Cargo counting method, device, equipment and storage medium

Abstract

The present invention provides a cargo counting method, apparatus, equipment, and storage medium, relating to the field of automated warehouse management technology. The method, applied to a counting device, comprises: obtaining a counting route for a target counting area; the target counting area includes multiple items to be counted; sending a counting request message to an electronic tag attached to the items to be counted along the counting route, and receiving a counting response message from the electronic tag; and determining cargo information of the items to be counted based on the counting response message. This method is applicable to the cargo counting process and is used to address the issue of high cargo counting costs.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse automation management, and in particular to a cargo inventory method, device, equipment and storage medium. Background Art

[0002] The warehousing industry is moving towards intelligent and automated warehousing. Efficiently managing goods in storage is becoming increasingly important. Efficiently counting goods in the warehouse and determining the location of each item is key to efficient warehouse management.

[0003] Currently, inventory is primarily performed using manual counting, radio frequency identification (RFID) tag reading, and QR code scanning. However, these methods are inefficient, costly, and unable to accurately capture the location of goods, making them incapable of providing better support for intelligent warehousing.

[0004] Combining this with the recently emerging positioning technology can effectively solve the problem of cargo inventory and location. However, current indoor positioning technologies are all based on fixed anchor points. Fixed anchor points are multiple fixed nodes (usually positioning base stations) with known locations. The positioning base stations locate the cargo by sending and receiving wireless signals to the cargo.

[0005] However, the positioning method using fixed anchor points requires the installation of numerous positioning base stations throughout the warehouse, which incurs significant equipment and installation costs. This large number of devices also creates a significant workload for subsequent operations and maintenance. If warehouse renovations are required, positioning base stations will also need to be adjusted. The question of how to leverage current positioning technology for warehouse management while reducing costs and operational workload remains a pressing issue. Summary of the Invention

[0006] In view of the problem in the above-mentioned prior art that the cost of counting goods using positioning base stations is relatively high, the present invention provides a cargo counting method, device, equipment and storage medium, which can reduce the cost of cargo counting.

[0007] In a first aspect, the present invention provides a cargo counting method, which is applied to a counting device, and the method includes: the counting device obtains a counting route of a target counting area; the target counting area includes a plurality of cargoes to be counted; the counting device sends a counting request message to an electronic tag set on the cargoes to be counted on the counting route, and receives a counting response message sent by the electronic tag; the counting device determines cargo information of the cargoes to be counted based on the counting response message.

[0008] The cargo information of the cargo to be counted may include location information and identity ID information of the cargo to be counted.

[0009] Optionally, the cargo information of the cargo to be counted may further include the name, model, production date, production batch, warehousing time and estimated storage time of the cargo to be counted.

[0010] In one possible implementation, a counting route includes multiple pre-set inspection points. The counting device sends a counting request message to an electronic tag attached to the goods to be counted along the counting route, and receives a counting response message from the electronic tag. This includes: the counting device sequentially passes through each inspection point along the counting route; at each inspection point, the counting device sends multiple counting request messages to the electronic tag attached to the goods to be counted, and receives a counting response message from the electronic tag each time.

[0011] In another possible implementation, the counting device determines the cargo information of the cargo to be counted based on the counting response information, including: the counting device determines the cargo information of the cargo to be counted based on the counting response information received at at least three inspection points that are not in the same straight line.

[0012] In another possible implementation, the count response information includes a first timestamp when the electronic tag receives the count request information and a second timestamp when the electronic tag sends the count response information; and the cargo information includes location information of the cargo to be counted. The counting device determines the cargo information of the cargo to be counted based on the count response information received at at least three non-co-linear inspection points, including: for each inspection point, the counting device determines the measured distance between the inspection point and the cargo to be counted based on the first timestamp and second timestamp received at the inspection point; and the counting device determines the location information of the cargo to be counted based on the measured distances corresponding to the at least three non-co-linear inspection points.

[0013] In another possible implementation, the counting device determines the location information of the goods to be counted based on the measured distances corresponding to at least three inspection points that are not on the same straight line, including: when the number of measured distances obtained is greater than a preset M, the counting device sorts the M measured distances in ascending order to obtain a first sorting result; M is an integer greater than 3; the counting device determines the location information of the goods to be counted based on the first U measured distances in the first sorting result; U is greater than or equal to 3; when the number of measured distances obtained is less than or equal to the preset M, the counting device continues to pass through multiple inspection points along the counting route until the number of measured distances obtained is greater than M.

[0014] In another possible implementation, the cargo information includes location information of the cargo to be counted. The counting device determines the cargo information of the cargo to be counted based on the counting response information, including: determining the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point based on the counting response information; and determining the location information of the cargo to be counted based on the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point.

[0015] In another possible implementation, the number of pitch angles and azimuth angles is N, where N is an integer greater than 1. The counting device determines the location information of the goods to be counted based on the pitch angles and azimuth angles of the goods to be counted relative to the inspection point, including: the counting device sorts the N pitch angles and azimuth angles in ascending order of azimuth angles to obtain a second sorting result; and the counting device determines the location information of the goods to be counted based on the first V pitch angles and azimuth angles in the second sorting result, where V is an integer greater than or equal to 1.

[0016] In another possible implementation, the inventory device sends inventory request information to the electronic tags set on the goods to be counted on the inventory route, and receives inventory response information sent by the electronic tags, including: the inventory device sends inventory request information to the electronic tags set on the goods to be counted on the inventory route every preset first period, and receives inventory response information sent by the electronic tags.

[0017] In another possible implementation, the electronic tag sends the inventory response information to the inventory device every preset second period.

[0018] In the cargo counting method provided by the present invention, the counting device can obtain the counting route of the target counting area, and send counting request information to the electronic tags on the cargo to be counted in the target counting area according to the counting route, receive the counting response information sent by the electronic tags, and determine the cargo information of the cargo to be counted according to the counting response information, so that the cargo information can be used to dynamically count the cargo to be counted in the target counting area. Compared with the traditional positioning method based on fixed anchor points that requires the installation of a large number of positioning base stations, using the counting device for counting can save equipment costs and installation costs, and the workload of subsequent operation and maintenance is also relatively small.

[0019] In addition, the location information of the inspection point can be preset in the counting device, and the location information of the inspection point can be used to replace the location information of the counting device when it arrives at the inspection point. The counting device can use the location information of the inspection point to locate the goods to be counted, and the positioning accuracy of the counting device can be guaranteed on the basis of reducing the number of positioning base stations.

[0020] Finally, the counting equipment can perform multiple distance or direction measurements on a piece of cargo to be counted when arriving at each of multiple inspection points, and select the preferred value with a smaller value from the results of multiple distance or direction measurements. The cargo to be counted is positioned according to the preferred value, which can further improve the positioning accuracy.

[0021] In a second aspect, the present invention provides a cargo counting device, characterized in that the device is applied to a counting device and comprises: an acquisition module, a transceiver module, and a processing module. The acquisition module is configured to acquire a counting route of a target counting area; the target counting area includes multiple cargo items to be counted. The transceiver module is configured to transmit a counting request message to an electronic tag attached to the cargo items to be counted along the counting route and receive a counting response message from the electronic tag. The processing module is configured to determine cargo information of the cargo items to be counted based on the counting response message.

[0022] In one possible implementation, the counting route includes multiple pre-set inspection points. The transceiver module is specifically configured to send multiple counting request messages to the electronic tags attached to the goods to be counted at each inspection point, and receive the counting response messages sent by the electronic tags each time.

[0023] In another possible implementation, the processing module is specifically configured to determine the cargo information of the cargo to be counted based on the counting response information received from at least three inspection points that are not in the same straight line.

[0024] In another possible implementation, the count response information includes a first timestamp when the electronic tag receives the count request information and a second timestamp when the electronic tag sends the count response information; the cargo information includes location information of the cargo to be counted. The processing module is specifically configured to determine, for each inspection point, a measured distance between the inspection point and the cargo to be counted based on the first and second timestamps received at the inspection point; and determine the location information of the cargo to be counted based on the measured distances corresponding to at least three inspection points that are not in the same straight line.

[0025] In another possible implementation, the processing module is specifically configured to, when the number of measured distances obtained is greater than a preset M, sort the M measured distances in ascending order to obtain a first sorting result; M is an integer greater than 3; determine the location information of the goods to be counted based on the first U measured distances in the first sorting result; U is greater than or equal to 3; and when the number of measured distances obtained is less than or equal to the preset M, continue to pass through multiple inspection points along the counting route until the number of measured distances obtained is greater than M.

[0026] In another possible implementation, the cargo information includes location information of the cargo to be counted. The processing module is specifically configured to determine, based on the count response information, the pitch angle and azimuth of the cargo to be counted relative to the inspection point; and determine the location information of the cargo to be counted based on the pitch angle and azimuth of the cargo to be counted relative to the inspection point.

[0027] In another possible implementation, the number of pitch angles and azimuth angles each includes N, where N is an integer greater than 1. The processing module is specifically configured to sort the N pitch angles and azimuth angles in ascending order to obtain a second sorting result; and determine location information of the cargo to be counted based on the first V pitch angles and azimuth angles in the second sorting result, where V is an integer greater than or equal to 1.

[0028] In another possible implementation, the transceiver module is specifically configured to send an inventory request message to an electronic tag provided on the goods to be counted on the inventory route every preset first period, and receive an inventory response message sent by the electronic tag.

[0029] In another possible implementation, the electronic tag sends the inventory response information to the inventory device every preset second period.

[0030] In a third aspect, the present invention provides an electronic device comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate through the bus, and the processor executes the machine-readable instructions to perform the method described in the first aspect.

[0031] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, executes the method according to the first aspect.

[0032] The beneficial effects of the second to fourth aspects mentioned above can be referred to the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A schematic diagram of a flow chart of a cargo inventory method provided by an embodiment of the present invention;

[0035] Figure 2A schematic diagram of an inventory route provided by an embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the composition of a cargo inventory system provided by an embodiment of the present invention;

[0037] Figure 4 Another schematic diagram of an inventory route provided by an embodiment of the present invention;

[0038] Figure 5 A schematic diagram of the signal transmission time from the inspection point to the goods to be counted provided in an embodiment of the present invention;

[0039] Figure 6 A schematic diagram of angle measurement of an inventory device provided in an embodiment of the present invention;

[0040] Figure 7 Another flowchart of the cargo inventory method provided by an embodiment of the present invention;

[0041] Figure 8 A schematic diagram of the composition of a cargo counting device provided in an embodiment of the present invention;

[0042] Figure 9 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be understood that the drawings in the present invention only serve the purpose of illustration and description and are not used to limit the scope of protection of the present invention. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowchart can be implemented out of sequence, and steps that have no logical context relationship can be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of the present invention, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0044] In addition, the embodiments described in the present invention are only some of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that the term "including" will be used in the embodiments of the present invention to indicate the presence of the features declared thereafter, but does not exclude the addition of other features. It should also be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the present invention, it should also be noted that the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0046] Currently, the recently emerging positioning technology can effectively solve the problem of cargo inventory and location. However, current indoor positioning technologies are based on fixed anchor points, requiring the installation of numerous positioning base stations in warehouses. This incurs significant equipment and installation costs. This large number of devices also leads to a significant workload for ongoing operations and maintenance. If warehouse renovations are required, positioning base stations will also need to be adjusted. How to leverage current positioning technology for warehouse management while reducing costs and operational workload is a pressing issue.

[0047] Against this background, an embodiment of the present invention provides a cargo counting method. This method can be applied to a counting device, which can be a movable device (e.g., a tracked robot, wheeled robot, humanoid robot, drone, or portable mobile terminal equipped with a wireless signal transceiver module, which can move automatically or be carried by a person) with direction finding (Bluetooth AOA direction finding, UWB direction finding, etc.) and ranging (e.g., UWB ranging, RSSI ranging, etc.) functions. The counting device can be preset with information about a counting route and the locations of inspection points along the counting route. In this method, the counting device can move along a preset counting route, which can include multiple inspection points at pre-set locations. When the counting device moves to each inspection point, it can transmit multiple counting request messages, receive counting response messages sent by electronic tags set on the goods, and determine the location of the goods based on the response messages, thereby achieving automatic counting of stored goods.

[0048] The following is an illustrative description of the cargo counting method provided by an embodiment of the present invention with reference to the accompanying drawings.

[0049] Figure 1 Schematic diagram of the flow of the cargo inventory method provided by the embodiment of the present invention. Figure 1 As shown, the method may include S101 to S103.

[0050] S101. The counting device obtains a counting route of a target counting area.

[0051] Among them, the target inventory area can be any cargo storage area (such as a warehouse), and the target inventory area can include multiple cargoes to be counted. The cargoes to be counted can be any kind of cargoes, such as express parcels or household appliances. The embodiment of the present invention does not limit the specific types of cargoes to be counted. Electronic tags can be provided on the cargoes to be counted. The electronic tags can have the function of receiving and sending wireless signals. For example, the electronic tags can be wireless-fidelity (WI-FI) positioning tags, Zigbee tags, UWB tags or Bluetooth tags. The electronic tags can be active tags (battery-powered) or passive tags (no battery power). The embodiment of the present invention does not limit the specific types of electronic tags.

[0052] For example, Figure 2 This is a schematic diagram of the inventory route provided by the embodiment of the present invention. Figure 2 As shown, the target inventory area may include multiple cargo areas ( Figure 2 Taking cargo area 1, cargo area 2, cargo area 3 and cargo area 4 as an example, the counting route can be in a "bow" shape around the multiple cargo areas included in the target counting area ( Figure 2 Shown as an example with a black arrow).

[0053] In some possible embodiments, the counting device obtaining the counting route of the target counting area may include: the counting device obtaining the counting route of the target counting area input by a manager.

[0054] Optionally, the inventory device obtains the inventory route of the target inventory area input by the administrator, which may include: the inventory device obtains a map of the target inventory area, and rasterizes the map of the target inventory area to obtain a rasterized map of the target inventory area; the inventory device receives a first operation of the administrator on the rasterized map of the target inventory area to obtain the inventory route of the target inventory area.

[0055] For example, the inventory device may utilize laser simultaneous localization and mapping (SLAM) technology and / or visual SLAM technology to construct a map of the target area.

[0056] In one possible implementation, the inventory device may include a display device that can display a rasterized map of the target inventory area obtained by the inventory device. The first operation of the administrator may be a sliding operation or a clicking operation on the rasterized map of the target inventory area displayed on the display device of the inventory device.

[0057] In another possible implementation, the inventory device can be connected to a separate control device (such as a mobile phone or tablet) via a wired or wireless network. The control device can include a display device that can display a rasterized map of the target inventory area obtained by the inventory device. The administrator's first operation can be a sliding operation or a clicking operation on the rasterized map of the target inventory area displayed by the control device.

[0058] In some other possible embodiments, the inventory device may be connected to an inventory management platform. Figure 3 Schematic diagram of the composition of the cargo inventory system provided by the embodiment of the present invention. Figure 3 As shown, the system may include an inventory device 31 and an inventory management platform 32. The inventory device 31 and the inventory management platform 32 may be connected via a wired or wireless network. The inventory device 31 may obtain an inventory route of a target inventory area, which may include: the inventory device 31 receives the inventory route of the target inventory area sent by the inventory management platform 32.

[0059] Among them, the inventory management platform 32 can be a computer, server or other device with computing functions. Among them, the server can be a single server, or it can be a server cluster composed of multiple servers. In some implementations, the server cluster can also be a distributed cluster. The inventory management platform 32 can also be implemented on a cloud platform. For example, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, and a multi-cloud, etc., or any combination thereof. The present invention does not limit the specific form of the inventory management platform 32.

[0060] S102: The counting device sends counting request information to the electronic tags set on the goods to be counted on the counting route, and receives counting response information sent by the electronic tags.

[0061] For example, the electronic tag may send inventory response information to the inventory device in response to the inventory request information sent by the inventory device.

[0062] The electronic tag may be set (bound) on the goods to be counted when the goods to be counted enter the target counting area. The counting response information may include the identity information of the goods to be counted and / or the electronic tag.

[0063] In some possible embodiments, the counting device may send a counting request to an electronic tag provided on the goods to be counted and receive counting response information sent by the electronic tag while moving on the counting route.

[0064] In other possible embodiments, the counting route may include multiple pre-set inspection points, and the counting device may move to each inspection point, stop, and send a counting request message and receive a counting response message. The counting device in S102 sends a counting request message to an electronic tag attached to the goods to be counted along the counting route, and receives a counting response message from the electronic tag. This may include: the counting device sequentially passes through each inspection point along the counting route; and at each inspection point, the counting device sends multiple counting request messages to the electronic tag attached to the goods to be counted, and receives a counting response message from the electronic tag each time.

[0065] For example, Figure 4 Another schematic diagram of an inventory route provided by an embodiment of the present invention. Figure 4 As shown, in Figure 2 Based on the inventory route shown, the inventory route can also include multiple inspection points ( Figure 4 Take the circles around the area of ​​goods to be counted, namely inspection point 1, inspection point 2, inspection point 3, inspection point 4, inspection point 5, inspection point 6, inspection point 7, inspection point 8 and inspection point 8 as an example).

[0066] Optionally, before sending multiple count request messages to the electronic tags on the goods to be counted at each checkpoint, the counting device can also determine the location information of the checkpoint to ensure that the current location of the counting device is consistent with the preset checkpoint location.

[0067] For example, a correspondence between a checkpoint identifier and the location information of the checkpoint can be pre-set in the counting device, and the ground at the checkpoint can include a QR code. When the counting device moves to the checkpoint, it can scan the QR code to obtain the checkpoint identifier of the checkpoint, and determine the location information of the checkpoint based on the correspondence between the checkpoint identifier and the location information of the checkpoint.

[0068] For another example, a mapping relationship between a checkpoint identifier and the location information of the checkpoint can be pre-set in the inventory device. The ground at the checkpoint can include an RFID (radio frequency dentification) tag. When the inventory device moves to the checkpoint, it can identify the RFID tag, obtain the checkpoint identifier, and determine the location information of the checkpoint based on the mapping relationship between the checkpoint identifier and the location information of the checkpoint.

[0069] For another example, inspection points can be set according to rules related to shelves, and the inventory equipment can use augmented reality (AR) technology to identify the shelf environment on site and determine the location information of the inspection point currently moved to based on the shelf environment.

[0070] For another example, inspection points can be set according to rules related to shelves. The inventory equipment can use SLAM technology to identify the shelf environment on site and determine the location information of the inspection point currently moved to based on the shelf environment.

[0071] S103. The counting device determines the cargo information of the cargo to be counted according to the counting response information.

[0072] The cargo information of the cargo to be counted may include identity (ID) information and location information of the cargo to be counted.

[0073] Optionally, the cargo information of the goods to be counted may also include the name, model, production date, production batch, storage time, and estimated storage time of the goods to be counted. Based on the ID information of the goods to be counted, the name, model, production date, production batch, storage time, and estimated storage time of the goods to be counted may be obtained.

[0074] In some possible embodiments, as described above, the inventory device can send inventory request information and receive inventory response information while in motion. In this case, the wireless signal transceiver module in the inventory device can be an array antenna, which can include multiple antenna units, each of which has the function of transmitting and receiving wireless signals (such as UWB ranging signals). The inventory device can determine the location information of the goods to be counted based on the preset positional relationship between the antenna units and the inventory response information received by each antenna unit.

[0075] In other possible embodiments, as described above, the counting route may include multiple inspection points, and the counting device may stop at each inspection point and send multiple count request messages and receive count response messages at each inspection point. In this case, the counting device determining the cargo information of the cargo to be counted based on the count response messages may include: the counting device determining the cargo information of the cargo to be counted based on the count response messages received from at least three inspection points that are not in the same straight line.

[0076] In a possible implementation, the inventory response information may further include first time information. The first time information may include a first timestamp when the electronic tag receives the inventory request information and a second timestamp when the electronic tag sends the inventory response information. The cargo information may include location information of the cargo to be counted. The above-mentioned inventory device determines the cargo information of the cargo to be counted based on the inventory response information received at at least three inspection points that are not in the same straight line, which may include: for each inspection point, the inventory device determines the measured distance between the inspection point and the cargo to be counted based on the first timestamp and second timestamp in the first time information received at the inspection point; the inventory device determines the location information of the cargo to be counted based on the measured distances corresponding to at least three inspection points that are not in the same straight line.

[0077] For example, for each inspection point, the counting device determines the measured distance between the inspection point and the goods to be counted based on the first timestamp and the second timestamp in the first time information received at the inspection point, which can be calculated according to the following formulas (1) and (2).

[0078]

[0079] In formula (1), Δt represents the signal (electromagnetic wave) transmission time from the inspection point to the goods to be counted. t1 represents the timestamp when the counting device sends the counting request information. t2 represents the first timestamp sent by the electronic tag. t3 represents the second timestamp sent by the electronic tag. t4 represents the timestamp when the counting device receives the counting response information.

[0080] For example, Figure 5 This is a schematic diagram of the signal transmission time from the inspection point to the goods to be counted provided by the embodiment of the present invention. Figure 5 As shown, the inventory device can send inventory request information to the electronic tag at time t1, the electronic tag can receive the inventory request information sent by the inventory device at time t2, the electronic tag can send inventory response information to the inventory device at time t3, and the inventory device can receive the inventory response information sent by the electronic tag at t4.

[0081] For each inspection point, after calculating the signal (electromagnetic wave) transmission time from the inspection point to the goods to be counted, the measurement distance corresponding to the inspection point can be calculated according to the following formula (2).

[0082] d=c×Δt Formula (2)

[0083] In formula (2), d represents the measurement distance. c represents the transmission speed of electromagnetic waves in a vacuum, which can be 3*10 8 Meters / second.

[0084] After obtaining the measurement distances corresponding to at least three (or more) inspection points, the multiple measurement distances can be expressed as the following formula (3).

[0085]

[0086] In formula (3), d1 represents the distance between the inspection point with abscissa x1 and ordinate y1 and the goods to be counted. d2 represents the distance between the inspection point with abscissa x2 and ordinate y2 and the goods to be counted. N Indicates that the horizontal axis is x N , the vertical coordinate is y N The distance between the inspection point and the goods to be counted. x represents the horizontal coordinate of the goods to be counted. y represents the vertical coordinate of the goods to be counted.

[0087] For each inspection point, the error between the measured value and the true value of the measurement distance corresponding to the inspection point can be expressed as the following formula (4).

[0088]

[0089] In formula (4), r i Indicates that the i-th horizontal coordinate is x i , the vertical coordinate is y i The measured value of the distance from the inspection point to the goods to be counted. i Represents r i error.

[0090] Move the square root in formula (4) to the right of the equal sign and square both sides. After sorting, we can get formula (5).

[0091]

[0092] To eliminate the square term, subtract the last equation from all equations in formula (5) to obtain formula (6).

[0093]

[0094] Formula (6) can be expressed as the following formula (9) when written in matrix form. The first matrix A in formula (9) can be expressed as the following formula (7), the second matrix B in formula (9) can be expressed as the following formula (8), and the position matrix P of the goods to be counted in formula (9) can be expressed as the following formula (10).

[0095]

[0096]

[0097] AP=B Formula (9)

[0098]

[0099] The location matrix of the goods to be counted can be obtained by performing the least squares solution according to the above formulas (7) to (10). The specific calculation method can be shown in the following formula (11).

[0100] P=(A T A) -1 A T B Formula (11)

[0101] Optionally, the counting device determining the location information of the goods to be counted based on the measured distances corresponding to at least three non-co-linear inspection points may include: when the number of obtained measured distances is greater than a preset M, the counting device sorting the M measured distances in ascending order to obtain a first sorting result, where M is an integer greater than 3. The counting device determining the location information of the goods to be counted based on the first U measured distances in the first sorting result; and when the number of obtained measured distances is less than or equal to the preset M, the counting device continuing to pass through multiple inspection points along the counting route until the number of obtained measured distances is greater than M.

[0102] U can be preset by the administrator or obtained in real time by the inventory device, and U is greater than or equal to 3. M can also be configured or modified by the administrator based on the needs of the actual work scenario. For example, M is 5 or 10. The specific value of M is not limited in this embodiment of the application.

[0103] For example, the above Figure 4 Taking the inspection route in [1] as an example, assume that the electronic tag of a certain item to be counted in cargo area 1 sends a count response message to the counting device when the counting device reaches five inspection points: Inspection Point 1, Inspection Point 2, Inspection Point 3, Inspection Point 5, and Inspection Point 6, and that U is preset to 3. The counting device can then calculate the measured distances 1 (d1), 2 (d2), 5 (d5), and 6 (d6) based on the count response messages sent by the electronic tag at Inspection Point 1, Inspection Point 2, Inspection Point 5, and Inspection Point 6, respectively. Assuming that the first sorting result of sorting d1, d2, d5, and d6 in ascending order is d1 < d2 < d5 < d6U, the counting device can determine the location information of the item to be counted based on the first three items d1, d2, and d5 in the first sorting result.

[0104] In another possible implementation, the cargo information of the cargo to be counted may include location information of the cargo to be counted. The counting device determining the cargo information of the cargo to be counted based on the counting response information may include: the counting device determining the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point based on the counting response information; and the counting device determining the location information of the cargo to be counted based on the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point.

[0105] For example, a three-dimensional coordinate system may be provided in the counting device, and the counting device may determine the pitch angle and azimuth angle of the goods to be counted relative to the inspection point based on the three-dimensional coordinate system and the counting response information sent by the electronic tag.

[0106] For example, Figure 6 Schematic diagram of angle measurement of the counting device provided by the embodiment of the present invention. Figure 6 As shown, a three-dimensional coordinate system can be set in the counting device. The position of the counting device (inspection point) is P(a, b), and the position of the goods to be counted (electronic tag) is O(x, y). The height of the counting device is H. The height difference between the height of the counting device and a reference height (such as the highest height) of the target counting area is L. The pitch angle of the goods to be counted relative to the inspection point is The azimuth angle is θ.

[0107] For example, the above Figure 6 Taking the pitch angle and azimuth angle shown as an example, the counting device determines the position information of the goods to be counted based on the pitch angle and azimuth angle of the goods to be counted relative to the inspection point, which can be calculated according to the following formula (12).

[0108]

[0109] Optionally, at different inspection points, the pitch angles and azimuth angles of the goods to be counted relative to the inspection point obtained by the counting device may include N respectively, where N is an integer greater than 1. The counting device determines the location information of the goods to be counted based on the pitch angles and azimuth angles of the goods to be counted relative to the inspection point, which may include: the counting device sorts the N pitch angles and azimuth angles in order from small to large azimuth angles to obtain a second sorting result; the counting device determines the location information of the goods to be counted based on the first V pitch angles and azimuth angles in the second sorting result. Among them, V can be preset by the management personnel or obtained in real time by the counting device, and V is an integer greater than or equal to 1. For example, V is 1, 2 or 3. The embodiment of the present invention does not limit the specific value of V.

[0110] Optionally, as described above, the counting route may include multiple inspection points, and the counting device may stop at each inspection point, and send the counting request information and receive the counting response information at each inspection point. Figure 7Another flow chart of the cargo inventory method provided by the embodiment of the present invention. Figure 7 As shown, the method may include S201 to S206.

[0111] S201. The counting device moves to the first inspection point along the counting route.

[0112] S202: The inventory device sends an inventory request message.

[0113] S203: The counting device determines whether the counting response information is received.

[0114] If so, execute S204 and return to S202; if not, execute S205.

[0115] S204: The counting device determines the cargo information according to the counting response information.

[0116] S205: The counting equipment moves to the next inspection point.

[0117] S206: The inventory device determines whether to end the inventory.

[0118] If yes, then end; if no, then return to S202.

[0119] For example, the counting device can determine whether all the inspection points in the counting route have been traversed. If so, the counting is terminated; if not, the counting is not terminated.

[0120] In the cargo counting method provided by the embodiment of the present invention, the counting device can obtain the counting route of the target counting area, and send counting request information to the electronic tags on the cargo to be counted in the target counting area according to the counting route, receive the counting response information sent by the electronic tags, and determine the cargo information of the cargo to be counted according to the counting response information, so that the cargo information can be used to dynamically count the cargo to be counted in the target counting area. Compared with the traditional positioning method based on fixed anchor points that requires the installation of a large number of base stations, using the counting device for counting can save equipment costs and installation costs, and the workload of subsequent operation and maintenance is also relatively small.

[0121] In addition, the location information of the inspection point can be preset in the counting device, and the location information of the inspection point can be used to replace the location information of the counting device when it arrives at the inspection point. The counting device can use the location information of the inspection point to locate the goods to be counted, and the positioning accuracy of the counting device can be guaranteed on the basis of reducing the number of positioning base stations.

[0122] Finally, the counting equipment can perform multiple distance or direction measurements on a piece of cargo to be counted when arriving at each of multiple inspection points, and select the preferred value with a smaller value from the results of multiple distance or direction measurements. The cargo to be counted is positioned according to the preferred value, which can further improve the positioning accuracy.

[0123] In some embodiments, the counting device may be configured to be activated at a timed interval. That is, the counting device in S102 transmits a counting request message to an electronic tag attached to the goods to be counted along the counting route and receives a counting response message from the electronic tag. This may include the counting device transmitting a counting request message to an electronic tag attached to the goods to be counted along the counting route and receiving a counting response message from the electronic tag at every predetermined first period.

[0124] The first period can be preset by the administrator. For example, the first period can be 8 hours, 12 hours, or 24 hours. The embodiment of the present invention does not limit the specific duration of the first period.

[0125] In some other embodiments, the electronic tag may be configured to be activated at a fixed time. That is, the inventory response information sent by the electronic tag and received by the inventory device in S102 is sent by the electronic tag to the inventory device every second preset period.

[0126] The second period may also be preset by the administrator. For example, the second period may be 8 hours, 12 hours, or 24 hours. The embodiment of the present invention does not limit the specific duration of the second period.

[0127] It should be noted that the above description of how the counting device determines the location information of the goods to be counted uses two-dimensional coordinates as an example. In some possible embodiments, the wireless signal transceiver module of the counting device can be raised or lowered, and the location information of the goods to be counted determined by the counting device can also be three-dimensional coordinates. For example, the counting device can further include a lifting mechanism, and the wireless signal transceiver module of the counting device can be mounted on the lifting mechanism, which can drive the wireless signal transceiver module of the counting device to rise or fall to different heights.

[0128] It should also be noted that the above description is based on the example of the counting device receiving the counting response information and the counting device determining the cargo information of the cargo to be counted based on the counting response information. In some possible embodiments, the counting device may receive the counting response information and send the above Figure 3 The task management platform 32 sends a count response message, which determines and stores the cargo information of the cargo to be counted based on the count response message. In other words, the aforementioned cargo count method can also be executed by a cargo count system, which includes electronic tags, count devices 31, and task management platform 32.

[0129] In an exemplary embodiment, the present invention further provides a cargo counting device, which can be applied to the above-mentioned counting equipment. Figure 8 Schematic diagram of the composition of the cargo counting device provided by the embodiment of the present invention. Figure 8 As shown, the device may include an acquisition module 801, a transceiver module 802, and a processing module 803. Acquisition module 801 is used to acquire an inventory route of a target inventory area; the target inventory area includes multiple items to be inventoryed. Transceiver module 802 (also known as the wireless signal transceiver module in the aforementioned inventory device) is used to send inventory request information to electronic tags attached to the items to be inventoryed along the inventory route and receive inventory response information sent by the electronic tags. Processing module 803 is used to determine the cargo information of the items to be inventoryed based on the inventory response information.

[0130] In some possible embodiments, the counting route includes multiple pre-set inspection points. The transceiver module 802 is specifically configured to send multiple counting request messages to the electronic tags attached to the goods to be counted at each inspection point, and receive the counting response messages sent by the electronic tags each time.

[0131] In some other possible embodiments, the processing module 803 is specifically configured to determine the cargo information of the cargo to be counted based on the counting response information received from at least three inspection points that are not in the same straight line.

[0132] In some further possible embodiments, the inventory response information includes a first timestamp when the electronic tag receives the inventory request information and a second timestamp when the electronic tag sends the inventory response information; the cargo information includes location information of the cargo to be counted. Processing module 803 is specifically configured to determine, for each inspection point, a measured distance between the inspection point and the cargo to be counted based on the first and second timestamps received at the inspection point; and determine the location information of the cargo to be counted based on the measured distances corresponding to at least three inspection points that are not in the same straight line.

[0133] In some other possible embodiments, the processing module 803 is specifically used to, when the number of measured distances obtained is greater than a preset M, sort the M measured distances in ascending order to obtain a first sorting result; M is an integer greater than 3; determine the location information of the goods to be counted based on the first U measured distances in the first sorting result; U is greater than or equal to 3; when the number of measured distances obtained is less than or equal to the preset M, the counting device continues to pass through multiple inspection points along the counting route until the number of measured distances obtained is greater than M.

[0134] In some other possible embodiments, the cargo information includes location information of the cargo to be counted. Processing module 803 is specifically configured to determine the pitch angle and azimuth of the cargo to be counted relative to the inspection point based on the count response information; and determine the location information of the cargo to be counted based on the pitch angle and azimuth of the cargo to be counted relative to the inspection point.

[0135] In some further possible embodiments, the number of pitch angles and azimuth angles each includes N, where N is an integer greater than 1. The processing module 803 is specifically configured to sort the N pitch angles and azimuth angles in ascending order to obtain a second sorting result; and determine the location information of the goods to be counted based on the first V pitch angles and azimuth angles in the second sorting result.

[0136] In some other possible embodiments, the transceiver module 802 is specifically configured to send an inventory request message to an electronic tag set on the goods to be counted on the inventory route every preset first period, and receive an inventory response message sent by the electronic tag.

[0137] In some other possible embodiments, the inventory response information is sent by the electronic tag to the inventory device every preset second period.

[0138] It should be noted that the above parameters M, N, U, V, the first period and the second period etc. may be preset in the counting device, or may be obtained by the obtaining module 801 here.

[0139] It should also be noted that the above-mentioned device can be integrated into a server, computer, or other device, and the present invention is not limited thereto. Those skilled in the art will clearly understand that for ease and brevity of description, the specific working process of the target detection device can refer to the corresponding process of the cargo inventory method described in the aforementioned method embodiment, and will not be further described in the present invention.

[0140] It should be understood that the device embodiments described above are merely illustrative, and the devices and methods disclosed in the embodiments of the present invention may also be implemented in other ways. For example, the division of the modules is merely a logical function division, and there may be other division methods in actual implementation. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of the device or module, which may be electrical, mechanical or other forms. In addition, the functional units in the various embodiments of the present invention may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0141] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a user terminal or a driver terminal to execute all or part of the steps of the methods described in various embodiments of the present invention.

[0142] That is, those skilled in the art should understand that the embodiments of the present invention may be implemented in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0143] Based on this, embodiments of the present invention further provide a program product. This program product can be a storage medium such as a USB flash drive, a mobile hard drive, ROM, RAM, a magnetic disk, or an optical disk. The storage medium can store a computer program that, when executed by a processor, executes the steps of the cargo inventory method described in the aforementioned method embodiments. The specific implementation methods and technical effects are similar and will not be further described here.

[0144] Optionally, an embodiment of the present invention further provides an electronic device, which may be the above-mentioned inventory device, computer, server or other device. Figure 9 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0145] like Figure 9 As shown, the electronic device may include: a processor 901, a storage medium 902, and a bus 903. The storage medium 902 stores machine-readable instructions executable by the processor 901. When the target detection device is running, the processor 901 communicates with the storage medium 902 via the bus 903. The processor 901 executes the machine-readable instructions to perform the steps of the cargo inventory method described in the above embodiments. The specific implementation methods and technical effects are similar and will not be repeated here.

[0146] For ease of description, only one processor is described in the above electronic device. However, it should be noted that in some embodiments, the electronic device of the present invention may further include multiple processors, and thus the steps performed by one processor described in the present invention may also be performed jointly or individually by multiple processors.

[0147] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A cargo inventory method, characterized in that: The method is applied to inventorying equipment, and the method comprises: The counting device obtains a counting route of a target counting area; the counting route includes a plurality of inspection points at pre-set locations; the target counting area includes a plurality of goods to be counted; The counting device sends counting request information to the electronic tags set on the goods to be counted on the counting route, and receives counting response information sent by the electronic tags; The counting device passes through each of the inspection points in sequence along the counting route; The counting device sends multiple counting request messages to the electronic tags set on the goods to be counted at each inspection point, and receives the counting response messages sent by the electronic tags each time respectively; The counting device determines the cargo information of the cargo to be counted according to the counting response information; The cargo information includes location information of the cargo to be counted; the counting device determines the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point based on the counting response information; the counting device determines the location information of the cargo to be counted based on the pitch angle and azimuth angle of the cargo to be counted relative to the inspection point; At different inspection points, the pitch angles and the azimuth angles include N respectively, where N is an integer greater than 1; the counting device sorts the N pitch angles and the azimuth angles in ascending order of the azimuth angles to obtain a second sorting result; the counting device determines the location information of the goods to be counted based on the first V pitch angles and the azimuth angles in the second sorting result; V is an integer greater than or equal to 1.

2. The method according to claim 1, characterized in that The counting device sends counting request information to the electronic tag set on the goods to be counted on the counting route, and receives counting response information sent by the electronic tag, including: The counting device sends counting request information to the electronic tags set on the goods to be counted on the counting route every preset first period, and receives counting response information sent by the electronic tags.

3. The method according to any one of claims 1-2, characterized in that The counting response information is sent by the electronic tag to the counting device every preset second period.

4. A cargo counting device, characterized in that: The device is applied to inventory equipment, and comprises: an acquisition module, a transceiver module, and a processing module; The acquisition module is used to acquire a counting route of a target counting area; the target counting area includes a plurality of goods to be counted; The transceiver module is configured to send an inventory request message to the electronic tag provided on the goods to be counted on the inventory route, and receive an inventory response message sent by the electronic tag; The counting route includes a plurality of inspection points at pre-set locations; the transceiver module is specifically configured to send multiple counting request messages to the electronic tags provided on the goods to be counted at each of the inspection points, and receive the counting response messages sent by the electronic tags each time; The processing module is further configured to determine cargo information of the cargo to be counted based on the count response information; The cargo information includes location information of the cargo to be counted; The processing module is specifically configured to determine the pitch angle and azimuth of the goods to be counted relative to the inspection point based on the counting response information; and determine the position information of the goods to be counted based on the pitch angle and azimuth of the goods to be counted relative to the inspection point; At different inspection points, the pitch angles and the azimuth angles respectively include N, where N is an integer greater than 1; the processing module is specifically used to sort the N pitch angles and the azimuth angles in ascending order of the azimuth angles to obtain a second sorting result; and determine the location information of the goods to be counted based on the first V pitch angles and the azimuth angles in the second sorting result.

5. The device according to claim 4, characterized in that The transceiver module is specifically configured to send counting request information to the electronic tags set on the goods to be counted on the counting route every preset first period, and receive counting response information sent by the electronic tags.

6. The device according to any one of claims 4-5, characterized in that The counting response information is sent by the electronic tag to the counting device every preset second period.

7. An electronic device, characterized in that: include: A processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the method according to any one of claims 1 to 3.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, executes the method according to any one of claims 1 to 3.

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