code in the embodiment of the present disclosure is random and the pasting process is random, the efficiency of the implementation process of the identification code can be greatly improved compared with the related art of pasting each identification code according to position information.

[0090] During the scanning robot's scanning of the identification codes set in the storage area, scanning anomalies may occur. For example, the scanning robot may scan some abnormal identification codes. The following describes the situation where the scanning robot scans abnormal identification codes in conjunction with Figure 3.

[0091] Figure 3 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure. As shown in Figure 3, after step 130, the method further includes steps 310 to 340 as shown below.

[0092] Step 310 : When the angle deviation between the angle information of the target identification code corresponding to the target cell and the preset angle is greater than the angle deviation threshold, the target identification code is determined to be an abnormal identification code, and abnormal prompt information is output.

[0093] In some embodiments, the scanning result of the target identification code may further include angle information of the target identification code, wherein the angle information of the target identification code is used to indicate whether the setting of the target identification code meets the setting requirements.

[0094] In some examples, if the scan result of the target identification code includes angle information of the target identification code, then if the angle deviation between the angle information of the target identification code corresponding to the target cell and a preset angle is greater than an angle deviation threshold, the target identification code is determined to be an abnormal identification code and an abnormality prompt message is output. The angle information of the target identification code includes the set angle of the target identification code.

[0095] For example, the scanning robot may pre-store a standard setting angle (also called a preset angle) of an identification code. When the scanning robot captures the target identification code, it may determine the setting angle of the target identification code and compare the setting angle of the target identification code with the standard setting angle. When it is determined that the angle deviation between the setting angle of the target identification code and the standard setting angle is small, such as less than or equal to the angle deviation threshold, it indicates that the setting angle of the target identification code is normal, that is, the setting of the target identification code meets the setting requirements; when it is determined that the angle deviation between the setting angle of the target identification code and the standard setting angle is greater than the angle deviation threshold, it indicates that the setting angle of the target identification code is abnormal, that is, the setting of the target identification code does not meet the setting requirements.

[0096] For example, the standard preset angle and the preset angle threshold can be set as needed, such as the preset angle threshold can be set to 50 degrees, and the standard preset angle can be set to 0 degrees. When the angles between the upper and lower sides of the identification code and the horizontal line are greater than 50 degrees, that is, the angle deviation between the angle information of the identification code and the preset angle is greater than 50 degrees, it is determined that the setting of the identification code does not meet the setting requirements.

[0097] In some examples, an abnormal identification code in which the angle deviation between the angle information and the preset angle is greater than an angle deviation threshold can be referred to as a first-category abnormal identification code. When it is determined that the target identification code is a first-category abnormal identification code, the display device can be controlled to output abnormal prompt information, such as the first abnormal prompt information. The first abnormal prompt information is used to prompt the operator to reset the target identification code, such as by re-pasting the target identification code; alternatively, the first abnormal prompt information can also prompt the operator to replace the target identification code, i.e., replace the target identification code with another identification code.

[0098] Step 320: If the identification information of the target identification code corresponding to the target cell is empty, or the identification information of the target identification code is the same as the identification information of at least one identification code that has been scanned, the target identification code is determined to be an abnormal identification code and abnormal prompt information is output.

[0099] In some examples, when the scanning robot cannot obtain the identification information of the target identification code through scanning, that is, the identification information of the target identification code is empty, it indicates that the target identification code may be contaminated or damaged. In this case, the target identification code can be determined as an abnormal identification code.

[0100] In other examples, after the scanning robot obtains the identification information of the target identification code, it can compare the identification information of the target identification code with the identification information of the scanned identification codes. If the identification information of the target identification code is repeated with the identification information of any of the scanned identification codes, that is, if there are duplicate identification codes, the identification code scanned later (i.e., the target identification code) can be determined as an abnormal identification code. Alternatively, all duplicate identification codes can be determined as abnormal identification codes, which is not limited in the present embodiment.

[0101] For example, when multiple scanning robots scan their corresponding scanning areas, the scanned identification code can be the identification code scanned by the current scanning robot or the identification code scanned by any other scanning robot. Each scanning robot can store the identification information of all identification codes scanned by the scanning robots performing the scanning task, thereby enabling comparison of the identification information of each identification code.

[0102] In some examples, abnormal identification codes with empty identification information and duplicate identification information can be referred to as second-category abnormal identification codes. When the target identification code is determined to be a second-category abnormal identification code, the display device can be controlled to output abnormal prompt information, such as the second abnormal prompt information. The second abnormal prompt information is used to prompt the operator to change the target identification code.

[0103] Step 330: When the scanning robot scans the target identification code corresponding to the target cell for a time period exceeding a preset time threshold and fails to obtain identification information of the target identification code, the target identification code is determined to be an abnormal identification code and an abnormal prompt message is output.

[0104] In some examples, when the scanning robot reaches the target cell, timing can be started. If the scanning robot scans the identification information of the target identification code before the timing reaches the preset time threshold, the identification information is reported to the RMS, and the robot moves to the next cell of the target cell according to the scanning path to continue scanning, and the timing is restarted. If the scanning robot still does not scan the identification information of the target identification code when the timing reaches the preset time threshold, that is, the RMS does not receive the identification information of the target identification code sent by the scanning robot within the preset time threshold, then the target identification code is determined to be an abnormal identification code. It should be noted that the preset time threshold can be set according to user needs, and the present disclosure does not limit the specific value of the preset time threshold.

[0105] In some examples, an abnormal identification code for which identification information is not obtained within a preset time threshold can be referred to as a third-category abnormal identification code. When the target identification code is determined to be a third-category abnormal identification code, the display device can be controlled to output abnormal prompt information, such as the third abnormal prompt information. The third abnormal prompt information is used to prompt an operator to check and process the target identification code.

[0106] Step 340 , controlling the scanning robot to move from the target cell to the cell next to the target cell, and scanning the identification code corresponding to the cell next to the target cell.

[0107] For example, if the RMS does not receive the identification information of the target identification code sent by the scanning robot within a preset time threshold, the scanning robot is controlled to move to the next cell of the target cell for scanning, thereby improving the scanning efficiency of the scanning robot.

[0108] It should be noted that the exception handling methods corresponding to different types of abnormal identification codes may be different. For example, the exception handling method for the first type of abnormal identification code may be to adjust the sticking angle of the target identification code or replace the target identification code; the exception handling method for the second type of abnormal identification code may be to replace the target identification code; the exception handling method for the third type of abnormal identification code can be determined by the operator after review. If it is determined that the identification code is contaminated or damaged, the target identification code can be replaced. If it is determined that the identification code is blocked by an obstacle, it only needs to clear the obstacle.

[0109] In some embodiments, the outputting of the abnormality prompt information in the above steps may include: controlling the display device in the warehousing system to display the cell corresponding to the abnormality identification code in a target display manner in the warehousing map to prompt the replacement object to replace the abnormality identification code.

[0110] In some examples, cells corresponding to different types of abnormality identification codes (eg, first type abnormality identification code, second type abnormality identification code, and third type abnormality identification code) may be displayed in different ways or in the same way.

[0111] For example, the target display mode can be highlighting, flashing, or alarm prompting, etc. After the abnormal identification code is determined, the display device (such as the RMS front-end page) can display the location of the abnormal identification code (i.e., the location of the target cell) and related abnormal information on the warehouse map, thereby helping staff to find the abnormal identification code based on the abnormal prompt information and perform relevant operations on the abnormal identification code, such as replacing the abnormal identification code.

[0112] In some examples, the method of outputting abnormal prompt information may also include RMS sending abnormal prompt text messages or abnormal prompt emails, etc., which can prompt staff to discover abnormalities. The embodiments of this disclosure do not limit the specific form of the abnormal prompt information.

[0113] For example, after determining that the target identification code corresponding to the target cell is an abnormal identification code, if the abnormal identification code needs to be replaced, an identification code can be randomly selected from the remaining unset identification codes as a replacement identification code to replace the abnormal identification code. For example, the replacement identification code can be any identification code among the second number of identification codes that have not been pasted.

[0114] In some examples, the replacement object may be a replacement of personnel or a replacement of equipment, which is not limited in the embodiments of the present disclosure.

[0115] Figure 4 is a schematic diagram of another identification code recognition method provided by an embodiment of the present disclosure. As shown in Figure 4, when the target identification code corresponding to the target cell is an abnormal identification code and the replacement object replaces the target identification code with a replacement identification code, the method further includes steps 410 to 420 as described below.

[0116] Step 410 : Control the scanning robot to scan the replacement identification code corresponding to the target cell according to the location information of the target cell, and obtain identification information of the replacement identification code.

[0117] In some examples, after the target identification code (i.e., the abnormal identification code) is replaced with the replacement identification code, the RMS can control the scanning robot to rescan the replacement identification code. For example, the rescanning can be performed by the scanning robot scanning the replacement identification code alone, or the scanning robot can scan the replacement identification code when performing a subsequent scanning task (e.g., a second scan) of all identification codes in the storage area. This is not limited in the present embodiment.

[0118] For example, the scanning robot that scans the replacement identification code and the scanning robot that scans the target identification code can be the same scanning robot or different scanning robots.

[0119] Step 420: Update the initial identification information or target identification information of the target cell to the identification information of the replacement identification code.

[0120] In some examples, if the target identification code is an abnormal identification code determined during the first scanning task performed by the scanning robot, that is, after the target identification code is replaced with the replacement identification code, the initial identification information of the target cell is updated with the identification information of the replacement identification code. Since the identification information of the target identification code may not be obtained when the target identification code is an abnormal identification code, the target cell still has the initial identification information. After the replacement identification code is replaced, the identification information of the replacement identification code is used to update the initial identification information of the target cell, thereby obtaining the target identification information of the target cell.

[0121] It should be noted that the premise for updating the initial identification information of the target cell to the identification information of the replacement identification code is that the initial identification information of the target cell is different from the identification information of the replacement identification code.

[0122] In other examples, if the target identification code is an abnormal identification code determined during the subsequent task performed by the scanning robot, that is, the initial identification information of the target cell has been updated to the identification information of the target identification code (that is, the target identification information), the target identification code is damaged or contaminated during subsequent use. In this case, the target identification code is replaced with a replacement identification code, and the target identification information of the target cell is updated to the identification information of the replacement identification code by scanning the replacement identification code.

[0123] In some examples, after completing the setting of each identification code in the storage area, the scanning robot can perform a first scan of each identification code in the storage area. After completing the first scan, the storage area can also be scanned a second time. In particular, during the second scan, replacement identification codes that were not scanned in the first scan or that have been replaced due to anomalies can be scanned. At the same time, the scanning results of the first scan can also be verified. If a difference is found with the first scan result, the identification information of the cell corresponding to the identification code needs to be updated accordingly.

[0124] The identification code recognition method provided by the embodiment of the present disclosure can determine whether the identification code is abnormal based on the scanning result of the identification code by the scanning robot. When it is determined that the identification code is abnormal, an abnormal prompt message can be output to prompt the operator to handle the abnormal identification code. At the same time, because the identification information of each identification code is random, when replacing the abnormal identification code, there is no need to generate a separate identification code. Instead, any of the generated identification codes can be directly used to replace it, thereby improving the maintenance efficiency of the identification code and reducing maintenance costs.

[0125] In some embodiments, while the scanning robot is scanning the storage area, the display device in the storage system is controlled to display the scanned area, the unscanned area, and the area being scanned in the storage area in different display modes.

[0126] In some embodiments, while the scanning robot is scanning the storage area, the display device in the storage system is controlled to display the scanned cells, unscanned cells, and cells corresponding to abnormal identification codes in the storage area in different display methods.

[0127] In some examples, the RMS front-end page can visualize the scanning status of the storage area. For example, when the storage area includes multiple scanning areas, the front-end page can display the scanning status of each scanning area. For example, it can show which scanning areas have completed scanning, which scanning areas have not completed scanning, and which scanning areas are currently scanning.

[0128] For example, different scanning areas can be displayed differently. For example, scanned areas, unscanned areas, and areas being scanned can be displayed in different colors on the warehouse map.

[0129] In some examples, the RMS front-end page can also display scanned cells, unscanned cells, and cells corresponding to abnormal identification codes in different display modes for the area being scanned. For example, scanned cells, unscanned cells, and cells corresponding to abnormal identification codes can be displayed in different colors on the warehouse map.

[0130] The identification code recognition method provided by the embodiment of the present disclosure can display the scanning status through visualization so that the staff can clearly and intuitively understand the current scanning status of the storage area, and can also detect abnormalities in time to ensure that the scanning of each identification code in the storage area is not missed.

[0131] FIG5 is another method for identifying an identification code provided by an embodiment of the present disclosure. The following is an exemplary description of a specific scanning process with reference to FIG5. As shown in FIG5, the method includes steps 510 to 560 as described below.

[0132] Step 510: After the warehouse map is generated, RMS pre-generates the QR code value A corresponding to each cell.

[0133] In step 520 , the RMS issues a scanning task, and sends the coordinates of each cell in the warehouse map to the robot, so that the robot performs the scanning task.

[0134] Step 530: When the robot moves to the coordinates of the QR code, it scans the actually pasted QR code and reports the QR code value B corresponding to the QR code to the RMS.

[0135] For example, RMS can issue full-field inspection tasks to robots. One robot can be responsible for a scanning area. RMS issues the scanning coordinates. The robot drives to the location of the QR code, scans the QR code, and obtains the QR code value B corresponding to the QR code.

[0136] In step 540 , the RMS updates the QR code value A to the QR code value B according to the QR code value B actually reported by the robot.

[0137] For example, the robot reports the QR code value B corresponding to the actually pasted QR code to the RMS, and updates the QR code value A of the cell to the QR code value B.

[0138] In step 550, RMS displays the scanning status of each QR code through a report.

[0139] Step 560: If the QR code is contaminated or damaged, RMS provides a page for quick replacement.

[0140] For example, the front-end page of RMS can display the location of the contaminated or damaged QR code so that the staff can replace it. After the replacement, the QR code value of the cell will be updated.

[0141] FIG6 is a schematic diagram of a warehousing system provided by an embodiment of the present disclosure. As shown in FIG6 , the warehousing system 600 includes a scanning robot 610 and a control device 620.

[0142] The scanning robot 610 is configured to scan multiple identification codes set in the storage area.

[0143] The control device 620 is configured to: obtain a storage map corresponding to the storage area; wherein the storage map includes a plurality of cells, a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to a plurality of cells. Based on the position information of each cell, the initial identification information of each cell is determined. When at least one identification code is randomly set in the storage area, the scanning robot in the storage system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtain the scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes the identification information of the identification code. When the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein the target cell is any cell among the plurality of cells.

[0144] FIG7 is a schematic diagram of an identification device provided by an embodiment of the present disclosure. As shown in FIG7 , the identification device 700 includes an acquisition module 710, a determination module 720, a control module 730, and an update module 740. In particular:

[0145] The acquisition module 710 is configured to: acquire a storage map corresponding to the storage area; wherein the storage map includes a plurality of cells, a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to the plurality of cells.

[0146] The determination module 720 is configured to determine initial identification information of each cell based on the position information of each cell.

[0147] The control module 730 is configured to: when at least one identification code is randomly set in the storage area, control the scanning robot in the storage system to scan the identification code corresponding to each cell according to the location information of each cell, and obtain the scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes the identification information of the identification code.

[0148] The update module 740 is configured to: when the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, update the initial identification information of the target cell based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein the target cell is any cell among multiple cells.

[0149] In some embodiments, the scan result of the identification code also includes angle information of the identification code. The recognition device 700 also includes an output module, wherein the determination module 720 is further configured to: determine the target identification code as an abnormal identification code when the angle deviation between the angle information of the target identification code corresponding to the target cell and a preset angle is greater than an angle deviation threshold. The output module is configured to: output abnormal prompt information.

[0150] In some embodiments, the determination module 720 is further configured to: determine the target identification code as an abnormal identification code if the identification information of the target identification code corresponding to the target cell is empty, or if the identification information of the target identification code is the same as the identification information of at least one identification code that has been scanned. The output module is configured to: output abnormal prompt information.

[0151] In some embodiments, the determination module 720 is further configured to: determine the target identification code as an abnormal identification code if the scanning robot scans the target identification code corresponding to the target cell for a duration exceeding a preset time threshold and fails to obtain identification information of the target identification code. The output module is configured to: output abnormality prompt information. The control module 730 is further configured to: control the scanning robot to move from the target cell to the cell next to the target cell and scan the identification code corresponding to the cell next to the target cell.

[0152] In some embodiments, the control module 730 is further configured to control the display device in the warehouse system to display the cell corresponding to the abnormal identification code in a target display manner in the warehouse map to prompt the replacement object to replace the abnormal identification code.

[0153] In some embodiments, the control module 730 is further configured to: when the target identification code corresponding to the target cell is an abnormal identification code and the replacement object replaces the target identification code with a replacement identification code, control the scanning robot to scan the replacement identification code corresponding to the target cell based on the location information of the target cell and obtain identification information of the replacement identification code. The update module 740 is further configured to: update the initial identification information or the target identification information of the target cell to the identification information of the replacement identification code.

[0154] In some embodiments, the determination module 720 is configured to: determine at least one target scanning robot and a target scanning area corresponding to each target scanning robot from among multiple scanning robots in the warehouse system; wherein the warehouse area includes multiple scanning areas, and the multiple scanning areas include the target scanning area; and determine a scanning starting point for each target scanning robot in the corresponding target scanning area based on the position of each target scanning robot. The control module 730 is configured to: control each target scanning robot to scan each identification code corresponding to each cell in the target scanning area, starting from the scanning starting point in the corresponding target scanning area and following the corresponding scanning path.

[0155] In some embodiments, the determination module 720 is configured to: in each target scanning area, determine the cell closest to the position of the target scanning robot as the scanning starting point.

[0156] In some embodiments, the determination module 720 is further configured to: determine the current scanning cell of the target scanning robot if an abnormality occurs during the target scanning robot's scanning of the identification codes corresponding to each cell in the target scanning area. The control module 730 is further configured to: control a candidate scanning robot among the plurality of scanning robots to move to the current scanning cell and continue to scan the identification codes corresponding to unscanned cells in the target scanning area along the scanning path.

[0157] In some embodiments, the control module 730 is further configured to: during the scanning robot scanning the storage area, control the display device in the storage system to display the scanned area, unscanned area and scanning area in the storage area in different display modes.

[0158] In some embodiments, the control module 730 is also configured to: during the scanning robot scanning the storage area, control the display device in the storage system to display the scanned cells, unscanned cells and cells corresponding to abnormal identification codes in the storage area in different display methods.

[0159] Figure 8 is a schematic diagram of an electronic device provided in an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the map creation method in the above-described embodiment.

[0160] As shown in FIG8 , the electronic device 1000 includes a processor 1001 and a memory 1002 . Exemplarily, the electronic device 1000 may further include a communication interface 1003 and a communication bus 1004 .

[0161] The processor 1001, the memory 1002 and the communication interface 1003 communicate with each other via a communication bus 1004. The communication interface 1003 is used to communicate with other devices such as a client or other server network elements.

[0162] In some embodiments, the processor 1001 is configured to execute a program 1005, specifically, to execute the relevant steps in the above-mentioned map creation method embodiment. Specifically, the program 1005 may include program code, which includes computer-executable instructions.

[0163] For example, the processor 1001 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The electronic device 1000 may include one or more processors of the same type, such as one or more CPUs, or different types of processors, such as one or more CPUs and one or more ASICs.

[0164] In some embodiments, the memory 1002 is used to store the program 1005. The memory 1002 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0165] Program 1005 can be specifically called by processor 1001 to enable electronic device 1000 to perform operations of the identification code recognition method.

[0166] An embodiment of the present disclosure provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on the electronic device 1000, the electronic device 1000 executes the identification code recognition method in the above embodiment.

[0167] The executable instructions can be specifically used to enable the electronic device 1000 to execute the operation of the identification code recognition method.

[0168] For example, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0169] In some embodiments, the present disclosure provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the identification code recognition method described in any of the above embodiments.

[0170] In some embodiments, the present disclosure further provides a computer program, which, when executed by a processor, can implement the identification code recognition method described in any of the above embodiments.

[0171] The beneficial effects that can be achieved by the warehousing system, identification device, electronic device, computer-readable storage medium, computer program product and computer program provided by the embodiments of the present disclosure can refer to the beneficial effects of the identification code recognition method provided above, and will not be repeated here.

[0172] It should be noted that, in the application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0173] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so their description is relatively simple. For related portions, refer to the description of the method embodiments.

[0174] The logic and / or steps represented in the flowchart or otherwise described herein may be considered, for example, as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device).

[0175] For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device.

[0176] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic device, and a portable compact disc read-only memory (CDROM).

[0177] In addition, the computer readable medium may even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, and then editing, interpreting, or processing it in other suitable ways as necessary, and then storing it in a computer memory. It should be understood that various parts of the present disclosure can be implemented in hardware, software, firmware, or a combination thereof.

[0178] In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having logic gate circuits for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0179] The above-described embodiments of the present disclosure do not limit the scope of protection of the present disclosure.

Claims

1. A method for identifying an identification code, applied to a control device in a warehousing system, the method comprising: Obtaining a storage map corresponding to the storage area; wherein the storage map includes a plurality of cells, a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to the plurality of cells; Determining initial identification information of each cell based on the position information of each cell; When at least one identification code is randomly set in the storage area, a scanning robot in the storage system is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and a scanning result of the identification code corresponding to the cell is obtained; wherein the scanning result of the identification code includes identification information of the identification code; When the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein, the target cell is any cell among the multiple cells.

2. The method according to claim 1, wherein The scanning result of the identification code also includes angle information of the identification code; the method further includes: When the angle deviation between the angle information of the target identification code corresponding to the target cell and the preset angle is greater than an angle deviation threshold, the target identification code is determined to be an abnormal identification code, and abnormal prompt information is output.

3. The method according to claim 1, further comprising: When the identification information of the target identification code corresponding to the target cell is empty, or the identification information of the target identification code is the same as the identification information of at least one identification code that has been scanned, the target identification code is determined to be an abnormal identification code, and abnormal prompt information is output.

4. The method according to claim 1, further comprising: When the scanning robot scans the target identification code corresponding to the target cell for a time period exceeding a preset time threshold and fails to obtain identification information of the target identification code, determining the target identification code as an abnormal identification code and outputting abnormal prompt information; The scanning robot is controlled to move from the target cell to the next cell of the target cell, and scan the identification code corresponding to the next cell of the target cell.

5. The method according to claim 3 or 4, wherein: The output abnormal prompt information includes: The display device in the warehousing system is controlled to display the cell corresponding to the abnormal identification code in the warehousing map in a target display manner to prompt the replacement object to replace the abnormal identification code.

6. The method according to claim 3 or 4, further comprising: When the target identification code corresponding to the target cell is the abnormal identification code and the replacement object replaces the target identification code with a replacement identification code, controlling the scanning robot to scan the replacement identification code corresponding to the target cell according to the position information of the target cell and obtaining identification information of the replacement identification code; The initial identification information or the target identification information of the target cell is updated to the identification information of the replacement identification code.

7. The method according to any one of claims 1 to 4, wherein The step of controlling the scanning robot in the storage system to scan the identification code corresponding to each cell according to the position information of each cell includes: Determining at least one target scanning robot and a target scanning area corresponding to each target scanning robot among a plurality of scanning robots in the storage system; wherein the storage area includes a plurality of scanning areas, and the plurality of scanning areas includes the target scanning area; Determining a scanning starting point of each target scanning robot in the corresponding target scanning area according to the position of each target scanning robot; Each target scanning robot is controlled to start from the scanning starting point in the corresponding target scanning area and scan the identification codes corresponding to the cells in the target scanning area according to the corresponding scanning path.

8. The method according to claim 7, wherein: Determining the scanning starting point of each target scanning robot in the corresponding target scanning area according to the position of each target scanning robot includes: In each target scanning area, the cell closest to the position of the target scanning robot is determined as the scanning starting point.

9. The method according to claim 7, further comprising: During the process of the target scanning robot scanning the identification codes corresponding to the cells in the target scanning area, if the target scanning robot encounters an abnormality, determining the current scanning cell of the target scanning robot; A candidate scanning robot among the multiple scanning robots is controlled to move to the current scanning cell, and continue to scan the identification codes corresponding to the unscanned cells in the target scanning area according to the scanning path.

10. The method according to any one of claims 1 to 4, further comprising: During the process of the scanning robot scanning the storage area, the display device in the storage system is controlled to display the scanned area, the unscanned area and the scanning area in the storage area in different display modes.

11. The method according to any one of claims 1 to 4, further comprising: During the process of the scanning robot scanning the storage area, the display device in the storage system is controlled to display the scanned cells, unscanned cells and cells corresponding to abnormal identification codes in the storage area in different display methods.

12. A warehousing system comprising: a scanning robot configured to scan a plurality of identification codes provided in a storage area; The control device is configured to obtain a storage map corresponding to the storage area; wherein the storage map includes a plurality of cells, and a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to the plurality of cells; Determining initial identification information of each cell based on the position information of each cell; When at least one identification code is randomly set in the storage area, the scanning robot is controlled to scan the identification code corresponding to each cell according to the position information of each cell, and obtain a scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes identification information of the identification code; When the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, the initial identification information of the target cell is updated based on the identification information of the target identification code to obtain the target identification information of the target cell; wherein, the target cell is any cell among the multiple cells.

13. An identification device comprising: An acquisition module is configured to acquire a storage map corresponding to the storage area; wherein the storage map includes a plurality of cells, a plurality of identification codes are set in the storage area, and the plurality of identification codes correspond to the plurality of cells; a determination module configured to determine initial identification information of each cell based on the position information of each cell; The control module is configured to, when at least one identification code is randomly set in the storage area, control a scanning robot in the storage system to scan the identification code corresponding to each cell according to the position information of each cell, and obtain a scanning result of the identification code corresponding to the cell; wherein the scanning result of the identification code includes identification information of the identification code; An update module is configured to update the initial identification information of the target cell based on the identification information of the target identification code when the identification information of the target identification code corresponding to the target cell is different from the initial identification information of the target cell, so as to obtain the target identification information of the target cell; wherein the target cell is any cell among the multiple cells.

14. An electronic device comprising: one or more processors; and a memory configured to: store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the identification code recognition method according to any one of claims 1-11.

15. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the identification code recognition method according to any one of claims 1 to 11 is implemented.

16. A computer program product, comprising a computer program, which implements the identification code recognition method according to any one of claims 1 to 11 when the computer program is executed by a processor.

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