Warehouse inventory method and device, computer device

Abstract

The present disclosure relates to the technical field of warehouse logistics, and specifically discloses a warehouse inventory method and device and computer equipment. The method comprises: receiving an inventory task triggered, determining the task parameters of the inventory task; according to the independent carrying unit of a stereoscopic warehouse robot and the task parameters, the inventory task is disassembled into several sub-tasks, and the sub-tasks are put into a task resource pool; the sub-tasks are selected from the task resource pool in a predetermined order, and the sub-tasks are distributed to the stereoscopic warehouse robots in an idle state; the target path of the sub-tasks is determined, and the target path is disassembled into several section paths, and the stereoscopic warehouse robots are instructed to travel according to the section paths in turn; the stereoscopic warehouse robots are instructed to identify the cargo information of target cargo and collect the weight information of the target cargo. The present disclosure realizes the disassembly of complex inventory tasks and improves the efficiency of cargo inventory.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing and logistics technology, and in particular to a warehousing inventory method, apparatus, and computer equipment. Background Technology

[0002] As logistics evolves towards supply chain management, companies are increasingly emphasizing the unique role of warehousing as a resource provider within the supply chain. This transforms warehouses from mere storage facilities into centers for inventory control within the logistics and supply chain, focusing on the management of goods.

[0003] In related technologies, warehouses feature high storage density and small floor space, resulting in goods being densely packed together. Warehouses also bear the responsibility of inventory management, requiring managers to count the goods. This not only increases handling costs for managers but also makes the counting process tedious and prone to confusion, potentially disrupting the warehouse's normal storage and retrieval functions. Summary of the Invention

[0004] Therefore, it is necessary to provide a warehouse inventory method, apparatus, system, computer equipment, storage medium, and computer program product to address the aforementioned technical problems.

[0005] Firstly, this disclosure provides a warehouse inventory counting method. The method includes:

[0006] Receive a triggered inventory task, determine the task parameters of the inventory task, the task parameters include at least target cargo data and / or location information;

[0007] Based on the independent handling unit of the automated warehousing robot and the task parameters, the inventory task is broken down into several sub-tasks, and the sub-tasks are put into the task resource pool. Each sub-task corresponds to a location information.

[0008] The sub-tasks are selected from the task resource pool in a preset order and assigned to the idle automated storage robots.

[0009] Based on the location information of the automated storage and retrieval system robot and the location information corresponding to the sub-task, the target path of the sub-task is determined, and the target path is broken down into several segment paths, instructing the automated storage and retrieval system robot to proceed sequentially according to the segment paths;

[0010] Once the automated storage and retrieval system (AS / RS) robot completes the target path, it is instructed to identify the cargo information of the target goods and collect the weight information of the target goods.

[0011] In one embodiment, the automated storage and retrieval system (AS / RS) robot that assigns the subtask to an idle state includes:

[0012] Based on the location information corresponding to the sub-task, query the candidate automated storage robots within the preset range of the location information;

[0013] Based on the status identifier of the candidate automated storage and retrieval system (AS / RS) robot, the subtask is assigned to the AS / RS robot that is closest to the location information of the subtask and is in an idle state.

[0014] In one embodiment, determining the target path of the sub-task based on the location information of the automated storage robot and the location information corresponding to the sub-task includes:

[0015] The starting position of the sub-task is determined based on the position information of the 3D warehousing robot, and the ending position is determined based on the position information of the sub-task.

[0016] Based on the starting point and the ending point, the shortest path among the feasible routes is determined as the target path for the subtask.

[0017] In one embodiment, the step of breaking down the target path into several segment paths and instructing the automated storage and retrieval system robot to proceed sequentially according to the segment paths includes:

[0018] The target path is divided into several segment paths, and the segment paths are line segment paths;

[0019] According to the direction of the target path, the segment path is sent to the automated storage robot in sequence, and the status of the segment path is changed to the locked state;

[0020] When the automated storage robot completes the locked section of the path, the status of the section of the path is changed to passable.

[0021] In one embodiment, the method further includes:

[0022] The system integrates the cargo and weight information of the target goods collected by the automated warehousing robot and updates the inventory information of the target goods.

[0023] Secondly, this disclosure also provides a warehouse inventory counting device. The device includes:

[0024] The task receiving module is used to receive the triggered inventory task and determine the task parameters of the inventory task. The task parameters include at least target cargo data and / or location information.

[0025] The task decomposition module is used to decompose the inventory task into several sub-tasks based on the independent handling unit of the automated storage robot and the task parameters, and put the sub-tasks into the task resource pool. Each sub-task corresponds to a location information.

[0026] The task allocation module is used to select the sub-tasks from the task resource pool in a preset order and allocate the sub-tasks to idle warehouse machines.

[0027] The target path module is used to determine the target path of the sub-task based on the position information of the automated storage robot and the position information corresponding to the sub-task, and to decompose the target path into several segment paths, instructing the automated storage robot to proceed sequentially according to the segment paths;

[0028] The cargo counting module is used to instruct the automated storage and retrieval system (AS / RS) robot to identify the cargo information of the target cargo and collect the weight information of the target cargo after the AS / RS robot has completed the target path.

[0029] In one embodiment, the task allocation module includes:

[0030] The candidate unit is used to query candidate automated storage and retrieval robots within a preset range of the location information based on the location information corresponding to the sub-task.

[0031] The identification unit is used to assign the subtask to the 3D warehouse robot that is closest to the location information of the subtask and is in an idle state, based on the status identification of the candidate 3D warehouse robot.

[0032] In one embodiment, the target path module includes:

[0033] The start-point and end-point units are used to determine the start-point position of the sub-task based on the position information of the three-dimensional warehousing robot, and to determine the end-point position based on the position information of the sub-task.

[0034] The path planning unit is used to determine the shortest path among the feasible routes as the target path of the subtask based on the starting point and the ending point.

[0035] In one embodiment, the target path module includes:

[0036] A path splitting unit is used to split the target path into several segment paths, wherein the segment paths are line segment paths.

[0037] The path sending unit is used to send the segment path to the automated warehouse robot in sequence according to the direction of the target path, and to change the status of the segment path to the locked state.

[0038] The path status unit is used to modify the status of the section path to a passable state when the automated storage robot completes the section path in the locked state.

[0039] In one embodiment, the device further includes:

[0040] The data integration module is used to integrate the cargo information and weight information of the target cargo collected by the automated warehousing robot and update the inventory information of the target cargo.

[0041] Thirdly, this disclosure also provides a warehouse inventory system. The system includes:

[0042] A warehouse management system is used to initiate inventory count tasks and send the task parameters of the inventory count tasks to the warehouse execution system. The task parameters include at least target goods data and / or location information.

[0043] The warehouse execution system is used to receive triggered inventory tasks, determine the task parameters of the inventory tasks, break down the inventory tasks into several sub-tasks according to the independent handling units of the automated storage and retrieval system and the task parameters, and put the sub-tasks into the task resource pool, with each sub-task corresponding to a location information.

[0044] The robot control system is configured to select sub-tasks from the task resource pool in a preset order and assign the sub-tasks to idle automated storage and retrieval systems (AS / RS) robots; determine the target path of the sub-tasks based on the location information of the AS / RS robots and the location information corresponding to the sub-tasks, and decompose the target path into several segment paths, instructing the AS / RS robots to proceed sequentially according to the segment paths; and, upon completion of the target path, instruct the AS / RS robots to identify the cargo information of the target goods and collect the weight information of the target goods.

[0045] The automated storage and retrieval system (AS / RS) robot includes a main body, a pallet, a communication control module, an information recognition module, and a weighing module. The pallet is fixed to the main body and can move vertically up and down. The communication control module, information recognition module, and weighing module are integrated inside the main body. The communication control module receives instructions from the robot control system and returns the weight and cargo information of the target cargo to the robot control system. The information recognition module identifies the cargo information of the target cargo, and the weighing module collects the weight information of the target cargo.

[0046] In one embodiment, the fuselage body includes: a frame, a lifting drive mechanism, a walking drive mechanism, and walking wheels;

[0047] The lifting drive mechanism is fixed above the frame and is used to fix the pallet and drive the pallet to move up and down in the vertical direction;

[0048] The walking drive mechanism is fixed below the frame and is used to drive the walking wheels to rotate.

[0049] Fourthly, this disclosure also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the above-described warehouse inventory method.

[0050] Fifthly, this disclosure also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described warehouse inventory method.

[0051] Sixthly, this disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the above-described warehouse inventory method.

[0052] The aforementioned methods, apparatus, systems, computer equipment, storage media, and computer program products for warehousing and inventory counting shall have at least the following beneficial effects:

[0053] This disclosure achieves the decomposition of complex inventory tasks by triggering inventory tasks and breaking them down into more easily executable subtasks. Subtasks are then asynchronously stored in a task resource pool and retrieved from the pool to be allocated to idle automated storage and retrieval systems (AS / RS) robots. This facilitates the allocation and management of subtasks and enhances the comprehensive perception and deployment of AS / RS robots. Furthermore, the target path of each subtask is further decomposed into several segmented paths. By sequentially controlling the AS / RS robots to move along these segmented paths until the target path is completed, segmented control allows for more flexible control of the AS / RS robots' movement, improving control fault tolerance and stability in complex environments with complex target paths and multiple AS / RS robots operating. Simultaneously, by statistically analyzing the weight and cargo information returned by the AS / RS robots, inventory of target goods in the warehouse can be achieved. This is not only convenient and fast, but also minimizes the impact on normal warehouse operations, reduces cargo damage and time costs caused by manual handling, and improves cargo inventory efficiency. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments or conventional technologies of this disclosure, the accompanying drawings used in the description of the embodiments or conventional technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a diagram illustrating the application environment of a warehouse inventory method in one embodiment;

[0056] Figure 2 This is a flowchart illustrating a warehouse inventory method in one embodiment;

[0057] Figure 3 This is a schematic diagram of target path decomposition in one embodiment;

[0058] Figure 4 This is a schematic diagram of target path decomposition in another embodiment;

[0059] Figure 5 This is a flowchart illustrating a warehouse inventory method in one embodiment;

[0060] Figure 6 This is a flowchart illustrating a warehouse inventory method in one embodiment;

[0061] Figure 7 This is a flowchart illustrating a warehouse inventory method in one embodiment;

[0062] Figure 8 This is a flowchart illustrating a warehouse inventory method in one embodiment;

[0063] Figure 9 This is a schematic block diagram of the structure of a warehouse inventory counting device in one embodiment;

[0064] Figure 10 This is a schematic block diagram of the task allocation module in one embodiment;

[0065] Figure 11 This is a schematic block diagram of the target path module in one embodiment;

[0066] Figure 12 This is a schematic block diagram of the target path module in one embodiment;

[0067] Figure 13 This is a schematic block diagram of the structure of a warehouse inventory system in one embodiment;

[0068] Figure 14 This is a schematic block diagram of a structure based on an automated warehouse robot in one embodiment;

[0069] Figure 15This is a schematic block diagram of a structure based on an automated warehouse robot in one embodiment;

[0070] Figure 16 This is a schematic block diagram of a structure based on an automated warehouse robot in one embodiment;

[0071] Figure 17 This is a schematic block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure.

[0074] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims. The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitation, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first," "second," etc., is to denote names and does not indicate any specific order.

[0075] Spatial relation terms such as “below,” “under,” “below,” “under,” “above,” “above,” etc., are used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as “below,” “under,” or “below” will be oriented “above” the other element or feature. Therefore, the exemplary terms “below” and “under” can include both above and below orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0076] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0077] The warehouse inventory method provided in this disclosure can be applied to, for example, Figure 1 In the application environment shown, the automated storage and retrieval system (AS / RS) robot 102 communicates with the server 104 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated onto the server 104 or placed in the cloud or on another network server. The AS / RS robot 102 can receive control commands from the server 104 to move along a preset track within the warehouse and can lift goods to complete inventory tasks. The preset track within the warehouse can include mutually perpendicular main tracks and sub-tracks. The AS / RS robot 102 also integrates an information identification module and a weighing module. The information identification module is used to identify information about the goods in the warehouse (e.g., goods codes), and the weighing module is used to collect the weight information of the goods in the warehouse. The AS / RS robot 102 can send the identified goods information and the collected weight information to the server 104. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0078] In some embodiments of this disclosure, such as Figure 2 As shown, a warehouse inventory counting method is provided, which can be applied to... Figure 1 Taking the server in the example, the following steps are included:

[0079] Step 210: Receive the triggered inventory task and determine the task parameters of the inventory task. The task parameters include at least target cargo data and / or location information.

[0080] For example, the server can receive a triggered inventory count task and then parse it to obtain the task parameters, which may include target goods data and / or location information. The triggering method for the inventory count task can be flexible; for example, it can be automatically triggered based on a task triggering program stored on the server, and the triggering conditions of the task triggering program can be set to a preset time period or other triggering conditions. The inventory count task can also be triggered by the server in response to received input commands. Target goods data can refer to the goods category to be inventoried in the task, and the target goods location information can refer to the specific location data of the target goods in the warehouse.

[0081] When the task parameters include target cargo data, the inventory task is used to inventory a specific category of target cargo. When the task parameters include location information, the inventory task is used to inventory all target cargo within a specific area of ​​the warehouse. When the task parameters include both target cargo data and location information, the inventory task is used to inventory all target cargo of a specific category within a specific area of ​​the warehouse.

[0082] Step 220: Based on the independent handling unit of the automated storage and retrieval system robot and the task parameters, the inventory task is broken down into several sub-tasks, and the sub-tasks are put into the task resource pool. Each sub-task corresponds to a location information.

[0083] For example, after receiving the task parameters, the server can break down the inventory task into several sub-tasks. Each sub-task instructs the automated storage and retrieval system (AS / RS) robot to inventory a single unit of target goods, meaning each target item corresponds to a location. A single unit of target goods can refer to a unit of target goods that the AS / RS robot can lift in a single lifting operation; it can be a box, a case, a piece, etc. An AS / RS robot typically refers to a robot used for operation and load-bearing (lifting) within an automated warehouse.

[0084] During the process of breaking down an inventory task into several subtasks, the server can determine the task parameters of each subtask. The task parameters of a subtask at least include the location information of the target goods, with each subtask corresponding to a specific location. The server can directly obtain the location information of a subtask from the location information of the inventory task, or, given the target goods data for the inventory task, it can obtain the location information corresponding to the target goods data by reading the stored records of the target goods, and thus obtain the location information of the subtask. The location information of the inventory task can be a range of locations or a set of locations, while the location information of a subtask can be information about a single location. The server can add all the subtasks obtained from the breakdown to a task resource pool, which can be used to manage subtasks, such as storing, deleting, and recording them.

[0085] Step 230: Select the sub-task from the task resource pool in a preset order and assign the sub-task to an idle automated storage robot.

[0086] For example, the server can asynchronously retrieve subtasks from the task resource pool. Subtasks can be retrieved according to their entry time into the task resource pool, following a "first-in, first-out" rule, and then assigned to idle automated storage and retrieval systems (AS / RS) robots. The server can instruct the AS / RS robot to move to the location indicated by the subtask. An online AS / RS robot refers to an AS / RS robot that can communicate normally with the server and is functioning without faults. The status of an online AS / RS robot can be idle or active. Idle typically means the AS / RS robot has not been assigned a subtask, while active typically means the AS / RS robot has been assigned a subtask or is processing it. For instance, the server can obtain the online status of an AS / RS robot and assign subtasks to idle AS / RS robots. The online status can be either idle or active. The online status of an AS / RS robot can be represented by a status identifier.

[0087] Step 240: Based on the location information of the automated storage robot and the location information corresponding to the sub-task, determine the target path of the sub-task, and decompose the target path into several segment paths, instructing the automated storage robot to proceed sequentially according to the segment paths.

[0088] For example, after assigning a subtask to an idle automated storage and retrieval system (AS / RS), the server can change the AS / RS's online status to active, and can also change it back to idle after the AS / RS completes the subtask. The server can also determine the target path for the subtask based on the AS / RS's location information when the subtask was assigned, and the location information corresponding to the subtask. The target path can be a continuous path taken by the AS / RS from its location when the subtask was assigned to the location of the target goods.

[0089] After obtaining the target path, the server can break it down into several segment paths, ensuring that all segment paths can be concatenated to form the complete target path. The breakdown rules can be based on the warehouse's regional divisions. For example... Figure 3 As shown, in one example embodiment, the server pre-divides the warehouse into four areas: A, B, C, and D, with each area storing a certain number of goods. The target path for a specific subtask determined by the server is as follows: Figure 3 The continuous line segments represent the direction of travel, and the arrows indicate the direction of travel. The server can break down the target path into segment path c in area C, segment path d in area D, and segment path b in area B.

[0090] The server can also break down the target path into several mutually perpendicular or parallel line segments, such as... Figure 4 As shown, in an example embodiment, the target path of a certain subtask determined by the server is as follows: Figure 4 The path is represented by continuous line segments, and the arrows indicate the direction of travel. The server can break down the target path into segment path L1, segment path L2, segment path L3, and segment path L4.

[0091] The server can also use other decomposition rules to break down the target path into multiple segment paths. After the server breaks down the target path into several segment paths, it instructs the automated storage and retrieval system (AS / RS) robot to proceed sequentially according to the segment path information. This allows the AS / RS robot to proceed to the next segment path after completing one segment path, until all segment paths are completed, thus completing the target path.

[0092] For example, in Figure 3 In the illustrated embodiment, the server first sends segment path c to the automated storage and retrieval system (AS / RS). After the AS / RS completes segment path c, it sends segment path d to the AS / RS. After the AS / RS completes segment path d, it sends segment path b to the AS / RS. After the AS / RS completes segment path b, it is determined that the AS / RS has completed the target path. Figure 4In the illustrated embodiment, the server first sends segment path L1 to the automated storage and retrieval system (AS / RS). After the AS / RS completes segment path L1, it sends segment path L2 to the AS / RS. After the AS / RS completes segment path L2, it sends segment path L3 to the AS / RS. After the AS / RS completes segment path L3, it sends segment path L4 to the AS / RS. After the AS / RS completes segment path L4, it is determined that the AS / RS has completed the target path.

[0093] Step 250: After the automated storage and retrieval system (AS / RS) robot completes the target path, instruct the AS / RS robot to identify the cargo information of the target cargo and collect the weight information of the target cargo.

[0094] For example, after instructing the automated storage and retrieval system (AS / RS) robot to travel along a target path and determining that the AS / RS robot has completed the target path, the server instructs the AS / RS robot to lift the target goods at the specified location. During the lifting process, the server identifies the goods information of the lifted target goods and collects the weight information of the lifted target goods. The server can then obtain the goods information and weight information of the target goods returned by the AS / RS robot.

[0095] In some embodiments, an identification area is provided on the outer surface of the target goods. This area contains a pre-embedded chip or an identification code (e.g., a barcode or QR code). The automated storage and retrieval system (AS / RS) robot can use its configured information identification module to identify this area and obtain information about the target goods. The information identification module can use near-field communication (NFC) technology to identify the chip in the identification area, such as RFID (Radio Frequency Identification) tag-based identification technology. RFID works by enabling non-contact data communication between the reader and the tag to identify the target. Alternatively, the information identification module can use image recognition technology to identify the identification code in the identification area, such as camera-based image recognition.

[0096] In the aforementioned warehouse inventory method, by triggering an inventory task and breaking it down into more easily executable subtasks, and asynchronously storing these subtasks in a task resource pool and retrieving them from the pool to allocate to idle automated storage and retrieval systems (AS / RS) robots, complex inventory tasks can be broken down, facilitating subtask allocation and management, and enhancing the comprehensive perception and deployment of AS / RS robots. Furthermore, the target path of each subtask is further broken down into several segmented paths. By sequentially controlling the AS / RS robots to move along these segmented paths until the target path is completed, segmented control allows for more flexible control of the AS / RS robots, improving control tolerance and stability in complex environments with complex target paths and multiple AS / RS robots operating. Simultaneously, by statistically analyzing the weight and cargo information returned by the AS / RS robots, inventory of target goods in the warehouse can be achieved. This method is not only convenient and fast, but also reduces the impact on normal warehouse operations, minimizes cargo damage and time costs caused by manual handling, and improves inventory efficiency.

[0097] In some embodiments of this disclosure, such as Figure 5 As shown, step 230 includes:

[0098] Step 232: Query the candidate automated storage and retrieval robots within the preset range of the location information according to the location information corresponding to the sub-task.

[0099] For example, the server can obtain the location information of the extracted subtask, and then use the location information of the subtask as the starting point to query all online automated storage and retrieval robots within a preset range from the starting point as candidate automated storage and retrieval robots.

[0100] Step 234: Based on the status identifier of the candidate automated storage and retrieval system robot, assign the subtask to the automated storage and retrieval system robot that is closest to the location information of the subtask and is in an idle state.

[0101] For example, when determining candidate automated storage and retrieval systems (AS / RS) robots, the server can read the robot's status identifier. This status identifier can indicate whether the robot is in an idle or active state. For instance, an AS / RS robot carrying a status identifier or with a status identifier of "1" can be designated as idle, while an AS / RS robot without a status identifier or with a status identifier of "0" can be designated as active. The server can quickly filter out idle AS / RS robots from the candidate list based on their status identifiers, and then assign the subtask to the robot with the shortest distance based on the distance between the AS / RS robot and the subtask's location information.

[0102] This embodiment can quickly identify the status flags of automated storage and retrieval systems (AS / RS) robots by rapidly recognizing the location information of the subtask and quickly determine the AS / RS robot with the shortest surrounding distance and that is in an idle state, thereby improving allocation efficiency.

[0103] In some embodiments of this disclosure, such as Figure 6 As shown, step 240 includes:

[0104] Step 242: Determine the starting position of the sub-task based on the position information of the automated storage robot, and determine the ending position based on the position information of the target goods.

[0105] For example, after assigning a subtask to the automated storage and retrieval system (AS / RS) robot, the server can perform path planning. First, it can determine the current position of the AS / RS robot as the starting point and the position of the target goods corresponding to the subtask as the ending point. The server can also determine the AS / RS robot's route direction based on the starting and ending points of the subtask.

[0106] Step 244: Based on the starting point and the ending point, determine the shortest path among the feasible routes as the target path of the subtask.

[0107] For example, the server can obtain several feasible routes based on the starting and ending positions, and select the shortest path from these feasible routes as the target path for the subtask. The server pre-stores track information in a warehouse, and can obtain several connected feasible routes based on the track information and the determined starting and ending positions. Simultaneously, the server can obtain the route distance of each feasible route. The server can then select the shortest path from these feasible routes as the target path for the subtask.

[0108] In some embodiments, prior to step 244, the server can verify the executability of the subtask based on the start and end positions, and plan the target path if the verification passes. The server can verify the following items, and determine that the executability of the subtask has been verified if both items (1) and (2) pass.

[0109] (1) There is a continuous passable path between the starting and ending positions of the subtask;

[0110] (2) The starting and ending points of the subtask are not occupied by obstacles, and there are no other automated warehouse robots or staff performing tasks at the starting and ending points. Obstacles can be goods, warehouse supplies, or garbage, etc.

[0111] This embodiment determines the current position of the automated storage and retrieval system robot as the starting position and the position of the target goods corresponding to the sub-task as the ending position, and then performs path planning to select the optimal path as the target path of the sub-task, thereby further improving the efficiency of the inventory task.

[0112] In some embodiments of this disclosure, such as Figure 7 As shown, step 240 includes:

[0113] Step 245: Divide the target path into several segment paths, where each segment path is a line segment path.

[0114] For example, after determining the target path, the server splits the target path into several segment paths. The completed target path is obtained by connecting all the segment paths end-to-end. The server can split the target path into several mutually perpendicular or parallel line segments as segment paths based on mutually perpendicular parent and child tracks in the repository, for example... Figure 4 The example shown.

[0115] Step 247: According to the direction of the target path, send the segment path to the automated storage robot in sequence, and change the status of the segment path to the locked state.

[0116] For example, the server can send the segmented paths sequentially to the automated storage and retrieval system (AS / RS) robot based on the direction of travel of the target path, and instruct the AS / RS robot to travel according to the segmented paths. After sending the segmented paths to the AS / RS robot, the server can change the status of the segmented paths to a locked state, which is used to prevent other AS / RS robots from passing through.

[0117] In some embodiments, before sending a segment path to the automated storage and retrieval system (AS / RS) robot, the server can first read the status of the segment path. If the segment path is in a passable state, the server can change its status to a locked state. If the modification is successful, the server can then send the segment path to the AS / RS robot and instruct the robot to proceed along the segment path. Specifically, if the server reads the segment path as locked, it can read the status at preset time intervals until the segment path becomes passable. If the server fails to modify the segment path's status, it can read the status again.

[0118] In some embodiments, before sending a segment path to the automated storage and retrieval system (AS / RS), the server may first verify the feasibility of the segment path, and if the verification is successful, send the segment path to the AS / RS and instruct the AS / RS to proceed according to the segment path. The server may verify the following items, and determine the feasibility verification of the segment path is successful if both items (a) and (b) are successful.

[0119] (a) The section of the path is not blocked by obstacles;

[0120] (b) There are no other automated storage and retrieval systems (AS / RS) robots or staff performing tasks at either end of the segment path.

[0121] Step 249: After the automated storage robot completes the locked section path, the status of the section path is changed to passable.

[0122] For example, the server can determine the real-time location of the automated storage and retrieval system (AS / RS) robot, and if it determines that the AS / RS robot has completed the locked section of the path, it can change the status of that section of the path to a passable state, so as to allow other AS / RS robots to pass through that section of the path.

[0123] This embodiment improves the flexibility of the automated storage and retrieval system (AS / RS) robot by sequentially sending segment paths to it. By locking the segment paths, it ensures that the AS / RS robot can safely and continuously pass through the segment paths, thereby improving the safety and stability of the AS / RS robot's movement.

[0124] In some embodiments of this disclosure, the method further includes:

[0125] The system integrates the cargo and weight information of the target goods collected by the automated warehousing robot and updates the inventory information of the target goods.

[0126] For example, the server can organize and summarize the cargo and weight information returned by the automated storage and retrieval system (AS / RS) robot, generating a visual table to more directly display the inventory information of the target cargo. Furthermore, the server can update the inventory information of the target cargo stored on the server based on the integrated data, improving the timeliness and accuracy of information on various goods in the warehouse.

[0127] This embodiment achieves inventory of target goods by acquiring the cargo information and weight information returned by the automated warehousing robot, thereby improving the efficiency of the inventory task. Furthermore, timely updating the inventory information of the target goods can improve the timeliness and accuracy of information on various goods in the warehouse.

[0128] In some embodiments of this disclosure, such as Figure 8As shown, the method includes:

[0129] Step 201: Receive the triggered inventory task and determine the task parameters of the inventory task. The task parameters include at least target cargo data and / or location information.

[0130] Step 202: Based on the independent handling units of the automated warehousing robot and the task parameters, the inventory task is broken down into several sub-tasks, and the sub-tasks are added to the task resource pool.

[0131] Step 203: Select the sub-task from the task resource pool in a preset order and assign the sub-task to an idle automated storage robot.

[0132] Step 204: Determine the starting position of the subtask based on the position information of the automated storage robot, and determine the ending position based on the position information of the subtask; verify the executability of the subtask based on the starting position and the ending position, and if the verification is successful, proceed to step 205; if the verification fails, return the subtask to the task resource pool.

[0133] Step 205: Based on the starting point and the ending point, determine the shortest path among the feasible routes as the target path of the subtask.

[0134] Step 206: Divide the target path into several segment paths.

[0135] Step 207: According to the direction of the target path, the status of the unexecuted segment paths is changed to the locked state in turn.

[0136] Step 208: The segment path is sent to the automated storage and retrieval system robot in sequence, instructing the automated storage and retrieval system robot to execute the segment path.

[0137] Step 209: Determine whether the entire segment path has been sent to the automated warehouse robot and completed. If the determination result is yes, end the subtask.

[0138] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0139] Based on the same inventive concept, this disclosure also provides a warehouse inventory counting apparatus for implementing the warehouse inventory counting method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more embodiments of the warehouse inventory counting apparatus provided below can be found in the limitations of the warehouse inventory counting method described above, and will not be repeated here.

[0140] In some embodiments of this disclosure, such as Figure 9 As shown, a warehouse inventory counting device is provided. The device 900 includes:

[0141] The task receiving module 910 is used to receive the triggered inventory task and determine the task parameters of the inventory task. The task parameters include at least target cargo data and / or location information.

[0142] The task decomposition module 920 is used to decompose the inventory task into several sub-tasks based on the independent handling unit of the automated storage robot and the task parameters, and put the sub-tasks into the task resource pool, with each sub-task corresponding to a location information.

[0143] The task allocation module 930 is used to select the sub-tasks from the task resource pool in a preset order and allocate the sub-tasks to idle warehouse machines.

[0144] The target path module 940 is used to determine the target path of the sub-task based on the position information of the automated storage robot and the position information corresponding to the sub-task, and to decompose the target path into several segment paths, instructing the automated storage robot to proceed sequentially according to the segment paths;

[0145] The goods inventory module 950 is used to instruct the automated storage and retrieval system (AS / RS) robot to identify the goods information of the target goods and collect the weight information of the target goods when the AS / RS robot completes the target path.

[0146] In some embodiments of this disclosure, such as Figure 10 As shown, the task allocation module 930 includes:

[0147] Candidate unit 932 is used to query candidate automated storage and retrieval robots within a preset range of the location information based on the location information corresponding to the sub-task;

[0148] The identification unit 934 is used to assign the subtask to the 3D warehouse robot that is closest to the location information of the subtask and is in an idle state, based on the status identification of the candidate 3D warehouse robot.

[0149] In some embodiments of this disclosure, such as Figure 11 As shown, the target path module 940 includes:

[0150] The start-end point unit 942 is used to determine the start position of the sub-task based on the position information of the three-dimensional warehousing robot, and to determine the end position based on the position information of the sub-task.

[0151] The path planning unit 944 is used to determine the shortest path among the feasible routes as the target path of the subtask based on the starting position and the ending position.

[0152] In some embodiments of this disclosure, such as Figure 12 As shown, the target path module 940 includes:

[0153] The path splitting unit 945 is used to split the target path into several segment paths, wherein the segment paths are line segment paths.

[0154] The path sending unit 947 is used to send the segment path to the automated storage robot in sequence according to the direction of the target path, and to change the state of the segment path to a locked state.

[0155] The path status unit 949 is used to modify the status of the section path to a passable state when the automated storage robot completes the section path in the locked state.

[0156] In some embodiments of this disclosure, the apparatus further includes:

[0157] The data integration module is used to integrate the cargo information and weight information of the target cargo collected by the automated warehousing robot and update the inventory information of the target cargo.

[0158] Each module in the aforementioned warehouse inventory management device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module. It should be noted that the module division in this embodiment is illustrative and only represents a logical functional division; in actual implementation, there may be other division methods.

[0159] Based on the aforementioned embodiments of the warehouse inventory counting method, another embodiment provided in this disclosure provides a warehouse inventory counting system. For example... Figure 13 As shown, the system includes:

[0160] The warehouse management system is used to initiate inventory count tasks and send the task parameters of the inventory count tasks to the warehouse execution system. The task parameters include at least target goods data and / or location information.

[0161] The warehouse execution system is used to receive triggered inventory tasks, determine the task parameters of the inventory tasks, break down the inventory tasks into several sub-tasks according to the independent handling units of the automated storage and retrieval system (AS / RS) and the task parameters, and put the sub-tasks into the task resource pool, with each sub-task corresponding to a location information.

[0162] The robot control system is used to select sub-tasks from the task resource pool according to a preset order and assign the sub-tasks to idle automated storage and retrieval systems (AS / RS) robots; determine the target path of the sub-tasks based on the location information of the AS / RS robots and the location information corresponding to the sub-tasks, and decompose the target path into several segment paths, instructing the AS / RS robots to proceed sequentially according to the segment paths; when the AS / RS robots complete the target path, instruct the AS / RS robots to identify the cargo information of the target cargo and collect the weight information of the target cargo.

[0163] like Figure 14 As shown, the automated storage and retrieval system (AS / RS) robot includes a main body 141, a pallet 142, a communication control module 143, an information recognition module 144, and a weighing module 145. The pallet 142 is fixed to the main body 141 and can move up and down vertically. The communication control module 143, the information recognition module 144, and the weighing module 145 are integrated inside the main body 141. The communication control module 143 is used to receive instructions sent by the robot control system and return the weight information and cargo information of the target cargo to the robot control system. The information recognition module 144 is used to identify the cargo information of the target cargo, and the weighing module 145 is used to collect the weight information of the target cargo.

[0164] The aforementioned warehouse inventory system may include multiple subsystems, such as a warehouse management system, a warehouse execution system, and a robot control system. Each system may be implemented entirely or partially through software, hardware, or a combination thereof. These systems may be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each system. The warehouse management system, warehouse execution system, and robot control system may be deployed on the same server or on multiple servers. It should be noted that the system division in this embodiment is illustrative and only represents a logical functional division; in actual implementation, there may be other division methods.

[0165] In some embodiments of this disclosure, such as Figure 15 and Figure 16 As shown, the automated storage and retrieval system (AS / RS) robot also includes: a lifting drive mechanism 146, a walking drive mechanism 147, and walking wheels 148. The lifting drive mechanism 146 is fixed above the main body 141 and is used to fix the pallet 142 and to drive the pallet 142 to move vertically up and down. The walking drive mechanism 147 is fixed below the main body 141 and is used to drive the walking wheels 148 to rotate. The lifting drive mechanism 146 and the walking drive mechanism 147 are electrically connected to the communication control module 143.

[0166] In some embodiments, the weighing module 145 includes a weighing sensor 1451, an upper pad 1452, and a lower pad 1453, such as Figure 15 As shown, the weighing sensor 1451 is positioned between the upper pad 1452 and the lower pad 1453. It protects the weighing sensor 1451 and allows the weighing module 145 to be mounted below the pallet 142 via the upper pad 1452. This ensures that during lifting operations, the pallet 142 supports the goods, while the weighing sensor 1451 below the pallet 142 collects weight information. The weighing module 145 is positioned between the pallet 142 and the lifting linkage 1461 of the lifting drive mechanism 146, integrated into the automated storage and retrieval system (AS / RS) 140, resulting in a more compact overall structure and smaller vertical dimensions.

[0167] The upper pad 1452 can be connected to one end of the support plate 142 and the weighing sensor 1451 by screws. The other end of the weighing sensor 1451 can also be fixedly connected to the lower pad 1453 by screws. The lower pad 1453 can also be connected to the lifting drive mechanism, for example, in contact with the lifting linkage of the lifting drive mechanism. The information recognition module 144 can be fixed inside the main body of the automated storage and retrieval system 140 by a bracket, close to the upper surface of the automated storage and retrieval system 140. The battery 001 and the communication control module 143 can be installed inside the main body of the automated storage and retrieval system 140, and the communication control module 143 is electrically connected to the information recognition module 144 and the weighing module 145.

[0168] Based on the aforementioned embodiments of the warehouse inventory method, in another embodiment provided in this disclosure, a computer device is provided. This computer device may be a server, and its internal structure diagram may be as follows: Figure 17 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a warehouse inventory method.

[0169] Those skilled in the art will understand that Figure 17 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0170] Based on the aforementioned embodiments of the warehouse inventory method, in another embodiment provided in this disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0171] Based on the aforementioned embodiments of the warehouse inventory method, in another embodiment provided in this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0172] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards.

[0173] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0174] In the description of this specification, references to terms such as "some embodiments," "other embodiments," and "ideal embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0175] It is understood that the various embodiments of the methods described in this specification are presented in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. Relevant details can be found in the descriptions of other method embodiments.

[0176] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features of the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0177] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the scope of protection of this disclosure. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A warehouse inventory counting method, characterized in that, The method includes: Receive the triggered inventory task, determine the task parameters of the inventory task, the task parameters include at least target cargo data and / or location information; Based on the independent handling unit of the automated warehousing robot and the task parameters, the inventory task is broken down into several sub-tasks, and the sub-tasks are put into the task resource pool. Each sub-task corresponds to a location information. The sub-tasks are selected from the task resource pool in a preset order and assigned to the idle automated storage robots. Based on the location information of the automated storage and retrieval system (AS / RS) robot and the location information corresponding to the sub-task, the target path of the sub-task is determined, including: determining the starting position of the sub-task based on the location information of the AS / RS robot, and determining the ending position based on the location information of the sub-task; verifying the executability of the sub-task based on the starting position and the ending position, including whether there is a continuous feasible route between the starting position and the ending position, whether neither the starting position nor the ending position is occupied by obstacles and whether no other AS / RS robot is performing a task; if the verification is successful, determining the shortest path among the feasible routes as the target path, and breaking down the target path into several segment paths, instructing the AS / RS robot to proceed sequentially according to the segment paths; if the verification fails, the sub-task is added to the task resource pool. When the automated storage and retrieval system (AS / RS) robot completes the target path and reaches the destination, it is instructed to lift the target goods. During the lifting process, the robot identifies the goods information of the target goods and collects the weight information of the target goods to inventory them.

2. The method according to claim 1, characterized in that, The automated storage and retrieval system robot that assigns the subtasks to an idle state includes: Based on the location information corresponding to the sub-task, query the candidate automated storage robots within the preset range of the location information; Based on the status identifier of the candidate automated storage and retrieval system (AS / RS) robot, the subtask is assigned to the AS / RS robot that is closest to the location information of the subtask and is in an idle state.

3. The method according to claim 1, characterized in that, The step of breaking down the target path into several segment paths and instructing the automated warehousing robot to proceed sequentially according to the segment paths includes: The target path is broken down into several segment paths, and each segment path is a line segment path; According to the direction of travel of the target path, the segment path is sent to the automated storage robot in sequence, and the status of the segment path is changed to the locked state; When the automated storage robot completes the locked section of the path, the status of the section of the path is changed to passable.

4. The method according to claim 1, characterized in that, The method further includes: The system integrates the cargo and weight information of the target goods collected by the automated warehousing robot and updates the inventory information of the target goods.

5. A warehouse inventory counting device, characterized in that, The device includes: The task receiving module is used to receive the triggered inventory task and determine the task parameters of the inventory task. The task parameters include at least target cargo data and / or location information. The task decomposition module is used to decompose the inventory task into several sub-tasks based on the independent handling unit of the automated storage robot and the task parameters, and put the sub-tasks into the task resource pool. Each sub-task corresponds to a location information. The task allocation module is used to select the sub-tasks from the task resource pool in a preset order and allocate the sub-tasks to the idle automated storage robots. The target path module is used to determine the target path of the sub-task based on the position information of the automated storage and retrieval system (AS / RS) robot and the position information corresponding to the sub-task. This includes: determining the starting position and ending position of the sub-task based on the position information of the AS / RS robot; verifying the executability of the sub-task based on the starting and ending positions, including whether there is a continuous feasible route between the starting and ending positions, and whether neither the starting nor ending position is occupied by obstacles and no other AS / RS robot is performing a task; if the verification passes, determining the shortest path among the feasible routes as the target path, and breaking down the target path into several segment paths, instructing the AS / RS robot to proceed sequentially according to the segment paths; if the verification fails, adding the sub-task to the task resource pool. The cargo inventory module is used to instruct the automated storage and retrieval system (AS / RS) robot to lift the target cargo after the AS / RS robot completes the target path and reaches the destination position. During the lifting process, the module identifies the cargo information of the target cargo and collects the weight information of the target cargo to inventory the target cargo.

6. The apparatus according to claim 5, characterized in that, The target path module includes: A path splitting unit is used to split the target path into several segment paths, wherein the segment paths are line segment paths. The path sending unit is used to send the segment path to the automated storage and retrieval robot in sequence according to the travel direction of the target path, and to change the state of the segment path to the locked state. The path status unit is used to modify the status of the section path to a passable state when the automated storage robot completes the section path in the locked state.

7. A warehouse inventory system, characterized in that, include: A warehouse management system is used to initiate inventory count tasks and send the task parameters of the inventory count tasks to the warehouse execution system. The task parameters include at least target goods data and / or location information. The warehouse execution system is used to receive triggered inventory tasks, determine the task parameters of the inventory tasks, break down the inventory tasks into several sub-tasks according to the independent handling units of the automated storage and retrieval system and the task parameters, and put the sub-tasks into the task resource pool, with each sub-task corresponding to a location information. A robot control system is used to select the sub-tasks from the task resource pool in a preset order and assign the sub-tasks to idle automated storage robots. Based on the location information of the automated storage and retrieval system robot and the location information corresponding to the sub-task, the target path of the sub-task is determined, including: determining the starting position of the sub-task based on the location information of the automated storage and retrieval system robot, and determining the ending position based on the location information of the sub-task. The feasibility of the sub-task is verified based on the starting and ending positions, including whether there is a continuous feasible route between the starting and ending positions, whether neither the starting nor ending position is occupied by obstacles and whether other automated storage and retrieval systems (AS / RS) robots are performing tasks. If the verification is successful, the shortest path among the feasible routes is determined as the target path, and the target path is broken down into several segment paths, instructing the AS / RS robots to proceed sequentially according to the segment paths. If the verification fails, the sub-task is added to the task resource pool. When the AS / RS robots complete the target path and reach the ending position, the AS / RS robots are instructed to lift the target goods, identify the goods information of the target goods during the lifting process, and collect the weight information of the target goods for inventory. The automated storage and retrieval system (AS / RS) robot includes a main body, a pallet, a communication control module, an information recognition module, and a weighing module. The pallet is fixed to the main body and can move vertically up and down. The communication control module, information recognition module, and weighing module are integrated inside the main body. The communication control module receives instructions from the robot control system, controls the pallet to lift the target goods, and returns the weight information and goods information of the target goods to the robot control system. The information recognition module identifies the goods information of the target goods, and the weighing module collects the weight information of the target goods.

8. The system according to claim 7, characterized in that, The main body of the fuselage includes: a frame, a lifting drive mechanism, a walking drive mechanism, and walking wheels; The lifting drive mechanism is fixed above the frame and is used to fix the pallet and drive the pallet to move up and down in the vertical direction; The walking drive mechanism is fixed below the frame and is used to drive the walking wheels to rotate.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

Images