Inspection method and device and electronic equipment

Abstract

The embodiment of the invention provides an inspection method and device and electronic equipment, and relates to the field of intelligent warehousing, the method is executed by the inspection equipment, and the method comprises the following steps: receiving an inspection instruction, and determining an inspection area according to the inspection instruction; according to the inspection instruction, the position state of at least one first goods allocation in the inspection area is inspected; and reporting the position state of the at least one first goods location to a management system. The position state of the goods allocation can be determined, the goods allocation in the abnormal state can be processed in time, the problem that the robot cannot work normally or is damaged when the position state of the goods allocation is abnormal can be avoided, and the working efficiency is prevented from being affected.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and more particularly to an inspection method, device, and electronic equipment. Background Art

[0002] In warehouse management, the shelves in the warehouse need to be inspected before being put into use to determine whether there are any problems with the installation of the shelves; or they can be inspected regularly during use. Summary of the invention

[0003] The present disclosure provides a patrol inspection method, device and electronic equipment. The present disclosure provides the following technical solutions:

[0004] A first aspect of an embodiment of the present disclosure provides an inspection method, which is executed by an inspection device, and includes: receiving an inspection instruction, and determining an inspection area according to the inspection instruction; checking the position status of at least one first cargo position in the inspection area according to the inspection instruction; and reporting the position status of at least one first cargo position to a management system.

[0005] In some embodiments, based on the inspection indication, checking the position status of at least one first cargo location in the inspection area includes at least one of the following: identifying the identification of the first cargo location at the coordinates of the first cargo location, and determining the identification status of the first cargo location; scanning the cargo space of the first cargo location to determine the occupancy status of the first cargo location, and the occupancy status is used to indicate whether the first cargo location is occupied; using the inspection cargo box to perform a pick-and-place operation at the target position of the first cargo location, and determining the usage status of the first cargo location, and the usage status is used to indicate whether the first cargo location can be used to pick up and place cargo boxes.

[0006] In some embodiments, the coordinates of the first cargo location are determined according to the inspection indication; the identification of the first cargo location is identified at the coordinates of the first cargo location, and determining the identification status of the first cargo location includes: the inspection device moves to the coordinates of the first cargo location, and identifies the identification code of the first cargo location at the coordinates of the first cargo location; when the identification code of the first cargo location is recognized normally, the identification status of the first cargo location is determined to be a normal status, and the position corresponding to the coordinates of the first cargo location is determined to be the target position of the first cargo location; when the identification code of the first cargo location is recognized abnormally, the identification status of the first cargo location is determined to be an abnormal status, the inspection device adjusts its own position relative to the ground, or the inspection device adjusts the position of the pick-and-place structure, until the identification code of the cargo location can be recognized normally at the first cargo location, and the adjusted position is determined to be the target position of the first cargo location.

[0007] In some embodiments, the method also includes: when the occupancy status of the first cargo location is occupied, determining whether to skip the inspection of the first cargo location according to the inspection indication; when it is determined according to the inspection indication to skip the inspection of the first cargo location, determining that the first cargo location has not been inspected, and the inspection equipment continues to determine the position status of the second cargo location, and the second cargo location is the next inspection cargo location of the first cargo location; when it is determined according to the inspection indication not to skip the inspection of the first cargo location, the inspection equipment takes out the items occupying the first cargo location and determines the usage status of the first cargo location.

[0008] In some embodiments, an inspection box is used to perform a pick-and-place operation at a target position of the first cargo position, and determining the usage status of the first cargo position includes: determining the inspection box according to an inspection instruction; after the inspection device places the inspection box in the first cargo position at the target position, the inspection box is taken out from the first cargo position; when the inspection device places and takes out the inspection box in the first cargo position, it determines that the usage status of the first cargo position is that it can be used for picking up and placing the box; when the inspection device cannot place the inspection box in the first cargo position, or cannot take out the inspection box, it determines that the usage status of the first cargo position is that it cannot be used for picking up and placing the box, and determines the cause of the abnormality.

[0009] In some embodiments, determining the cause of the abnormality includes: when the usage status of the first cargo location is that it cannot be used for picking up and placing cargo boxes, using the inspection cargo box to perform a pick-up and placement operation at the target position of at least one second cargo location, determining the usage status of at least one second cargo location, and the second cargo location and the first cargo location are cargo locations on the first shelf; when the usage status of at least one second cargo location is that it can be used for picking up and placing cargo boxes, determining that the cause of the abnormality is an abnormality in the first cargo location; when the usage status of at least one second cargo location is that it cannot be used for picking up and placing cargo boxes, determining that the cause of the abnormality is an abnormality in the first shelf, or an abnormality in the inspection equipment.

[0010] In some embodiments, determining the cause of the abnormality includes: when the usage status of the first cargo location is that it cannot be used for picking up and placing cargo boxes, using the inspection cargo box to perform a pick-up and placement operation at the target position of at least one third cargo location, determining the usage status of at least one third cargo location, the first cargo location is a cargo location on the first shelf, and the third cargo location is a cargo location on the second shelf; when the usage status of at least one second cargo location is that it can be used for picking up and placing cargo boxes, determining the cause of the abnormality is that the first shelf is abnormal; when the usage status of at least one second cargo location is that it cannot be used for picking up and placing cargo boxes, determining the cause of the abnormality is that the inspection equipment is abnormal.

[0011] In some embodiments, determining the cause of the abnormality includes: when the inspection device cannot determine the usage status of the second cargo location or the third cargo location, determining that the cause of the abnormality is an abnormality of the inspection device.

[0012] In some embodiments, the method further includes: after the position status of the last first cargo position in the inspection area is checked, determining that the inspection indication is completed; after determining that the inspection indication is completed, placing the inspection cargo box on the last first cargo position.

[0013] In some embodiments, the method further includes: receiving an inspection cancellation instruction, and stopping the inspection of the position status of the first cargo location based on the inspection cancellation instruction; and reporting the position status of the first cargo location whose inspection has been completed to the management system.

[0014] The second aspect of the embodiments of the present disclosure provides an inspection device, including: a receiving module, used to receive an inspection instruction and determine an inspection area according to the inspection instruction; a processing module, used to check the position status of at least one first cargo position in the inspection area according to the inspection instruction; a sending module, used to report the position status of at least one first cargo position to a management system. The third aspect of the embodiments of the present disclosure provides an electronic device, including: a processor and a memory, the memory is used to store computer executable instructions; the processor is used to read instructions from the memory and execute the instructions to implement the method in any implementation of the first aspect.

[0015] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are configured to cause the computer to execute the method in any implementation manner in the aforementioned first aspect.

[0016] A fifth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method in any one of the implementation methods of the first aspect above.

[0017] The sixth aspect of the embodiment of the present disclosure provides a warehousing system, including: a management system, used to determine a first inspection parameter, and after generating an inspection instruction based on the first inspection parameter, send an inspection instruction to an inspection device; an inspection device, used to implement the method in any implementation method of the first aspect mentioned above.

[0018] The inspection method, device and electronic equipment provided by the embodiments of the present disclosure can inspect the cargo location and determine the location status of the cargo location, thereby avoiding the problem that the equipment cannot work normally or is damaged when the location status of the cargo location is abnormal, thereby avoiding affecting work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a warehousing system 100 provided in an embodiment of the present disclosure is shown;

[0020] Figure 2A flowchart of an inspection method proposed in an embodiment of the present disclosure;

[0021] Figure 3 A schematic diagram of a process flow of an inspection method proposed in an embodiment of the present disclosure;

[0022] Figure 4 A schematic diagram of a process flow of an inspection method proposed in an embodiment of the present disclosure;

[0023] Figure 5 A schematic diagram of a cargo box inspection result proposed in an embodiment of the present disclosure;

[0024] Figure 6 A schematic diagram of the structure of an inspection device 600 proposed in an embodiment of the present disclosure;

[0025] Figure 7 is a schematic structural diagram of an electronic device 700 for implementing the above inspection method according to an exemplary embodiment. DETAILED DESCRIPTION

[0026] Many specific details are described in the following description to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific implementation disclosed below.

[0027] The terms used in one or more embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present disclosure. The singular forms of "a", "said" and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present disclosure, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0029] In the present disclosure, a warehouse management method is provided. The present disclosure also relates to a warehouse management device, a warehouse system, a computing device, a computer program product, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0030] The following describes the solutions of the embodiments of the present disclosure in combination with examples.

[0031] In warehouse management, after the shelves in the warehouse are installed, problems with manual installation or uneven ground may cause the robot to not be able to normally pick up and place goods on the installed shelves; and during the use of the shelves, as the use time increases, the shelves may also become tilted or damaged, causing the robot to be unable to normally pick up and place goods on the shelves. Therefore, the status of the shelves and the cargo spaces on the shelves can be determined before the warehouse is put into use or during use to avoid affecting the work of the robots.

[0032] The current inspection method is mainly used to determine the inventory of goods, but cannot determine the status of the shelves or the locations on the shelves.

[0033] In response to the above problems, the embodiments of the present disclosure propose a patrol method that can determine the position status of a cargo location on a shelf, and can promptly detect abnormal conditions of a cargo location to prevent the robot from being unable to work normally or even being damaged due to abnormal conditions of the cargo location.

[0034] In some embodiments, the method of this solution can be performed by a patrol device, which can be a device used to transport goods or cargo boxes, or a device for picking up and placing goods or cargo boxes. For example, the device for transporting goods can be a transport robot.

[0035] Optionally, the method of this solution can be applied to a storage system 100, such as Figure 1 As shown, a warehousing system proposed for the solution of the present disclosure is provided, wherein the warehousing system includes a management system 10 and an inspection device 20. After creating an inspection task, the management system can send the inspection task to the inspection device. The inspection device is a device for performing inspection tasks, for example, the inspection device can be a robot.

[0036] After receiving the inspection task, the inspection device can complete the inspection method of this solution according to the instructions of the inspection task.

[0037] Alternatively, an inspection task can be created by an electronic device and sent to an inspection device. A management system can be deployed on the electronic device, and the management system can be a robot management system (RMS). Optionally, in the scheme of the present disclosure, the inspection task is an inspection instruction sent by the electronic device (or management system) to the inspection device. Therefore, in the embodiments of the present disclosure, the inspection task and the inspection instruction can be used interchangeably.

[0038] For example, the electronic device may be a terminal device or a server. For example, when the electronic device is a terminal device, the electronic device may include various personal computers, laptops, smart phones, tablet computers, and portable wearable devices. When the electronic device is a server, the electronic device may be an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present disclosure.

[0039] In some examples, the electronic device may also receive external data information, such as instructions triggered by user selection operations, or parameters input by the user, etc. The electronic device may determine inspection parameters according to the received user instructions, parameters input by the user, etc., and create inspection tasks according to the inspection parameters.

[0040] In some embodiments, the inspection device may be a robot for carrying goods and / or cargo boxes. The robot may be, for example, a material box robot (e.g., an RS robot) or a lurking robot (e.g., a P40 robot). Optionally, the warehousing system may also include at least one shelf, and the inspection device is used to pick up and place goods and / or cargo boxes on the shelf (which may be a fixed shelf). Optionally, when the inspection device is an RS robot, the inspection device may pick up and place goods and / or cargo boxes on high-level shelves or cache locations. When the inspection device is a P40 robot, the inspection device may pick up and place goods and / or cargo boxes on cache locations on the shelf.

[0041] Optionally, the shelf can be used to store at least one of the following: goods, carriers and containers, and the carriers or containers may include cargo boxes (such as material boxes, cartons, etc.) and / or support parts. Among them, the support part can be used to store goods or cargo boxes, and the support part can be, for example, a pallet, and the cargo box is used to store goods. Optionally, the shelf can also store goods, and the goods may include a first commodity and a second commodity, wherein the first commodity may be a commodity stored inside the cargo box and then placed on the mobile shelf, and the second commodity may be a commodity directly placed on the mobile shelf. For example, the first commodity may be a fragile or small commodity, and the second commodity may be a commodity with high sales volume or large volume, or the second commodity may also be a hanging commodity.

[0042] For example, a shelf may include multiple storage units (i.e., cargo locations), and each storage unit may contain one or more cargoes. The transport component on the inspection device may move in the vertical direction so that the position of the transport component is horizontally opposite to any storage unit, and the transport component is used to place or remove target cargoes on the storage unit of the shelf. The transport component may be equipped with a pick-and-place mechanism, such as an insertion mechanism (e.g., a fork) or a suction mechanism (e.g., a suction cup), to realize the function of picking up and placing cargo boxes.

[0043] Figure 2 A schematic diagram of a process flow of an inspection method proposed in an embodiment of the present disclosure is shown in FIG. Figure 2 As shown, the method comprises the following steps:

[0044] Step 201: receiving an inspection instruction and determining an inspection area according to the inspection instruction.

[0045] In some embodiments, the inspection device can receive inspection instructions, for example, the inspection device can receive inspection instructions sent by an electronic device, and a management system is deployed on the electronic device, such as a robot management system (RMS), that is, the inspection device can receive inspection instructions sent by the management system.

[0046] In some embodiments, the inspection indication is used to instruct the inspection device to determine the position status of at least one first cargo location in the inspection area. Optionally, the inspection area can be determined according to the inspection indication. The inspection area can include at least one first shelf, and the first cargo location can be a cargo location on the first shelf.

[0047] In some embodiments, the inspection parameters can be determined according to the inspection indication. Optionally, the inspection parameters include at least one of the following: an inspection area, used to indicate a first area that needs to be inspected; an inspection object, used to indicate at least one of an identification of a first cargo location that needs to be inspected, an identification of a shelf layer where the first cargo location is located, and an identification of a shelf where the first cargo location is located; an inspection type, used to indicate the type of the first cargo location; an inspection equipment identification, used to indicate the inspection equipment that performs the first inspection task; an inspection container identification, used to indicate the container used to perform the first inspection task; and an inspection task code, used to indicate the task code of the first inspection task.

[0048] In some embodiments, the inspection indication may instruct the inspection device to determine the position status of at least one cargo location on at least some of the shelves in the inspection area. For example, the inspection indication may instruct the inspection device to determine the position status of all cargo locations on all shelves included in the inspection area; or, the inspection indication may instruct the inspection device to determine the position status of cargo locations in some shelf layers of all shelves in the inspection area; or, the inspection device may be instructed to determine the position status of cargo locations in some shelf layers of some shelves in the inspection area; or, the inspection device may be instructed to determine all cargo locations on some shelves in the inspection area; or, the inspection device may be instructed to determine Some cargo locations on some shelves in the inspection area, for example, only some shelf layers on the first shelf, or the position status of some types of cargo locations may be checked. Optionally, the types of cargo locations may include high-level cargo locations, cache locations, offline work locations, deep cargo locations, shallow cargo locations, etc., wherein high-level cargo locations may be cargo locations on higher shelf layers on the shelves, cache locations may be cargo locations on the bottom or lower layers of the shelves, offline work locations may be work locations for storing goods set near the workstation, deep cargo locations may be cargo locations in the deep layers of the shelves, that is, cargo locations in the inner layers that are farther away from the aisles, and shallow cargo locations may be cargo locations in the outer layers of the shelves that are closer to the aisles.

[0049] In other words, the inspection indication can indicate the type of cargo location that needs to be inspected. For example, when the inspection indication is used to instruct the inspection device to check the cache location, even if the inspection area includes the entire first shelf, the inspection device checks the cache location of the first shelf.

[0050] Step 202: Check the position status of at least one first cargo position in the inspection area according to the inspection instruction.

[0051] In some embodiments, optionally, the inspection equipment can determine at least one first cargo location based on the inspection object in the inspection parameters of the inspection indication, wherein the inspection object can indicate the identification of the cargo location that needs to be inspected, or the identification of the shelf where the cargo location that needs to be inspected is located, and the inspection equipment can determine the position of the first cargo location that needs to be inspected based on the inspection indication.

[0052] In some embodiments, the inspection device can determine the first cargo location that needs to be inspected based on the inspection indication, wherein the first cargo location that needs to be inspected may be all or part of the cargo locations on the shelf included in the inspection area. Optionally, the first cargo location that needs to be inspected can be determined based on the type of the inspection device. For example, when the inspection device is an RS robot, the inspection device can check the position status of all cargo locations on the shelf. When the inspection device is a P40 robot, the inspection device can check the position status of the cache locations on the shelf. Alternatively, the inspection device can check the position status of offline workstations, and so on.

[0053] In some embodiments, optionally, the inspection instruction can also indicate the location of the first cargo location. Optionally, the location information of each cargo location can be stored in the management system. When the inspection instruction is issued, the location information corresponding to the cargo location that needs to be inspected can be indicated to the inspection device according to the cargo location that needs to be inspected, which can facilitate the inspection equipment to arrive at the location where the inspection instruction is sent to inspect the cargo location.

[0054] In some embodiments, the inspection device can move to the position of the first cargo location, and check the position status of the first cargo location at the position of the first cargo location. The position of the inspection device moving to the first cargo location can be the position where the inspection device moves to complete the picking and placing of cargo boxes at the first cargo location, and the position where the inspection device picks up and places cargo boxes at the first cargo location can be determined by the inspection device according to the inspection instruction. For example, the inspection device can indicate the coordinates of the first cargo location, and the inspection device can determine the position for picking up and placing cargo boxes according to the coordinates of the first cargo location; or the inspection instruction can directly indicate the position where the inspection device picks up and places cargo boxes at the first cargo location, wherein the indicated position can be, for example, the coordinates of the inspection device in the warehouse, or can be the position of the inspection device relative to the QR code on the ground, and so on.

[0055] In other words, in the scheme of the present disclosure, the inspection equipment moving to the position of the first cargo location, or the inspection equipment moving to the coordinates of the first cargo location, can be understood as the inspection equipment moving to a position where it can complete the operation of picking up and placing cargo boxes at the first cargo location, or it can be understood as the picking and placing structure of the inspection equipment moving to a position where it can complete the operation of picking up and placing cargo boxes at the first cargo location.

[0056] Optionally, the location status of the first cargo location may include the status of the cargo location code of the first cargo location, the occupancy status of the first cargo location, the usage status of the first cargo location, etc. The inspection device may record the location status of the first cargo location after determining the location status of the first cargo location.

[0057] In some embodiments, optionally, the inspection device can determine the inspection mode according to the inspection indication, wherein the inspection mode is used to indicate the inspection order or inspection rule of the inspection device. For example, the inspection device can inspect the inspection area in the order or rule indicated by the inspection mode, such as inspecting by shelf, inspecting from high to low, inspecting from low to high, or inspecting by layer. When the inspected cargo location type includes offline workstations, the offline workstations are inspected last; or when the robot is a cargo box-to-person robot, such as an RS-type robot, it is necessary to lower the height before switching inspection lanes, etc.

[0058] Optionally, when the inspection instruction does not include an inspection mode, the inspection device may inspect at least one first cargo position in the inspection area according to a set default inspection mode.

[0059] In some embodiments, a patrol device may receive multiple patrol indications. Optionally, when the patrol device receives multiple patrol indications, it may perform patrols in order according to the priority of the patrol indications, or it may perform patrol tasks in sequence according to the time sequence in which the patrol indications are received, or the management system may indicate the patrol order to the patrol device through other additional indication information, etc., which is not limited by the present disclosure.

[0060] Step 203: Report the location status of at least one first cargo location to the management system.

[0061] In some embodiments, the inspection device may report the position status of the first cargo location to the RMS after completing the inspection instruction, and the reported position status of the first cargo location may be used by the RMS to determine the status of the first cargo location.

[0062] In some embodiments, the method further includes: after the position status of the last first cargo position in the inspection area is checked, determining that the inspection indication is completed; after determining that the inspection indication is completed, placing the inspection cargo box on the last first cargo position.

[0063] In other words, the inspection instruction can instruct the inspection equipment to inspect multiple cargo locations in the inspection area. When the inspection equipment completes the inspection of multiple cargo locations, the inspection equipment completes the inspection instruction. At this time, the inspection equipment can place the inspection cargo box (inspection container) on the last cargo location to be inspected, and the inspection equipment can use the inspection cargo box to inspect multiple cargo locations.

[0064] In some embodiments, the method further includes: receiving a patrol inspection cancellation instruction, and stopping the inspection of the position status of the first cargo location based on the patrol inspection cancellation instruction; and reporting the position status of the first cargo location whose inspection has been completed to the management system. The management system may be a robot management system RMS.

[0065] In other words, during the inspection process, the inspection device can receive an inspection cancellation instruction, for example, it can receive an inspection cancellation instruction sent by RMS. Optionally, the inspection cancellation instruction is used to instruct the inspection device to stop the current inspection task. After receiving the inspection cancellation instruction and canceling the inspection task, the inspection device can report the location status of the cargo location that has been inspected.

[0066] In some embodiments, in a warehousing scenario, there may be multiple inspection devices to inspect cargo locations in different inspection areas respectively, which can improve the efficiency of cargo location inspection.

[0067] Optionally, the inspection equipment can report inspection task information to the management system, where the inspection task information can include at least one of the location status of the first cargo location, the status of the inspection equipment, and the status of the inspection task. After receiving the inspection task information, the management system can determine the display method of the inspection task information, and the display method includes at least one of the following: color, transparency, text, and mask effect; the management system can display the inspection task information through the inspection display interface using the display method of the inspection task information.

[0068] For example, the management system can display the inspection details of the ongoing inspection tasks on the inspection display page, such as the inspection status of the inspection equipment. For example, different display methods can be used to distinguish the different states of the inspection equipment, such as different colors, different transparency parameters or different font styles can be used to distinguish the different states of the inspection equipment, etc.

[0069] For another example, when the inspection device is a robot, different colors can be used to distinguish the robot's inspection status, such as: taking the inspection box (yellow); waiting for the inspection robot to complete other tasks (yellow); the inspection robot is charging (yellow); the inspection robot has an unrecoverable exception (red); the inspection task is executing normally (green). Furthermore, the inspection details page can display the start time, duration, robot ID, inspection progress (e.g., number of inspected nodes / total number of nodes), and ID of the inspection box of the current inspection task.

[0070] For another example, shelves with abnormal cargo locations can be highlighted (for example, shelves with abnormal cargo locations are displayed in darker red); inspected shelves and uninspected shelves can be distinguished (for example, the cells under inspected shelves display green masks, and the cells under uninspected shelves display red masks, or the shelves can be selected to display the inspected cargo locations and the cargo locations to be inspected on the specific shelves); the status of the inspection task can be displayed (for example, the status of the inspection task corresponding to the inspection code is displayed in text as inspection successful, inspection failed, inspection paused, inspection in progress, etc.).

[0071] For another example, the management system can display the filtered inspection tasks or inspection parameters on the inspection display page according to the query instruction, wherein the filtering items may include: transaction type, inspection code, inspection status, robot, inspection type, start time, end time, inspection container number, cargo location number, lane, inspection cargo location type (for example, whether to inspect inner or outer boxes), whether the inspection was not carried out due to box occupancy, etc.; or, the management system can determine the inspection tasks and / or inspection parameters of the inspection tasks to be exported according to the export instruction, and execute the export of the inspection tasks and / or inspection parameters of the inspection tasks. Optionally, the management system can export to a table format, wherein the exported content may include, for example, the inspection task type, transaction number, status, robot, inspection type, start time, end time, inspection container number, cargo location number, lane, whether to inspect inner or outer boxes, whether the inspection was not carried out due to box occupancy, etc.

[0072] In summary, the above-mentioned embodiments of the present disclosure can determine and report the position status of at least one first cargo position according to the inspection indication, and can realize the inspection of the position status of the cargo position to avoid the robot from not being able to work normally or even being damaged due to cargo position abnormalities in actual use.

[0073] Figure 3 A schematic diagram of a process flow of an inspection method proposed in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the method also includes the following steps:

[0074] Step 301, determining the coordinates of the first cargo location according to the inspection instruction.

[0075] In some embodiments, the inspection device can determine the position of the first cargo location based on the inspection indication, for example, it can be the coordinates of the first cargo location, that is, the inspection indication can indicate to the inspection device the position of the cargo location that needs to be inspected, and the inspection device can move to the position of the cargo location to inspect it.

[0076] Among them, optionally, the coordinates of the first cargo location may include the coordinates of the shelf where the first cargo location is located in the warehouse, the height of the shelf layer where the first cargo location is located, the specific coordinates of the first cargo location in the shelf layer, etc. For example, it may be the coordinates of the identification code of the first cargo location on the first shelf, or it may be the height of the shelf layer where the first cargo location is located, the coordinates of the identification code of the shelf layer where the first cargo location is located, the coordinates of the endpoint of the first cargo location or the center position along one side of the aisle on the first shelf, etc.

[0077] Optionally, the coordinates of the first cargo location to which the inspection device moves may be the coordinates of the pick-and-place structure of the inspection device moving to the first cargo location. For example, when the first cargo location is a high-rise cargo location, the inspection device may increase the height of the pick-and-place structure until the pick-and-place structure reaches the coordinates of the first cargo location.

[0078] Step 302: Identify the identification of the first cargo location at the coordinates of the first cargo location, and determine the identification status of the first cargo location.

[0079] In some embodiments, each cargo location may have a corresponding identification, such as a cargo location code. Optionally, the cargo location code may be manually pasted on the shelf at the center of the cargo location along one side of the aisle. For example, the cargo location code may be a QR code or bar code corresponding to the cargo location. The pick-up and place structure of the inspection equipment may be equipped with a sensor or camera to scan and identify the cargo location code.

[0080] In some embodiments, identifying the identification of the first cargo location at the coordinates of the first cargo location and determining the identification status of the first cargo location includes: the inspection device moves to the coordinates of the first cargo location, and identifies the identification code of the first cargo location at the coordinates of the first cargo location; when the identification code of the first cargo location is recognized normally, the identification status of the first cargo location is determined to be a normal status, and the coordinates of the first cargo location are determined to be the target position of the first cargo location; when the identification code of the first cargo location is recognized abnormally, the identification status of the first cargo location is determined to be an abnormal status, the inspection device adjusts its own position relative to the ground, or the inspection device adjusts the position of the pick-and-place structure, until the identification code of the cargo location can be recognized normally at the first cargo location, and the adjusted position is determined to be the target position of the first cargo location.

[0081] In some embodiments, the inspection device can identify the identification code of the first cargo location at the coordinates of the first cargo location, wherein the normal identification code recognition of the first cargo location may be that the identification code of the first cargo location is scanned completely, and the information contained in the identification code of the cargo location can be obtained, such as the cargo information stored in the cargo location, etc.; the normal identification code recognition of the first cargo location may also include that the identification of the first cargo location is in a preset area, for example, the pasting area of ​​the identification code of the first cargo location can be limited, and it can be determined by scanning and identification whether the identification code of the first cargo location is in the area, etc. When the identification code of the first cargo location is recognized normally, it means that the identification of the first cargo location can be normally recognized at the coordinates of the first cargo location issued by the inspection instruction. At this time, it can be determined that the identification status of the first cargo location is normal, and the coordinate information of the first cargo location issued by the inspection instruction is correct.

[0082] Optionally, when the coordinate information of the first cargo location issued by the inspection instruction is correct, the coordinates of the first cargo location issued by the inspection instruction may be used as the target position of the first cargo location. Optionally, the target position of the first cargo location may be the actual position of the first cargo location.

[0083] In some embodiments, when the inspection device cannot scan the identification of the first cargo position at its coordinates or the scan is incomplete, it can be determined that the identification status of the first cargo position is abnormal. At this time, it may be that the identification of the first cargo position is not pasted, or manual pasting causes deviation, the identification code is blurred and damaged, etc., resulting in inrecognition, or the ground is uneven, causing the first shelf to tilt, the inspection device to tilt, etc., or there may be errors in the coordinates of the first cargo position issued by the inspection instruction. At this time, the inspection device can optionally adjust its own position, or the inspection device can adjust the position of the pick-and-place structure until the identification code of the cargo position can be normally identified at the first cargo position, and the adjusted position is determined to be the target position of the first cargo position.

[0084] In other words, when the coordinates of the first cargo location cannot normally scan the identification of the first cargo location, the inspection device can automatically calibrate the position and determine the calibrated position as the actual position of the first cargo location. At this time, when the inspection device reports the position status of the first cargo location, it can also report the calibrated position, which is convenient for the management system to update the stored position of the first cargo location.

[0085] In some embodiments, the inspection device can scan the label of the first cargo location at the coordinates of the first cargo location, but when the label of the first cargo location is not in the preset area, it can also be determined that the label status of the first cargo location is abnormal. At this time, the label of the first cargo location may be skewed or deviated due to manual pasting.

[0086] Step 303: Scan the cargo space of the first cargo location to determine the occupancy status of the first cargo location.

[0087] In some embodiments, the inspection device can determine the occupancy status of the first cargo location after scanning the identification code of the first cargo location normally or scanning the identification code of the first cargo location normally after adjustment, that is, determine whether the first cargo location is occupied, such as whether a cargo box or goods have been placed on the first cargo location.

[0088] In some embodiments, optionally, the inspection equipment can be installed with sensors, cameras and other scanning and identification devices to scan the cargo space of the first cargo position, where the cargo space of the first cargo position is the space on the first cargo position for storing cargo boxes or goods. The data collected by the above scanning and identification devices can be used to determine whether the first cargo position is occupied.

[0089] In some embodiments, the method also includes: when the occupancy status of the first cargo location is occupied, determining whether to skip the inspection of the first cargo location according to the inspection indication; when it is determined according to the inspection indication to skip the inspection of the first cargo location, determining that the first cargo location has not been inspected, and the inspection equipment continues to determine the position status of the second cargo location, and the second cargo location is the next inspection cargo location of the first cargo location; when it is determined according to the inspection indication not to skip the inspection of the first cargo location, the inspection equipment takes out the items occupying the first cargo location and determines the usage status of the first cargo location.

[0090] In some embodiments, when the first cargo location is in an occupied state, the inspection device can determine whether to skip the inspection of the first cargo location based on the inspection indication. When the inspection indication is used to indicate skipping the inspection of the first cargo location, the inspection device does not need to determine the usage status of the first cargo location, where the usage status can be used to indicate whether the inspection device can perform cargo box pick-up and placement operations at the first cargo location, that is, whether the first cargo location can be used normally.

[0091] Optionally, when the usage status of the first cargo position is that it can be used to pick up and place cargo boxes, the usage status of the first cargo position is a normal status, and when the usage status of the first cargo position is that it cannot be used to pick up and place cargo boxes, the usage status of the first cargo position is an abnormal status.

[0092] Optionally, when the inspection indication is used to indicate not to skip the inspection of the first cargo location, the cargo box or goods occupying the first cargo location can be taken out and placed in other vacant cargo locations, or when the inspection device is an RS robot, the items occupying the first cargo location can be placed in the cache position on the RS robot, that is, the occupied state of the first cargo location can be switched to the unoccupied state, and then the usage status of the first cargo location can be determined. Optionally, after the determination of the usage status of the first cargo location is completed, the goods occupying the first cargo location can be put back into the first cargo location.

[0093] Step 304, performing a pick-and-place operation using the inspection container at the target position of the first cargo position, and determining the usage status of the first cargo position.

[0094] In some embodiments, the usage status of the first cargo location may be used to indicate whether the first cargo location can be used normally, for example, may indicate whether goods can be normally taken and placed on the first cargo location.

[0095] In some embodiments, a pick-and-place operation is performed using an inspection box at a target position of the first cargo position, and determining the usage status of the first cargo position includes: determining the inspection box according to an inspection instruction; after the inspection device places the inspection box at the target position in the first cargo position, the inspection box is taken out from the first cargo position; the inspection device can determine that the usage status of the first cargo position is a normal state when placing and taking out the inspection box at the first cargo position; when the inspection device cannot place the inspection box at the first cargo position, or cannot take out the inspection box, the usage status of the first cargo position is determined to be an abnormal state, and the cause of the abnormality is determined.

[0096] In other words, by placing and taking out cargo boxes on the first cargo position, it can be confirmed whether the inspection equipment can normally complete the action of picking up and placing boxes at the first cargo position. Since the inspection equipment can be a robot for transporting goods, the usage status of the first cargo position can be determined by the inspection equipment, and it can directly determine whether the first cargo position can be used for normal transportation by the robot.

[0097] Optionally, the inspection cargo box can be an empty cargo box that matches the size of the first cargo position, or the inspection cargo box can be a cargo box filled with goods, wherein the goods in the cargo box can be determined based on the actual usage scenario of the first cargo position. For example, when the first cargo position can be used to place clothing goods, clothing can be placed in the inspection cargo box to simulate the actual usage scenario of the first cargo position, so as to better determine whether the first cargo position can be used normally when it is put into use.

[0098] In some embodiments, after determining the inspection cargo box, the inspection equipment can determine the location of the inspection cargo box according to the inspection instructions, such as the coordinates of the cargo space where the inspection cargo box is located. In other words, the inspection instructions can indicate the location of the inspection cargo box to the inspection equipment, and the inspection equipment can take out the inspection cargo box from the cargo space where the inspection cargo box is located for inspection according to the instructions of the inspection instructions.

[0099] In some embodiments, when the inspection device cannot normally place the inspection cargo box on the first cargo position, or cannot normally take out the inspection cargo box, it can determine that the trial status of the first cargo position is an abnormal status, that is, the first cargo position is unusable; or the inspection device can place and take out cargo boxes on the first cargo position, but when the inspection device collides, rubs against the first shelf when taking and placing the cargo boxes, it can be determined that the usage status of the first cargo position is an abnormal status. When it is determined that the status of the first cargo position is an abnormal status, the inspection device can preliminarily determine the cause of the abnormality and report the preliminarily determined cause when reporting the position status of the first cargo position.

[0100] In some embodiments, in a warehousing scenario, when the inspection device is an RS robot, performing a pick-and-place operation at the first cargo location may be a process in which the RS robot places the inspection cargo box on the first cargo location and takes it out from the first cargo location. For example, the RS robot's suction mechanism (such as a suction cup) can be used to place the inspection cargo box on the first cargo location and take it out from the first cargo location, or the RS robot's insertion mechanism (such as a fork) can be used to place the inspection cargo box on the first cargo location and take it out from the first cargo location; when the inspection device is a P40 robot, the inspection device is only used to determine the position status of a cache position or an offline workstation. At this time, the P40 robot lifts the inspection cargo box to the target cache position, and removes the inspection cargo box from the target cache position, thereby performing a pick-and-place operation at the first cargo location.

[0101] In summary, the above embodiments of the present disclosure can inspect the first cargo location, determine the position status of the first cargo location, facilitate subsequent reporting of the position status of the first cargo location, and promptly discover the abnormal status of the first cargo location to avoid the abnormal status of the first cargo location affecting the robot's picking and placing of goods.

[0102] Figure 4 A schematic diagram of a process flow of an inspection method proposed in an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, the method comprises the following steps:

[0103] Step 401, when the use status of the first cargo position is abnormal, a pick-up and place operation is performed at a target position of at least one second cargo position using an inspection container to determine the use status of the at least one second cargo position.

[0104] In some embodiments, the second cargo location and the first cargo location are cargo locations on the first shelf. In other words, the first cargo location and the second cargo location are cargo locations on the same shelf. Both the second cargo location and the first cargo location are cargo locations that need to be inspected and are determined based on the inspection instructions. That is, the inspection instructions can be used to instruct the inspection equipment to inspect multiple cargo locations on the same shelf. When the usage status of the first cargo location is abnormal, the inspection equipment can continue to inspect the usage status of the second cargo location on the same shelf. Similarly, the inspection equipment can determine the target position of the second cargo location based on the inspection instructions, and inspect the second cargo location at the target position of the second cargo location.

[0105] Optionally, when the usage status of the first cargo position is abnormal, but the inspection device can move normally, the inspection device can continue to inspect the next cargo position, that is, the inspection device can inspect the second cargo position.

[0106] In some embodiments, optionally, the first cargo location and the second cargo location can be cargo locations on the same shelf layer, that is, when the usage status of the first cargo location is abnormal, the inspection device can preliminarily determine that the cause of the abnormality is abnormality in the first cargo location, or the cause of the abnormality is abnormality in the first shelf layer by determining the usage status of the second cargo location on the same shelf layer as the first cargo location; or when the usage status of the first cargo location is abnormal, the inspection device can preliminarily determine that the cause of the abnormality is abnormality in the first cargo location, or the cause of the abnormality is abnormality in the first shelf, by determining the usage status of the second cargo location on the same shelf as the first cargo location.

[0107] Step 402: when the use status of at least one second cargo location is normal, determine that the abnormality cause is an abnormality of the first cargo location.

[0108] In some embodiments, when it is determined that the usage status of the second cargo location is normal, it can be determined that the cause of the abnormality is the abnormality of the first cargo location. In other words, when the usage status of the second cargo location on the same shelf is normal, or when multiple second cargo locations are checked continuously and the usage status of multiple second cargo locations is normal, it can be determined that the inspection equipment can perform the inspection operation normally, and there are normal cargo locations on the same shelf. At this time, it can be determined that the cause of the abnormality is the abnormality of the first cargo location, that is, there is an abnormality in the position of the first cargo location, which causes the inspection equipment to fail to pick up and place cargo boxes normally.

[0109] Optionally, when the second cargo location is a shelf belonging to the same shelf layer as the first cargo location, it can be preliminarily determined that the cause of the abnormality is a shelf layer abnormality or a first cargo location abnormality based on the usage status of at least one second cargo location. For example, it can be determined that the usage status of multiple second cargo locations on the same shelf layer as the first cargo location are all abnormal, or when the number of second cargo locations with abnormal usage status meets a preset condition, it is determined that the cause of the abnormality is a shelf layer reason; otherwise, it is a first cargo location reason.

[0110] Step 403: when the use status of at least one second cargo location is abnormal, determine that the abnormal cause is an abnormality of the first shelf or an abnormality of the inspection device.

[0111] In some embodiments, when the usage status of at least one second cargo location is abnormal, for example, when the usage status of multiple checked second cargo locations are all abnormal, it can be preliminarily determined that there is an abnormality with the first shelf as a whole, for example, the first shelf is abnormally tilted due to uneven ground, or there may be an abnormality with the inspection equipment, for example, there may be an abnormality with the inspection equipment itself, or the ground may be uneven, causing the inspection equipment to tilt and unable to perform inspection normally, etc.

[0112] Optionally, it can be determined that the first shelf is abnormal or the inspection device is abnormal when multiple second cargo locations have abnormalities; it can also be determined that the first shelf is abnormal or the inspection device is abnormal when the number ratio of abnormalities in the second cargo locations reaches a certain threshold.

[0113] In some embodiments, determining the cause of the abnormality includes: when the usage status of the first cargo location is abnormal, using the inspection cargo box to perform a pick-and-place operation at the target position of at least one third cargo location, determining the usage status of at least one third cargo location, the first cargo location is a cargo location on the first shelf, and the third cargo location is a cargo location on the second shelf; when the usage status of at least one second cargo location is normal, determining the cause of the abnormality is an abnormality of the first shelf; when the usage status of at least one second cargo location is abnormal, determining the cause of the abnormality is an abnormality of the inspection equipment.

[0114] In other words, the cause of the abnormality can be preliminarily determined based on the status of the cargo locations on different shelves. The third cargo location and the first cargo location are both determined based on the inspection instructions and are the cargo locations that need to be inspected. That is, the inspection instructions can be used to instruct the inspection equipment to inspect multiple cargo locations on different shelves.

[0115] Optionally, when the inspection device determines that the usage status of the first cargo location is abnormal, the inspection device can inspect cargo locations on different shelves to determine the usage status of the third cargo location. Optionally, when the trial status of at least one third cargo location is normal, it means that the inspection device can inspect the cargo locations on the second shelf normally, and there is no abnormality in the inspection of the second shelf. At this time, it can be preliminarily determined that the cause of the abnormality is the abnormality of the first shelf; when the usage status of at least one second cargo location is abnormal, it can be preliminarily determined that the cause of the abnormality is the abnormality of the inspection device, that is, when the inspection device finds abnormalities in inspections of multiple shelves, it may be that the inspection device has an abnormality, resulting in an abnormal inspection result; or it may be that both the first shelf and the second shelf have abnormalities, etc. Optionally, after the inspection device reports the preliminarily determined cause of the abnormality, the management system can analyze and determine the cause of the abnormality, or the relevant operators can be notified to investigate and determine the cause of the abnormality.

[0116] In some embodiments, determining the cause of the abnormality includes: when the inspection device cannot determine the usage status of the second cargo location or the third cargo location, determining that the cause of the abnormality is an abnormality of the inspection device.

[0117] Optionally, the inspection device cannot determine the usage status of the second cargo location or the third cargo location. It may be that the inspection device cannot move normally to the position of the second cargo location or the third cargo location, for example, the inspection device is stuck, damaged, or there is a power outage, etc. Therefore, it can be determined that the cause of the abnormality is an abnormality of the inspection device.

[0118] Optionally, when the inspection device cannot move or cannot perform an inspection operation, the inspection device can automatically restart. When the inspection device can move after the restart, the inspection device can continue to inspect the second cargo location or the third cargo location, and determine the cause of the abnormality based on the status of the second cargo location or the third cargo location. When the inspection device cannot restart or still cannot move or cannot perform an inspection operation after restart, the cause of the abnormality can be reported to the management system as an unrecoverable abnormality of the inspection device. At this time, relevant operators can be notified to handle the abnormality of the inspection device.

[0119] In some embodiments, when the inspection device reports the position status of the first cargo location, in addition to the abnormal reason, it may also include at least one of the following: robot number, start time, end time, inspection box number, cargo location number, aisle, whether to inspect the inner box or the outer box, whether the inspection was not carried out due to a box occupying it, the reason for not inspecting, the target position of the first cargo location, etc.

[0120] In summary, the above embodiments of the present disclosure can preliminarily determine and report the abnormal cause when the usage status of the first cargo space is abnormal, so as to facilitate timely determination and processing of the abnormal cause of the cargo space, thereby improving the efficiency of processing the abnormal status.

[0121] The technical solution of the present disclosure is further described in detail below in conjunction with specific application examples.

[0122] The following is a specific implementation method of a cargo box inspection method provided by an embodiment of the present disclosure. In this solution, the robot can receive inspection tasks from the management system, perform a cargo box pick-up and put-down operation on each cargo location in the inspection area, realize the inspection of the cargo location, determine the status of the cargo location, and facilitate adjustments when there are abnormalities in the cargo location to avoid affecting the robot's pick-up and put-down of the box.

[0123] The inspection task is used to instruct the robot to inspect multiple cargo locations in a specific area. An inspection task can include multiple inspection subtasks. An inspection of a cargo location (one box pick-up and drop-down action) is one inspection subtask.

[0124] Specifically, when the management system is a robot management system RMS, the solution includes the following:

[0125] The robot receives the inspection task issued by the management system (such as RMS), and the inspection parameters of the inspection task include at least one of the following: inspection area, inspection type, robot used to perform the inspection task, inspection container used for inspection, and inspection task code; the robot determines the inspection container, inspection area and inspection task code specified by the RMS based on the inspection task, the robot uses the inspection container to inspect the cargo locations in the inspection area to determine the cargo location status, and generates the inspection results based on the cargo location status; the robot reports the inspection results to the RMS.

[0126] Furthermore, the robot can determine the cargo location that needs to be inspected through the inspection task and obtain the location information of the cargo location that needs to be inspected. The robot moves to the location information of the inspection cargo location, performs pick-and-place operations on the inspection cargo box at the cargo location, and determines the cargo location status based on the results of the pick-and-place operations.

[0127] Furthermore, after the robot moves to the location of the inspection cargo location indicated by the RMS, it scans the cargo location code. When there is no abnormality in the cargo location code, the robot determines whether there are other items besides the inspection cargo box in the cargo location at the location indicated by the RMS. If not, the robot picks and places the inspection cargo box at the location indicated by the RMS.

[0128] Among them, the abnormality of the cargo location code may mean that the robot successfully scans the cargo location code at the position indicated by the RMS but the camera detects that the cargo location code is incomplete or tilted; or the robot fails to successfully scan the cargo location code at the position indicated by the RMS.

[0129] If the robot determines that there is an abnormality in the cargo location code at the position indicated by RMS, the robot adjusts its own position or the position of the pick-and-place mechanism so that the robot can scan the cargo location code and there is no abnormality in the position of the cargo location code (for example, the position of the cargo location code is opposite to the position of the robot's pick-and-place mechanism, or the position of the cargo location code is within a preset range, etc.). At this time, the robot determines whether there are other items besides the inspection cargo box in the cargo location at the adjusted position, and picks and places the inspection cargo box at the adjusted position.

[0130] Furthermore, if there are other items in the cargo space besides the inspected cargo box, and the inspection task indicates that the robot needs to inspect the existing cargo space with boxes, the robot will move the items on the cargo space to a nearby empty space, and then perform the inspection cargo box pick-up and placement operation; if there are other items, and the inspection task indicates that the robot does not need to inspect the existing cargo space with boxes, the robot will move to the next cargo space that needs to be inspected.

[0131] Furthermore, when the robot confirms that there is an abnormality in the cargo location code or the robot fails to pick up and place a box in the cargo location, the status of the cargo location is determined to be an abnormal state. If the robot determines that there is no abnormality in the cargo location code and the robot successfully completes the picking and placing of the inspection box at the location indicated by the RMS, the status of the cargo location is determined to be a normal state.

[0132] Furthermore, if an abnormality occurs during the inspection of the current cargo location, but the robot is movable, the robot can skip the inspection of the current cargo location and inspect the next cargo location; if an abnormality occurs during the inspection of the current cargo location, and the robot cannot move and cannot work, the robot performs a restart operation, and after restarting, it skips the inspection of the current cargo location and inspects the next cargo location.

[0133] Furthermore, if the robot can complete the inspection of the next cargo location normally, it can be preliminarily determined that there is a problem with the current cargo location; if an exception occurs when the robot inspects the next cargo location, or if an exception occurs when the robot inspects multiple cargo locations in succession, it can be preliminarily determined that there is a problem with the inspection robot; if the robot still cannot skip the inspection of the current cargo location after restarting, it can be preliminarily determined that there is a problem with the robot; if the robot cannot restart automatically, it is determined that there is a problem with the robot and manual processing is required.

[0134] Specifically, the inspection results reported by the robot may include the transaction number, cargo location status, robot number, start time, end time, inspected cargo box number, cargo location number, aisle, whether to inspect the inner or outer box, whether the inspection was not carried out due to a box being occupied, the reason for not inspecting, the robot's adjusted position, etc.

[0135] Furthermore, the above-mentioned "performing a pick-up and place-down operation" refers to: for the RS robot, the RS robot places the target cargo box (the cargo box specified by the RMS) on the target cargo position and takes it out from the target cargo position. For the P40 robot, the P40 robot lifts the target cargo box to the target cache position and takes the target cargo box out from the target cache position.

[0136] Optionally, the robot can determine the inspection mode according to the inspection task, and the inspection mode is used to indicate the order and rules for the robot to inspect the inspection area. The robot can inspect the inspection area in the order or rules indicated by the inspection mode, such as inspecting by shelf, inspecting from high to low, inspecting from low to high, or inspecting by layer, or when the inspection location type includes offline workstations, inspecting the offline workstations last, etc.; or when the robot is an RS type robot, it can lower the height before switching inspection aisles, etc.

[0137] Alternatively, when the robot receives multiple inspection tasks, the robot can perform the inspections sequentially in the order indicated by the RMS.

[0138] If the inspection mode is not configured for the inspection task, the robot can perform inspections according to the default inspection sequence or rules.

[0139] Specifically, after all inspection subtasks included in the inspection task are completed, the inspection task is completed, and the robot can place the inspection cargo box at the cargo position corresponding to the last inspection subtask after the inspection task is completed.

[0140] After the robot reports the inspection results to RMS, RMS can export the inspection result report, such as Figure 5The report can include all inspection parameters of the inspection task and the inspection results of this inspection task, such as the number of abnormal storage locations, the coordinates of abnormal storage locations, the proportion of abnormal storage locations to the total number of shelf storage locations, and the abnormality code and reason for each abnormal storage location.

[0141] Optionally, the robot can receive a patrol cancellation instruction issued by the RMS, cancel the patrol task based on the patrol cancellation instruction, and stop patrolling. At this time, the robot can record the patrol progress and report it.

[0142] In summary, the above-mentioned embodiments of the present disclosure can inspect the cargo locations in the warehouse, determine the status of the cargo locations, and facilitate timely processing of cargo locations in abnormal status, thereby avoiding the situation where the robot cannot normally pick up and place boxes due to errors, thereby affecting work efficiency; multiple robots can conduct inspections in the warehouse at the same time to improve inspection efficiency.

[0143] Figure 6 A schematic diagram of the structure of a patrol inspection device 600 proposed in an embodiment of the present disclosure is shown in FIG. Figure 6 As shown, the device includes: a receiving module 610, used to receive an inspection instruction and determine an inspection area according to the inspection instruction; a processing module 620, used to check the position status of at least one first cargo position in the inspection area according to the inspection instruction; and a sending module 630, used to report the position status of at least one first cargo position to the management system.

[0144] In some embodiments, the processing module is also used to determine the coordinates of the first cargo location according to the inspection indication; identify the identification of the first cargo location at the coordinates of the first cargo location to determine the identification status of the first cargo location; scan the cargo space of the first cargo location to determine the occupancy status of the first cargo location; use the inspection cargo box to perform pick-and-place operations at the target position of the first cargo location to determine the usage status of the first cargo location.

[0145] In some embodiments, the processing module is also used to move the inspection device to the coordinates of the first cargo location, and identify the identification code of the first cargo location at the coordinates of the first cargo location; when the identification code of the first cargo location is recognized normally, the identification state of the first cargo location is determined to be a normal state, and the coordinates of the first cargo location are determined to be the target position of the first cargo location; when the identification code of the first cargo location is recognized abnormally, the identification state of the first cargo location is determined to be an abnormal state, the inspection device adjusts its own position relative to the ground, or the inspection device adjusts the position of the pick-and-place structure until the identification code of the cargo location can be recognized normally at the first cargo location, and the adjusted position is determined to be the target position of the first cargo location.

[0146] In some embodiments, the processing module is also used to determine whether to skip the inspection of the first cargo location according to the inspection indication when the occupancy status of the first cargo location is occupied; when it is determined to skip the inspection of the first cargo location according to the inspection indication, the usage status of the first cargo location is determined to be uninspected, and the inspection equipment continues to determine the position status of the second cargo location, and the second cargo location is the next inspection location of the first cargo location; when it is determined not to skip the inspection of the first cargo location according to the inspection indication, the inspection equipment takes out the items occupying the first cargo location and determines the usage status of the first cargo location.

[0147] In some embodiments, the processing module is also used to determine the inspection cargo box according to the inspection indication; after the inspection equipment places the inspection cargo box in the first cargo position at the target position, it takes out the inspection cargo box from the first cargo position; the inspection equipment can determine that the use status of the first cargo position is normal when placing and taking out the inspection cargo box in the first cargo position; when the inspection equipment cannot place the inspection cargo box in the first cargo position, or cannot take out the inspection cargo box, it determines that the use status of the first cargo position is abnormal, and determines the cause of the abnormality.

[0148] In some embodiments, the processing module is also used to use the inspection cargo box to perform a pick-and-place operation at the target position of at least one second cargo location when the usage status of the first cargo location is abnormal, and determine the usage status of at least one second cargo location, and the second cargo location and the first cargo location are cargo locations on the first shelf; when the usage status of at least one second cargo location is normal, determine the cause of the abnormality as abnormality of the first cargo location; when the usage status of at least one second cargo location is abnormal, determine the cause of the abnormality as abnormality of the first shelf, or abnormality of the inspection equipment.

[0149] In some embodiments, the processing module is also used to use the inspection cargo box to perform a pick-and-place operation at the target position of at least one third cargo location when the usage status of the first cargo location is abnormal, and determine the usage status of at least one third cargo location, the first cargo location is the cargo location on the first shelf, and the third cargo location is the cargo location on the second shelf; when the usage status of at least one second cargo location is normal, determine that the cause of the abnormality is an abnormality of the first shelf; when the usage status of at least one second cargo location is abnormal, determine that the cause of the abnormality is an abnormality of the inspection equipment.

[0150] In some embodiments, the processing module is further configured to determine that the cause of the abnormality is an abnormality of the inspection device when the inspection device cannot determine the usage status of the second cargo location or the third cargo location.

[0151] In some embodiments, the processing module is further used to determine that the inspection instruction is completed after the last first cargo position in the inspection area is checked for position status; after determining that the inspection instruction is completed, place the inspection cargo box on the last first cargo position.

[0152] In some embodiments, the receiving module is further configured to receive a patrol inspection cancellation instruction, and stop checking the position status of the first cargo location based on the patrol inspection cancellation instruction.

[0153] In some embodiments, the sending module is further used to report the location status of the first cargo location that has completed inspection to the management system.

[0154] The present disclosure also provides a storage system, such as Figure 1 It is a schematic diagram of the structure of the storage system 100, which includes: a management system 10 and inspection equipment 20, wherein the management system may be, for example, a robot management system.

[0155] In some embodiments, the management system 10 can be used to determine a first inspection parameter; based on the first inspection parameter, generate an inspection instruction, the inspection instruction is used for the inspection device to check the position status of at least one first cargo position on the first shelf; and send the inspection instruction to the inspection device.

[0156] In some embodiments, the management system 10 can also be used to receive a first instruction triggered by a user's trigger operation through an inspection creation interface, and determine the first inspection parameter based on the first instruction; obtain historical inspection instructions of the first cargo location, and determine the first inspection parameter based on the historical inspection instructions; receive a second instruction from a third-party device, and determine the first inspection parameter based on the second instruction.

[0157] In some embodiments, the first inspection parameter includes at least one of the following: an inspection area, used to indicate the first area that needs to be inspected; an inspection object, used to indicate at least one of the identification of the first cargo location that needs to be inspected, the identification of the shelf layer where the first cargo location is located, and the identification of the shelf where the first cargo location is located; an inspection type, used to indicate the type of the first cargo location; an inspection equipment identification, used to indicate the inspection equipment that executes the inspection instruction; an inspection container identification, used to indicate the container used to execute the inspection instruction; an inspection instruction code, used to indicate the task code of the inspection instruction.

[0158] In some embodiments, the management system 10 can also be used to determine whether the first area indicated by the first instruction includes at least one first shelf; if the first area includes at least one first shelf, determine the inspection object indicated by the inspection; if the first area does not include at least one first shelf, display a first prompt window, and the first prompt window is used to prompt that the area selection fails.

[0159] In some embodiments, the management system 10 can also be used to determine the at least one first shelf as the inspection object of the inspection indication; or, display a second prompt window, the second prompt window is used to select the shelf layer or the cargo location of the at least one first shelf; receive a third instruction, the third instruction includes the first shelf layer or the first cargo location of the selected at least one first shelf, and determine the first shelf layer or the first cargo location as the inspection object of the inspection indication.

[0160] In some embodiments, the management system 10 may also be used to determine the inspection type indicated by the first instruction; and determine the inspection device according to the inspection type.

[0161] In some embodiments, the management system 10 can also be used to display a third prompt window when the inspection type is the first type, and the third prompt window is used to select the inspection device; receive a fourth instruction, and the fourth instruction includes the selected inspection device identifier or inspection device type; when the inspection device identifier or inspection device type indicated by the fourth instruction does not match the first type, display a fourth prompt window, and the fourth prompt window is used to prompt that the inspection device selection fails; when the inspection device identifier or inspection device type indicated by the fourth instruction matches the first type, the inspection device corresponding to the inspection device identifier or inspection device type indicated by the fourth instruction is determined as the inspection device that executes the inspection instruction.

[0162] In some embodiments, the management system 10 can also be used to display a fifth prompt window when the inspection type is the first type, and the fifth prompt window is used to prompt the inspection device identifier or the inspection device type corresponding to the first type; the inspection device corresponding to the inspection device identifier or the inspection device type prompted by the fifth prompt window is determined as the inspection device that executes the inspection instruction.

[0163] In some embodiments, the management system 10 may also be used to verify the first inspection parameter; and when the first inspection parameter verification is successful, the inspection indication is generated based on the first inspection parameter.

[0164] In some embodiments, the management system 10 can also be used to determine that the first inspection area in the first inspection parameter has been successfully verified when there is no overlap between the first inspection area in the first inspection parameter and the second inspection area in the historical inspection indication; determine that the first inspection device in the first inspection parameter has been successfully verified when the state of the first inspection device in the first inspection parameter is an idle state; determine that the first inspection container in the first inspection parameter has been successfully verified when there is a first inspection container in the first inspection area in the first inspection parameter and the state of the first inspection container is an idle state; determine that the inspection indication code in the first inspection parameter has been successfully verified when the inspection indication code is different from the second inspection indication code in the historical inspection indication.

[0165] In some embodiments, the management system 10 can also be used to, when the first inspection area in the first inspection parameter overlaps with the second inspection area in the historical inspection indication, eliminate the overlapping part of the first inspection area and the second inspection area, generate a third inspection area, and determine that the third inspection area is successfully verified; when the state of the first inspection device in the first inspection parameter is a busy state, confirm the first time when the first inspection device resumes the idle state, determine that the verification success time of the first inspection device is the first time, and determine that the first inspection device executes the inspection indication after the first time; when there is a first inspection container in the first inspection area in the first inspection parameter and the state of the first inspection container is an occupied state, determine the second inspection container that is idle in the first inspection area, and confirm that the second inspection container is successfully verified and is used to execute the inspection indication; when the inspection indication code in the first inspection parameter is the same as the second inspection indication code in the historical inspection indication, generate a third inspection code, determine that the third inspection code is the code of the inspection indication, and confirm that the third inspection indication code is successfully verified.

[0166] In some embodiments, the management system 10 can also be used to receive query instructions, determine the inspection indications to be queried and / or the inspection parameters of the inspection indications to be queried according to the query instructions, and display the inspection indications to be queried and / or the inspection parameters of the inspection indications to be queried; receive export instructions, determine the inspection indications to be exported and / or the inspection parameters of the inspection indications to be exported according to the export instructions, and export the inspection indications to be exported and / or the inspection parameters of the inspection indications to be exported.

[0167] In some embodiments, the management system 10 can also be used to receive inspection indication information reported by the inspection equipment, the inspection indication information including at least one of the position status of the first cargo location, the status of the inspection equipment, and the status of the inspection indication; determine the display mode of the inspection indication information according to the inspection indication information, the display mode including at least one of the following: color, transparency, text and mask effect; and display the inspection indication information through the inspection display interface using the display mode of the inspection indication information.

[0168] In some embodiments, the inspection device 20 is used to receive inspection instructions and determine an inspection area based on the inspection instructions; check the position status of at least one first cargo location in the inspection area based on the inspection instructions; and report the position status of the at least one first cargo location to the management system.

[0169] In some embodiments, the inspection device 20 can also be used to identify the identification of the first cargo location at the coordinates of the first cargo location, and determine the identification status of the first cargo location; scan the cargo space of the first cargo location to determine the occupancy status of the first cargo location, and the occupancy status is used to indicate whether the first cargo location is occupied; use the inspection cargo box to perform pick-and-place operations at the target position of the first cargo location, and determine the usage status of the first cargo location, and the usage status is used to indicate whether the first cargo location can be used to pick up and place cargo boxes.

[0170] In some embodiments, the inspection device 20 can also be used to determine the coordinates of the first cargo location according to the inspection indication; the inspection device moves to the coordinates of the first cargo location, and identifies the identification code of the first cargo location at the coordinates of the first cargo location; when the identification code of the first cargo location is recognized normally, the identification state of the first cargo location is determined to be a normal state, and the position corresponding to the coordinates of the first cargo location is determined to be the target position of the first cargo location; when the identification code of the first cargo location is recognized abnormally, the identification state of the first cargo location is determined to be an abnormal state, the inspection device adjusts its own position relative to the ground, or the inspection device adjusts the position of the pick-and-place structure, until the identification code of the cargo location can be recognized normally at the first cargo location, and the adjusted position is determined to be the target position of the first cargo location.

[0171] In some embodiments, the inspection device 20 can also be used to determine whether to skip the inspection of the first cargo location according to the inspection indication when the occupancy status of the first cargo location is occupied; when it is determined to skip the inspection of the first cargo location according to the inspection indication, it is determined that the first cargo location has not been inspected, and the inspection device continues to determine the position status of the second cargo location, and the second cargo location is the next inspection location of the first cargo location; when it is determined not to skip the inspection of the first cargo location according to the inspection indication, the inspection device takes out the items occupying the first cargo location and determines the usage status of the first cargo location.

[0172] In some embodiments, the inspection device 20 can also be used to determine the inspection cargo box according to the inspection indication; the inspection device takes out the inspection cargo box from the first cargo position after placing the inspection cargo box in the first cargo position at the target position; the inspection device can determine that the usage status of the first cargo position is that it can be used for picking up and placing cargo boxes when placing and taking out the inspection cargo box in the first cargo position; when the inspection cargo box cannot be placed in the first cargo position or cannot be taken out, the inspection device determines that the usage status of the first cargo position is that it cannot be used for picking up and placing cargo boxes, and determines the cause of the abnormality.

[0173] In some embodiments, the inspection device 20 can also be used to perform pick-up and placement operations at the target position of at least one second cargo location using an inspection cargo box when the usage status of the first cargo location is that it cannot be used for picking up and placing cargo boxes, and determine the usage status of the at least one second cargo location, where the second cargo location and the first cargo location are cargo locations on the first shelf; when the usage status of the at least one second cargo location is that it can be used for picking up and placing cargo boxes, determine that the cause of the abnormality is an abnormality in the first cargo location; when the usage status of the at least one second cargo location is that it cannot be used for picking up and placing cargo boxes, determine that the cause of the abnormality is an abnormality in the first shelf, or an abnormality in the inspection device.

[0174] In some embodiments, the inspection device 20 can also be used to perform pick-up and placement operations using the inspection cargo box at the target position of at least one third cargo location when the usage status of the first cargo location is that it cannot be used for picking up and placing cargo boxes, and determine the usage status of the at least one third cargo location, the first cargo location being a cargo location on the first shelf, and the third cargo location being a cargo location on the second shelf; when the usage status of the at least one second cargo location is that it can be used for picking up and placing cargo boxes, determine that the cause of the abnormality is an abnormality of the first shelf; when the usage status of the at least one second cargo location is that it cannot be used for picking up and placing cargo boxes, determine that the cause of the abnormality is an abnormality of the inspection device.

[0175] In some embodiments, the inspection device 20 may also be used to determine that the cause of the abnormality is an abnormality of the inspection device when the inspection device cannot determine the usage status of the second cargo location or the third cargo location.

[0176] In some embodiments, the inspection device 20 can also be used to determine that the inspection instruction is completed after the last first cargo position inspection position status in the inspection area is completed; after determining that the inspection instruction is completed, place the inspection cargo box on the last first cargo position.

[0177] In some embodiments, the inspection device 20 can also be used to receive an inspection cancellation instruction, and stop checking the position status of the first cargo location based on the inspection cancellation instruction; and report the position status of the first cargo location whose inspection has been completed to the management system. Figure 7 A schematic diagram of an electronic device provided in an embodiment of the present disclosure. In some embodiments, the electronic device includes one or more processors and a memory. The memory is configured to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method in the above embodiment. Figure 7 As shown, the electronic device 700 includes: a processor (processor) 701 and a memory 702. Exemplarily, the electronic device 700 may also include: a communication interface (Communications Interface) 703 and a communication bus 704.

[0178] The processor 701, the memory 702 and the communication interface 703 communicate with each other via a communication bus 704. The communication interface 703 is used to communicate with other devices such as a client or a network element of another server.

[0179] In some embodiments, the processor 701 is used to execute a program 705, and specifically can execute the above-mentioned, and specifically can execute the relevant steps in the above-mentioned method embodiment. Exemplarily, the program 705 may include a program code, and the program code includes a computer executable instruction.

[0180] Exemplarily, the processor 701 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The electronic device 700 may include one or more processors, which may be processors of the same type, such as one or more CPUs, or processors of different types, such as one or more CPUs and one or more ASICs.

[0181] In some embodiments, the memory 702 is used to store the program 705. The memory 702 may include a high-speed RAM memory, and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0182] The program 705 can be specifically called by the processor 701 to enable the electronic device 700 to execute the method shown in any of the above embodiments.

[0183] An embodiment of the present disclosure provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on an electronic device 700, the electronic device 700 executes the method in the above embodiment.

[0184] For example, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0185] The beneficial effects that can be achieved by the handling device, storage system, electronic device and computer-readable storage medium provided by the embodiments of the present disclosure can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0186] The embodiments of the present disclosure further provide a computer program product, including a computer program, which executes the method described in the above embodiments of the present disclosure when a processor is used.

[0187] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0188] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0189] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0190] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processing module, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (control method), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0191] It should be understood that the various parts of the embodiments of the present disclosure can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0192] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0193] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0194] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, substitute and vary the above embodiments within the scope of the present disclosure.

Claims

1. A patrol inspection method, characterized in that: The method is performed by a patrol inspection device, and the method includes: receiving an inspection instruction and determining an inspection area according to the inspection instruction; According to the inspection instruction, checking the position status of at least one first cargo position in the inspection area; Reporting the location status of the at least one first cargo location to the management system.

2. The method according to claim 1, characterized in that The step of checking the position status of at least one first cargo position in the inspection area according to the inspection instruction includes at least one of the following: Identify the identification of the first cargo location at the coordinates of the first cargo location, and determine the identification status of the first cargo location; Scanning a cargo space of a first cargo location to determine an occupancy status of the first cargo location, where the occupancy status is used to indicate whether the first cargo location is occupied; A pick-up and place operation is performed using an inspection container at a target position of a first cargo location, and a use status of the first cargo location is determined, wherein the use status is used to indicate whether the first cargo location can be used to pick up and place a container.

3. The method according to claim 2, characterized in that The step of identifying the identification of the first cargo location at the coordinates of the first cargo location and determining the identification status of the first cargo location includes: Determining the coordinates of the first cargo location according to the inspection instruction; The inspection device moves to the coordinates of the first cargo location, and identifies the identification code of the first cargo location at the coordinates of the first cargo location; When the identification code of the first cargo location is recognized normally, determining that the identification state of the first cargo location is a normal state, and determining that the position corresponding to the coordinates of the first cargo location is the target position of the first cargo location; When the identification code of the first cargo location is recognized abnormally, the identification status of the first cargo location is determined to be an abnormal status, and the inspection device adjusts its own position relative to the ground, or the inspection device adjusts the position of the pick-and-place structure until the identification code of the cargo location can be normally recognized at the first cargo location, and the adjusted position is determined to be the target position of the first cargo location.

4. The method according to claim 2, characterized in that: The method further comprises: When the occupation status of the first cargo position is occupied, determining whether to skip the inspection of the first cargo position according to the inspection instruction; When it is determined to skip the inspection of the first cargo position according to the inspection instruction, it is determined that the first cargo position has not been inspected, and the inspection device continues to determine the position status of the second cargo position, and the second cargo position is the next inspection cargo position of the first cargo position; When it is determined not to skip the inspection of the first cargo location according to the inspection instruction, the inspection device takes out the items occupying the first cargo location and determines the usage status of the first cargo location.

5. The method according to claim 2, characterized in that: The step of performing a pick-up and place operation using the inspection box at the target position of the first cargo position and determining the usage status of the first cargo position includes: Determining the inspection cargo box according to the inspection instruction; After the inspection device places the inspection container in the first cargo position at the target position, the inspection container is taken out from the first cargo position; The inspection device may determine that the use status of the first cargo position is that the first cargo position can be used for placing and retrieving cargo boxes when placing and retrieving inspection cargo boxes at the first cargo position; When the inspection cargo box cannot be placed in the first cargo position or cannot be taken out, the inspection device determines that the use status of the first cargo position is not usable for taking or placing cargo boxes, and determines the cause of the abnormality.

6. The method according to claim 4, characterized in that Determining the abnormal cause includes: When the use status of the first cargo position is that it cannot be used for picking up and placing cargo boxes, a pick-up and placement operation is performed using an inspection cargo box at a target position of at least one second cargo position, and the use status of the at least one second cargo position is determined, and the second cargo position and the first cargo position are cargo positions on the first shelf; When the use status of the at least one second cargo position is that it can be used to pick up and place cargo boxes, determining that the cause of the abnormality is that the first cargo position is abnormal; When the use status of the at least one second cargo space is that it cannot be used for taking and placing cargo boxes, it is determined that the cause of the abnormality is that the first shelf is abnormal, or the inspection device is abnormal.

7. The method according to claim 4, characterized in that Determining the abnormal cause includes: When the use status of the first cargo position is that it cannot be used for picking up and placing cargo boxes, a pick-up and placement operation is performed using an inspection cargo box at a target position of at least one third cargo position, and the use status of the at least one third cargo position is determined, the first cargo position is a cargo position on the first shelf, and the third cargo position is a cargo position on the second shelf; When the use status of the at least one second cargo space is that it can be used to pick up and place cargo boxes, determining that the abnormality cause is that the first shelf is abnormal; When the use status of the at least one second cargo position is that it cannot be used for taking or placing cargo boxes, it is determined that the cause of the abnormality is that the inspection device is abnormal.

8. The method according to claim 5 or 6, characterized in that: Determining the abnormal cause includes: When the inspection device cannot determine the usage status of the second cargo location or the third cargo location, it is determined that the abnormality cause is an abnormality of the inspection device.

9. The method according to claim 2, characterized in that: The method further comprises: After the last first cargo position inspection status in the inspection area is completed, determining that the inspection indication is completed; After determining that the inspection instruction is completed, the inspection cargo box is placed on the last first cargo position.

10. The method according to claim 1, characterized in that The method further comprises: receiving a patrol inspection cancellation instruction, and stopping the inspection of the position status of the first cargo position based on the patrol inspection cancellation instruction; The location status of the first cargo location that has completed the inspection is reported to the management system.

11. A patrol inspection device, characterized in that: include: A receiving module, used for receiving an inspection instruction and determining an inspection area according to the inspection instruction; A processing module, configured to check the position status of at least one first cargo position in the inspection area according to the inspection instruction; The sending module is used to report the location status of the at least one first cargo location to the management system.

12. A storage system, characterized in that: include: A management system, configured to determine a first inspection parameter, and after generating an inspection instruction based on the first inspection parameter, send the inspection instruction to the inspection device; The inspection device is used to execute the method according to any one of claims 1 to 10.

13. An electronic device, comprising: processor and memory, wherein The memory is used to store computer executable instructions; The processor is configured to read the instruction from the memory and execute the instruction to implement the method according to any one of claims 1 to 10.

14. A computer-readable storage medium, wherein: The storage medium stores computer program instructions, and when a computer reads the instructions, the method according to any one of claims 1 to 10 is executed.

15. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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