High-efficiency distributed robot cluster management method for supply chain storage

Abstract

The invention discloses a high-efficiency distributed robot cluster management method for supply chain storage. The high-efficiency distributed robot cluster management method comprises the following steps that S1, an inlet butt joint robot, an unloading robot, a stacking robot, a carrying robot, an outlet butt joint robot, a master control robot and a checking robot are arranged; s2, for articles to be delivered out of the warehouse, when the truck arrives at the entrance of the warehouse, the entrance docking robot commands the truck to be docked with a warehouse door; s3, after butt joint is completed, the unloading robot unloads; s4, after butt joint is completed, the stacking robot conducts stacking; s5, the general control robot determines the goods allocation of the goods, and the forklift starts to carry the goods; and S6, for articles to be delivered out of the warehouse, when the truck arrives at the warehouse exit, the forklift carries the articles to the warehouse exit, the exit docking robot commands the truck to be aligned with the warehouse exit, and after alignment, the carrying robot carries the articles. According to the invention, the overall operation task is distributed to other robots, the burden of the general control robot is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to a robot management method, in particular to a high-efficiency distributed robot cluster management method for supply chain warehousing. Background Art

[0002] In the traditional warehouse environment, logistics and transportation have long adopted a mode of manual operation combined with simple mechanical equipment. For example, the transportation of raw materials is basically controlled by forklift drivers who frequently travel between the warehouse and the production workshop to transfer the goods from the storage shelves to the beginning of the production line. The delivery of small parts within the workshop is either delivered by workers pushing carts or transported on fixed conveyor belts. This traditional model did play a key role in the early stages of factory production. However, with the continuous expansion of warehouse scale, the continuous increase in production efficiency standards, and the increasing complexity of product types, its defects have become increasingly prominent.

[0003] During manual handling and traditional transportation operations, errors frequently occur because they mainly rely on manual labor to record and identify attribute information. At the same time, many manual laborers are engaged in logistics and transportation, resulting in a high proportion of labor costs in the total cost of factory operations. With the continuous rise in labor market wages, the pressure of labor costs has become increasingly heavy, and warehouses have gradually tended to introduce robots for logistics management. Since factory logistics and transportation cover many links, if they are completely managed by robots without human intervention, multiple functions must be integrated into the control chip of each robot, which requires the control chip to have strong computing power. However, existing chips are insufficient in terms of performance. When calculating multiple algorithms in parallel, the computing efficiency is low, and it is difficult to meet the stringent requirements of warehouse fully automated logistics management for chip performance. This has largely limited the efficient application and promotion of robots in the fields of logistics and transportation and warehousing. Summary of the invention

[0004] The purpose of the present invention is to provide a high-efficiency distributed robot cluster management method for supply chain warehousing to solve the problem of low computing efficiency when implementing factory robot management in the prior art.

[0005] The object of the present invention is achieved in that:

[0006] A high-efficiency distributed robot cluster management method for supply chain warehousing includes the following steps:

[0007] S1. An entrance docking robot is installed above the warehouse entrance, an unloading robot is installed at the entrance, a palletizing robot is installed at the end of the conveyor belt, a handling robot is installed at the exit, and an exit docking robot is installed above the exit; a master control robot is installed in the master control room, an inventory robot is installed next to the shelf, and a dispatch terminal is installed on the forklift;

[0008] S2. For items to be stored, when the truck arrives at the warehouse entrance, the entrance docking robot directs the truck to align with the warehouse entrance gate, and after the alignment is completed, sends a docking completion message to the master control robot;

[0009] S3. The master control robot sends an unloading instruction to the unloading robot, and the unloading robot unloads the items on the truck onto the conveyor belt, identifies the attribute information of the items, counts the number of items, and sends the result to the master control robot;

[0010] S4. The master control robot sends a palletizing instruction to the palletizing robot, and the palletizing robot palletizes the items on the conveyor belt on the pallet, and sends the attribute information and the number of items on the pallet to the master control robot;

[0011] S5. The master control robot determines the corresponding cargo location of the items on the pallet according to the attribute information and quantity of the items sent by the palletizing robot, and sends the transport information to the dispatch terminal. The forklift driver transports the items on the pallet to the corresponding cargo location by the forklift according to the task of the dispatch terminal;

[0012] S6. For items to be shipped out, when the truck arrives at the warehouse exit, the exit docking robot directs the truck to align with the warehouse exit gate. After the alignment is completed, the docking completion information is sent to the master control robot. The forklift transports the items to the warehouse exit. The master control robot sends a transport instruction to the transport robot, and the transport robot transports the items on the forklift to the truck.

[0013] Furthermore, in step S2, the specific method in which the entrance docking robot directs the truck to align with the warehouse entrance gate is:

[0014] S2a-1. The entrance docking robot obtains the video stream of the truck;

[0015] S2a-2. The entrance docking robot determines the center line of the truck and the center line of the entrance gate according to the acquired video stream of the truck;

[0016] S2a-3. Determine whether the center line of the truck coincides with the center line of the entrance gate;

[0017] S2a-4. If they do not overlap, the entrance docking robot calculates the offset direction and offset of the truck, and outputs a voice command based on the offset direction and offset. If they overlap, it directly issues a voice command of "backward" until the rear of the truck is aligned with the warehouse entrance gate.

[0018] Furthermore, in step S5, the specific method of determining the cargo location corresponding to the items on the pallet is:

[0019] S5a-1. Determine the shelf corresponding to the item according to the category of the item on the pallet;

[0020] S5a-2. Determine the idle cargo space on the shelf based on the item information on the shelf;

[0021] S5a-3. Determine the storage location of the items on the pallet based on the idle storage locations.

[0022] Furthermore, the specific method of determining the cargo location of the item in step S5a-3 is:

[0023] S5a-3-1. Prioritize the price, volume, and production date of items;

[0024] S5a-3-2. If the storage location of items is determined by price, the prices of items on the pallet are compared, and the storage location of items with relatively high prices is an idle storage location at a high position; if the storage location of items is determined by volume, the volumes of items on the pallet are compared, and the storage location of items with relatively large volumes is an idle storage location at a high position; if the items are sorted from late to early according to production date, the production dates of items on the pallet are compared, and the storage location of items with relatively late production dates is an idle storage location at a high position.

[0025] Furthermore, the method further includes step S7 in which the master control robot sends an inventory instruction to the inventory counting robot, the inventory counting robot counts the items on the cargo location, and sends the inventory counting result to the master control robot.

[0026] Furthermore, the specific method for the inventory robot to inventory the items on the cargo space is as follows:

[0027] S7a-1. The inventory robot obtains the video stream of the cargo space, identifies the information of the items on the cargo space, counts the attribute information of the items on each cargo space, and sends it to the master control robot;

[0028] S7a-2. The inventory counting robot inputs the acquired video stream into the cargo damage identification model to determine whether the item is damaged. If damaged, the attribute information and location of the damaged item and the corresponding video stream are sent to the master control robot.

[0029] Furthermore, the inventory counting robot also performs sound monitoring of items in the warehouse:

[0030] The inventory counting robot collects sounds in the warehouse and determines whether any items have fallen based on the collected sounds.

[0031] Furthermore, an inspection terminal is provided, and the inspection terminal is used to receive inspection instructions sent by the master control robot. The inspection terminal receives the instructions of the master control robot and sends inspection personnel to conduct inspections.

[0032] The present invention dissects the overall computing tasks and arranges them in the robots in the warehouse respectively. By distributing the computing tasks to multiple robots, the tasks can be processed in parallel, the computing time can be reduced, and the overall cost can be reduced. The master control robot is only responsible for processing the information sent by the robots in the warehouse, which improves the efficiency of processing information. Each robot only processes the corresponding task, and the chip does not need to have efficient computing power to process the information, which improves the computing efficiency.

[0033] The present invention sets robots that perform different tasks in the warehouse, sets a master control robot in the master control room, and the robots in the warehouse receive the instructions of the master control robot and send the information of completing the task to the master control robot. The master control robot only needs to receive the information sent by the robots in the warehouse to grasp the overall operation of the warehouse, including the inventory layout, the task arrangement of goods in and out of the warehouse, and the working status of each robot. The master control robot also determines the storage location of the items according to the attribute information of the items and optimizes the storage space of the warehouse. In the warehouse, the master control robot checks the attribute information before and after the items are put into the warehouse, which further improves the accuracy of warehouse inventory management. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described below.

[0036] like Figure 1 As shown, the present invention provides a high-efficiency distributed robot cluster management method for supply chain warehousing, which specifically includes the following steps:

[0037] Warehouses are used to store items. They have an entrance and an exit. The entrance is the passage for items to enter the warehouse, and the exit is the passage for items to leave the warehouse. When a truck needs to deliver items to the warehouse, the truck needs to stop at the entrance of the warehouse. When a truck needs to transfer items out of the warehouse, the truck needs to stop at the exit of the warehouse. A conveyor belt leading to the interior is set at the entrance of the warehouse. Items on the truck can be placed on the conveyor belt from the entrance. A pallet is set at the end of the conveyor belt. Items on the conveyor belt can be stacked on the pallet. There are also shelves inside the warehouse. Items on the pallet can be transported to the shelves by forklifts to store items.

[0038] S1. An entrance docking robot is set above the warehouse entrance, an unloading robot is set at the entrance, a palletizing robot is set at the end of the conveyor belt, a handling robot is set at the exit, and an exit docking robot is set above the exit; a master control robot is set in the master control room, an inventory robot is set next to the shelf, and a dispatch terminal is set on the forklift. The master control robot is used to manage other robots.

[0039] The entrance docking robot, unloading robot, stacking robot, handling robot, exit docking robot and inventory counting robot are all equipped with cameras, controllers and network transmission modules. The master control robot is equipped with a controller and a network transmission module. The unloading robot, handling robot, stacking robot and inventory counting robot all include manipulators.

[0040] Using Industrial Wireless Networks for data transmission in warehouses.

[0041] When a truck carrying items arrives at the warehouse entrance by reversing, the entrance docking robot observes whether the truck and the warehouse door are aligned, and directs the truck to dock with the warehouse door accurately; the unloading robot moves the items from the truck to the conveyor belt and counts them; the stacking robot stacks the items on the conveyor belt onto the pallet; the handling robot moves the items from the forklift to the truck at the exit of the warehouse; the inventory robot counts the items on the shelves and sends the inventory results to the master control robot.

[0042] Each robot controls the network transmission module through its internal controller to receive and transmit information, which facilitates information exchange between the master control robot and each robot in the warehouse; the robot equipped with a manipulator controls the movement of the manipulator through its controller to grab objects; the robot equipped with a camera controls the camera to shoot video streams through its controller.

[0043] S2. For items to be stored, when the truck arrives at the warehouse entrance, the entrance docking robot directs the truck to dock with the warehouse entrance gate. After the docking is completed, the entrance docking robot sends a docking completion message to the master control robot.

[0044] Before the truck arrives at the warehouse entrance, the master control robot has already received the purchase order. The purchase order of the master control robot may be sent by an external system, such as the supplier's system.

[0045] The master control robot sends the truck's identification information to the entrance docking robot based on the purchase order. When a truck arrives at the warehouse entrance, the controller of the entrance docking robot controls the camera to obtain the truck's video stream, recognizes the truck's identification information, such as the license plate number, and checks whether the recognized license plate number is consistent with the truck's identification information sent by the master control robot. When they are consistent, the entrance docking robot opens the warehouse door by controlling the warehouse door button and directs the truck to dock with the warehouse door.

[0046] The entrance docking robot obtains the video stream of the truck, and determines the center line of the truck and the center line of the warehouse entrance gate through an image processing algorithm. Based on the center lines of the two, the offset direction and offset amount of the truck and the warehouse entrance gate are calculated. Based on the calculation results, the entrance docking robot issues voice commands, such as "adjust to the left", "adjust to the right", etc.; until the center line of the truck and the center line of the warehouse entrance gate are in a straight line, then the truck driver is instructed to reverse through voice commands, such as "start reversing" and "stop reversing", so that the rear of the truck is aligned with the warehouse entrance gate.

[0047] After the alignment is completed, the entrance docking robot sends a docking completion message to the master control robot so that the master control robot can direct the next stage of robot work.

[0048] S3. The master control robot sends an unloading instruction to the unloading robot. The unloading robot unloads the items on the truck onto the conveyor belt, identifies the attribute information of the items, counts the number of items, and sends the result to the master control robot.

[0049] The items in the present invention are usually standard items, such as rectangular or cube boxes, with attribute labels attached to the outside of the item boxes. The unloading robot and the palletizing robot use OCR technology to identify the attribute information on the attribute labels. The attribute information usually includes: item category, item name, item price, production date, manufacturer, item box size, etc.

[0050] After the master control robot receives the information that the entrance docking robot has completed the docking task, the master control robot sends an unloading instruction to the unloading robot. The unloading robot unloads the items from the truck to the conveyor belt, identifies the attribute tags of the unloaded items, and counts the number of items during the unloading process.

[0051] The unloading robot sends the counting results and attribute information of the items unloaded from the truck to the master control robot. The master control robot checks the counting results, attribute information of the items and the information of the purchase order, and issues an alarm when there is inconsistency in the category or quantity of the items.

[0052] After the unloading robot grabs the items on the truck with its manipulator and places them on the conveyor belt, the conveyor belt starts working until the items on it are conveyed to the end, waiting to be grabbed and palletized by the stacking robot.

[0053] S4. The master control robot sends a palletizing instruction to the palletizing robot. The palletizing robot palletizes the items on the conveyor belt on the pallet and sends the attribute information and quantity of the items on the pallet to the master control robot.

[0054] After the master control robot sends an unloading instruction to the unloading robot, the master control robot then sends a palletizing instruction to the stacking robot. The stacking robot identifies the attribute tags of the items on the conveyor belt, obtains the attribute information of the items, and stacks the items of the same category on the same pallet. When the items on the pallet are stacked, the attribute information of the stacked items is sent to the master control robot. Since the types of items on the truck may be different, multiple pallets are usually set at the end of the conveyor belt, and the items of the same category are placed on the same pallet, and the items of different categories are stacked on different pallets. The number of items stacked on the same pallet can be determined according to the stacking height. For example, when the height of the items stacked on a pallet reaches the set height, even if there are still items of the same category on the conveyor belt, another pallet should be changed for palletizing.

[0055] S5. The master control robot determines the corresponding cargo location of the items according to the attribute information of the palletized items sent by the palletizing robot, and sends the transport information to the dispatch terminal, and the forklift transports the items to the designated cargo location.

[0056] When palletizing is finished, the palletizing robot sends the palletizing completion information and the attribute information of the palletized items to the master control robot. The master control robot determines the shelf and layer number corresponding to the item based on the attribute information of the item.

[0057] When determining the storage location of items, the master control robot first finds the idle storage locations on the shelf, and then, based on the attribute information of the items stacked on the pallet, prioritizes placing items on the same pallet on the same shelf, and tries to make the existing items on the shelf and the items to be placed belong to the same category. For different layers on the shelf, the principle of placing valuable items upward, that is, the storage location of relatively expensive items is a high idle storage location; placing items with early production dates downward, that is, the storage location of items with relatively late production dates is determined as a high idle storage location; placing large items downward, that is, the storage location of relatively large items is a high idle storage location; placing items. Items with the same price, production date and volume are randomly arranged. When there are at least two different parameters among price, production date and volume, the priority of the parameters can be used to determine which parameter attribute to place according to. For example, you can set price as the first level, production date as the second level, and volume as the third level. Then, when the volume is the same but the price and production date are different, the items should be arranged according to their value, that is, high-priced items should be placed at the top and low-priced items should be placed at the bottom.

[0058] After the master control robot determines the placement of the items on the pallet, it sends the handling information to the dispatch terminal. The forklift driver uses the forklift to transport the items on the pallet to the shelf according to the instructions of the dispatch terminal on the forklift, and places the items on the corresponding shelf as required.

[0059] When the handling is completed, the forklift driver operates on the dispatch terminal and sends the task completion information to the master control robot.

[0060] S6. For items to be shipped out, when the truck arrives at the warehouse exit, the exit docking robot will check the truck. After the check is correct, the exit docking robot will command the truck to align with the warehouse exit door. After the alignment is completed, the docking completion information will be sent to the master control robot. The forklift will move the items to the warehouse exit. The master control robot will send a moving instruction to the handling robot, and the handling robot will move the items on the forklift to the truck.

[0061] Before the truck arrives at the warehouse exit, the master control robot has received the shipping order, which can be sent by an external system, such as the dealer's system. When the truck arrives at the warehouse exit, the truck's identification information is sent to the exit docking robot. The exit docking robot verifies the truck's identification information, that is, the license plate number. After the verification is correct, the exit docking robot sends the information that the truck has arrived to the master control robot. After that, the exit docking robot commands the tail of the truck to align with the warehouse exit. The exit docking robot and the entrance docking robot use the same method to command the truck to align with the warehouse entrance; after the docking is completed, the master control robot sends the docking completion information to the master control robot. After receiving the information that the truck has arrived sent by the exit docking robot, the master control robot determines the items to be shipped out according to the shipping order. The master control robot sends the attribute information and location of the items to be moved out to the dispatch terminal on the forklift. The forklift driver moves the items on the shelf to the warehouse exit by forklift according to the instruction information on the dispatch terminal, and sends the task information that the items have been moved to the exit to the master control robot through the dispatch terminal.

[0062] When the master control robot receives the docking completion information sent by the export docking robot and receives the task information sent by the dispatch terminal that the items have been moved to the export, the master control robot sends an instruction to start moving to the transport robot. The transport robot moves the items from the forklift to the truck and counts them, and sends the transport results and counting results to the master control robot. The master control robot checks the counting results with the shipping order. If the verification is correct, the transport results are saved. If the verification is incorrect, an alarm message is issued.

[0063] The master control robot summarizes the warehouse throughput every day and generates purchase and shipment records. To build a digital twin model of the warehouse, the master control robot collects data from robots in the warehouse and simulates the movement of robots in the digital twin model based on the size of the warehouse and the location, size, number of layers of shelves in the warehouse, and the width and length of the aisles as the basic geometric data of the digital twin model. The master control robot builds an item model in the digital twin model based on the item attribute information sent by the robots in the warehouse, and updates the digital twin model in real time based on the item attribute information sent by the robots in the warehouse, so as to keep abreast of the situation in the warehouse.

[0064] In the present invention, an exit docking robot and an entrance docking robot are used to direct the alignment of the truck with the warehouse door, thereby avoiding accidents when personnel are directing the alignment of the truck with the warehouse door.

[0065] S7. The master control robot sends a command to the inventory counting robot to start working. The inventory counting robot counts the items on the storage location and sends the counted information to the master control robot.

[0066] The master control robot determines whether there is a forklift carrying out transportation in the warehouse. Specifically, a camera can be installed in the warehouse. The master control robot obtains the video stream in the warehouse through the camera, identifies the video stream, and determines whether there is a forklift carrying out transportation in the warehouse. The master control robot can also determine whether there is a forklift carrying transportation in the warehouse by obtaining the information sent by the dispatching terminal. When the dispatching terminal has no unfinished tasks, it means that the forklift has stopped carrying transportation; otherwise, it means that the forklift is still carrying transportation in the warehouse.

[0067] When there is no forklift in the warehouse, the master control robot sends an inventory command to the inventory robot. The inventory robot counts the items on the shelf and sends the statistical information to the master control robot. It also obtains the video stream of the shelf to determine whether there are any damaged items. If there are damaged items, the damaged items are placed in the damaged area, and the attribute information and location of the damaged items and the corresponding video stream are sent to the master control robot.

[0068] The inventory robot identifies whether an item is damaged based on the cargo damage recognition model. The cargo damage model is pre-trained in advance. Specifically, video streams of various damaged items are used as samples in advance and input into the model for training to obtain the cargo damage recognition model.

[0069] The master control robot determines whether there are problems of missing goods or misplaced items based on the statistical information sent by the inventory robot and the previously recorded information about the items at each storage location in the warehouse. If misplaced items occur, staff will be sent to check.

[0070] Furthermore, the inventory counting robot can also recognize sounds. When an item falls next to the shelf, the inventory counting robot can promptly hear the sound of the item falling, sound an alarm, and upload the sound to the master control robot.

[0071] The robots in the warehouse are also equipped with warning lights, which will light up when an alarm is sounded.

[0072] Furthermore, an inspection terminal is provided, which is used to receive the inspection instructions sent by the master control robot and send inspection personnel to inspect. The master control robot sends the inspection instructions to the inspection terminal, and the inspection personnel hold the inspection terminal and conduct inspections according to the inspection instructions received by the inspection terminal. After the inspection is completed, the inspection terminal clicks "complete", and the inspection terminal sends the completion information to the master control robot.

Claims

1. A high-efficiency distributed robot cluster management method for supply chain warehousing, characterized in that: The steps include: S1. An entrance docking robot is installed above the warehouse entrance, an unloading robot is installed at the entrance, a palletizing robot is installed at the end of the conveyor belt, a handling robot is installed at the exit, and an exit docking robot is installed above the exit; a master control robot is installed in the master control room, an inventory robot is installed next to the shelf, and a dispatch terminal is installed on the forklift; S2. For items to be stored, when the truck arrives at the warehouse entrance, the entrance docking robot directs the truck to align with the warehouse entrance gate, and after the alignment is completed, sends a docking completion message to the master control robot; S3. The master control robot sends an unloading instruction to the unloading robot, and the unloading robot unloads the items on the truck onto the conveyor belt, identifies the attribute information of the items, counts the number of items, and sends the result to the master control robot; S4. The master control robot sends a palletizing instruction to the palletizing robot, and the palletizing robot palletizes the items on the conveyor belt on the pallet, and sends the attribute information and the number of items on the pallet to the master control robot; S5. The master control robot determines the corresponding cargo location of the items on the pallet according to the attribute information and quantity of the items sent by the palletizing robot, and sends the transport information to the dispatch terminal. The forklift driver transports the items on the pallet to the corresponding cargo location by the forklift according to the task of the dispatch terminal; S6. For items to be shipped out, when the truck arrives at the warehouse exit, the exit docking robot directs the truck to align with the warehouse exit gate. After the alignment is completed, the docking completion information is sent to the master control robot. The forklift transports the items to the warehouse exit. The master control robot sends a transport instruction to the transport robot, and the transport robot transports the items on the forklift to the truck.

2. The high-efficiency distributed robot cluster management method for supply chain warehousing according to claim 1, characterized in that: The specific method in which the entrance docking robot directs the truck to align with the warehouse entrance gate in step S2 is: S2a-1. The entrance docking robot obtains the video stream of the truck; S2a-2. The entrance docking robot determines the center line of the truck and the center line of the entrance gate according to the acquired video stream of the truck; S2a-3. Determine whether the center line of the truck coincides with the center line of the entrance gate; S2a-4. If they do not overlap, the entrance docking robot calculates the offset direction and offset of the truck, and outputs a voice command based on the offset direction and offset. If they overlap, it directly issues a voice command of "backwards" until the rear of the truck is aligned with the warehouse entrance gate.

3. The high-efficiency distributed robot cluster management method for supply chain warehousing according to claim 1, characterized in that: The specific method of determining the cargo location corresponding to the items on the pallet in step S5 is: S5a-1. Determine the shelf corresponding to the item according to the category of the item on the pallet; S5a-2. Determine the idle cargo space on the shelf based on the item information on the shelf; S5a-3. Determine the storage location of the items on the pallet based on the idle storage locations.

4. The high-performance distributed robot cluster management method for supply chain warehousing according to claim 3 is characterized in that: The specific method of determining the cargo location of the item in step S5a-3 is: S5a-3-1. Prioritize the price, volume, and production date of items; S5a-3-2. If the storage location of items is determined by price, the prices of items on the pallet are compared, and the storage location of items with relatively high prices is an idle storage location at a high position; if the storage location of items is determined by volume, the volumes of items on the pallet are compared, and the storage location of items with relatively large volumes is an idle storage location at a high position; if the items are sorted from late to early according to production date, the production dates of items on the pallet are compared, and the storage location of items with relatively late production dates is an idle storage location at a high position.

5. The high-performance distributed robot cluster management method for supply chain warehousing according to claim 1, characterized in that: The process also includes step S7, in which the master control robot sends an inventory instruction to the inventory counting robot, and the inventory counting robot counts the items on the cargo location and sends the inventory counting result to the master control robot.

6. The high-performance distributed robot cluster management method for supply chain warehousing according to claim 5, characterized in that: The specific way for the inventory robot to count the items on the shelf is as follows: S7a-1. The inventory robot obtains the video stream of the cargo space, identifies the information of the items on the cargo space, counts the attribute information of the items on each cargo space, and sends it to the master control robot; S7a-2. The inventory counting robot inputs the acquired video stream into the cargo damage identification model to determine whether the item is damaged. If damaged, the attribute information and location of the damaged item and the corresponding video stream are sent to the master control robot.

7. The high-performance distributed robot cluster management method for supply chain warehousing according to claim 6, characterized in that: The inventory counting robot also performs acoustic monitoring of items in the warehouse: The inventory counting robot collects sounds in the warehouse and determines whether any items have fallen based on the collected sounds.

8. The high-performance distributed robot cluster management method for supply chain warehousing according to claim 1, characterized in that: A patrol terminal is also provided, and the patrol terminal is used to receive patrol instructions sent by the master control robot. The patrol terminal receives the instructions of the master control robot and sends patrol personnel to conduct patrol inspections.

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