Inspection method, device and equipment and readable storage medium

Abstract

The invention discloses an inspection method, apparatus and device, and a readable storage medium. The method comprises the steps of firstly obtaining an inspection task, and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task; controlling a pick-and-place module to carry out pick-and-place operation on at least one to-be-inspected placement position on the at least one to-be-inspected carrier; the pick-and-place operation means that the pick-and-place module puts the target object into the hit to-be-inspected placement position or takes the target object out of the hit to-be-inspected placement position; generating an inspection result according to the pick-and-place operation result corresponding to each pick-and-place operation; therefore, the inspection of each to-be-inspected carrier is realized by taking and placing each to-be-inspected placement position on each to-be-inspected carrier once, so that the inspection precision can be improved, the situation of subsequent operation interruption caused by abnormality can be reduced, and the working efficiency of subsequent operation is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to an inspection method, device, equipment and readable storage medium. Background Art

[0002] In the warehousing and logistics system, in order to ensure the efficiency of subsequent operations, multiple shelves can be inspected before the operation to determine the status of each cargo location on the shelf, and when an abnormality is found in the cargo location on the shelf during the inspection, it can be handled in a timely manner to ensure the smooth progress of subsequent operations.

[0003] At present, the shelves can be inspected by image acquisition, that is, the shelf image is acquired by an image acquisition device (such as a camera) and the corresponding camera compensation value is obtained, and then the state of the shelf is determined by analyzing the camera compensation value. However, in actual applications, it is impossible to determine the exact location of the abnormal cargo compartment on the shelf by analyzing the camera compensation value, which will lead to poor inspection results. Summary of the invention

[0004] The present invention provides an inspection method, device, equipment and readable storage medium, which can complete the inspection of the shelf by performing pick-and-place operations on each cargo compartment on the shelf, improve the inspection accuracy and ensure the inspection effect.

[0005] Specifically, the embodiments of the present application disclose the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides an inspection method, the method comprising:

[0007] Obtaining an inspection task, and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task;

[0008] Controlling the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected; the pick-and-place operation refers to the pick-and-place module placing the target object into the hit placement position to be inspected, or taking the target object out of the hit placement position to be inspected;

[0009] An inspection result is generated according to the pick-and-place operation results corresponding to each of the pick-and-place operations.

[0010] In some embodiments, the control pick-and-place module performs a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected, including:

[0011] Control the pick-and-place module to move the target object to a first inspection placement position on a first inspection carrier; wherein at least one of the inspection carriers includes the first inspection carrier; the first inspection placement position refers to any inspection placement position of at least one of the inspection placement positions on the first inspection carrier;

[0012] Determine whether there is a second placement position to be inspected on the first vehicle to be inspected; wherein the second placement position to be inspected refers to any placement position to be inspected that has not been inspected on the first vehicle to be inspected;

[0013] If the second placement position to be inspected exists on the first carrier to be inspected, the pick-and-place module is controlled to take the target object out of the first placement position to be inspected and move it to the second vacant placement position.

[0014] In some embodiments, the method further comprises:

[0015] If it is determined that the first carrier to be inspected has completed the inspection and there is a second carrier to be inspected, the pick-and-place module is controlled to take out the target object from the first carrier to be inspected, and the pick-and-place module is controlled to move the target object to the inspection placement position hit on the second carrier to be inspected; wherein the second carrier to be inspected is a carrier waiting for inspection;

[0016] If it is determined that the first carrier to be inspected has completed the inspection and the second carrier to be inspected does not exist, the pick-and-place module is controlled to take out the target object from the first carrier to be inspected and the inspection ends.

[0017] In some embodiments, determining that the first vehicle to be inspected has completed inspection includes:

[0018] If the pick-and-place operation has been completed for the at least one placement position to be inspected on the first carrier to be inspected, it is determined that the inspection of the first carrier to be inspected has been completed.

[0019] In some embodiments, the method further comprises:

[0020] In response to the inspection instruction, determining the working mode of the pick-and-place module;

[0021] If the working mode of the pick-and-place module is the target working mode, at least one carrier to be inspected is determined from a plurality of carriers in the storage system, and the inspection task is generated based on the at least one carrier to be inspected;

[0022] If the working mode of the pick-and-place module is a non-target working mode, a switching instruction is generated; the switching instruction is used to instruct the pick-and-place module to switch the working mode to the target working mode.

[0023] In some embodiments, determining at least one carrier to be inspected from a plurality of carriers in the storage system includes:

[0024] A designated vehicle is obtained, and based on the vehicle type corresponding to the designated vehicle, a vehicle among the multiple vehicles whose vehicle type is the same as the vehicle type corresponding to the designated vehicle is determined as the vehicle to be inspected.

[0025] In some embodiments, the method further comprises:

[0026] In response to the stop instruction, determining the current working state of the pick-and-place module;

[0027] If the current working state of the pick-and-place module is that the inspection has not been stopped, the pick-and-place module is controlled to take out the target object from the carrier being inspected, and the inspection is ended.

[0028] In some embodiments, the method further comprises:

[0029] If the inspection is finished, the working mode of the pick-and-place module is restored to the working mode before responding to the inspection instruction.

[0030] In some embodiments, the method further comprises:

[0031] If the pick-and-place operation result indicates that an exception occurs when the pick-and-place module performs a pick-and-place operation on the placement position to be inspected, then exception information is generated.

[0032] In some embodiments, the method further comprises:

[0033] Determine an exception handling strategy corresponding to the exception information;

[0034] If the exception handling strategy indicates to skip the exception, the pick-and-place module is controlled to skip the current placement position to be inspected, and perform the pick-and-place operation on the next placement position to be inspected.

[0035] In a second aspect, an embodiment of the present application provides a patrol inspection device, including:

[0036] An acquisition module, used to acquire an inspection task and at least one vehicle to be inspected corresponding to the inspection task;

[0037] A control module, used to control the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected; the pick-and-place operation refers to the pick-and-place module placing the target object into the hit placement position to be inspected, or taking the target object out of the hit placement position to be inspected;

[0038] A generating module is used to generate an inspection result according to the pick-and-place operation results corresponding to each of the pick-and-place operations.

[0039] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the method in any implementation manner of the first aspect when executing the computer program.

[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are used to enable the computer to execute the method in any implementation manner of the aforementioned first aspect.

[0041] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program, which, when executed by a processor, implements the method in any implementation manner of the aforementioned first aspect.

[0042] In a sixth aspect, an embodiment of the present application further provides a computer program, which, when executed by a processor, implements the method in any implementation manner of the aforementioned first aspect.

[0043] The inspection method provided in this embodiment includes: obtaining an inspection task, and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task; controlling the pick-and-place module to perform a pick-and-place operation on at least one to-be-inspected placement position on the at least one to-be-inspected carrier; the pick-and-place operation refers to the pick-and-place module placing a target object into a hit placement position to be inspected, or taking the target object out of a hit placement position to be inspected; and generating an inspection result according to the pick-and-place operation results corresponding to each of the pick-and-place operations. In this way, by performing a pick-and-place operation on each to-be-inspected placement position on each to-be-inspected carrier, the inspection of each to-be-inspected carrier can be realized, which can not only improve the inspection accuracy, but also reduce the occurrence of operation interruptions due to abnormalities at the subsequent implementation site, thereby improving the work efficiency of subsequent operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1A A schematic diagram of a storage system provided in an embodiment of the present application;

[0046] Figure 1B A schematic diagram of a handling device provided in an embodiment of the present application;

[0047] Figure 2A A schematic diagram of another storage system provided in an embodiment of the present application;

[0048] Figure 2B A schematic diagram of the structure of a workstation provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of a process flow of an inspection method provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of the structure of another workstation provided in an embodiment of the present application;

[0051] Figure 5 A flowchart of another inspection method provided in an embodiment of the present application;

[0052] Figure 6 A flowchart of another inspection method provided in an embodiment of the present application;

[0053] Figure 7 A flowchart of another inspection method provided in an embodiment of the present application;

[0054] Figure 8 A flowchart of another inspection method provided in an embodiment of the present application;

[0055] Fig. 9 A flowchart of another inspection method provided in an embodiment of the present application;

[0056] Fig.10 A flowchart of another inspection method provided in an embodiment of the present application;

[0057] Fig.11 A schematic diagram of the structure of an inspection device provided in an embodiment of the present application;

[0058] Fig.12 A schematic diagram of the internal structure of a robot provided in an embodiment of the present application;

[0059] Fig.13 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0061] In the warehousing and logistics system, in order to ensure the efficiency of subsequent operations, multiple shelves can be inspected before the operation to determine the status of each cargo location on the shelf, and when an abnormality is found in the cargo location on the shelf during the inspection, it can be handled in a timely manner to ensure the smooth progress of subsequent operations.

[0062] At present, the shelves can be inspected by image acquisition, that is, the shelf image is acquired by an image acquisition device (such as a camera) and the corresponding camera compensation value is obtained, and then the state of the shelf is determined by analyzing the camera compensation value. However, in actual applications, it is impossible to determine the exact location of the abnormal cargo compartment on the shelf by analyzing the camera compensation value, which will lead to poor inspection results.

[0063] Based on this, the present application provides an inspection method, which realizes the inspection of each carrier to be inspected by performing a pick-and-place operation on each placement position to be inspected on each carrier to be inspected, so as to improve the inspection accuracy. In addition, if there is an abnormality during the pick-and-place operation, the abnormality can be handled in time to reduce the occurrence of interruptions of operations due to abnormalities at the subsequent implementation site, thereby improving the work efficiency of subsequent operations.

[0064] Figure 1A A schematic diagram of a storage system provided in some embodiments of the present application. Figure 1A As shown, the storage system 100 includes a plurality of carriers 10, a plurality of moving devices 20 and a control device ( Figure 1A not shown).

[0065] In some embodiments, the carrier 10 may include multiple cargo positions (also referred to as placement positions). The placement positions may be used to place a target object, wherein the target object may be a container, or a material box, goods, or an original box of goods. The present application embodiment does not limit this, and the following embodiment is exemplified by taking the target object as a container.

[0066] For example, the placement position may be a rectangular shaped accommodation space, and the multiple placement positions on the carrier 10 may be neatly arranged along the length, width and height of the carrier 10. The container may be a matching product specially designed for the carrier 10, or may be an ordinary cargo box (also called a material box), or may be a cargo packaging (also called an original box), which is not limited in the present embodiment of the application.

[0067] In some embodiments, the carrier 10 may be a shelf, a turnover vehicle, a cage vehicle, etc. For example, the carrier 10 may be a movable shelf. Among them, the movable shelf includes at least one layer of partitions, which divides the carrier 10 into at least two layers. At least one placement position is provided on the partition of the carrier 10, and each placement position can accommodate at least one container. The container placed in each placement position may be a cargo box or a pallet, which is not limited in the embodiment of the present application. It should be noted that the carrier 10 includes but is not limited to partition shelves, container shelves, picking shelves, movable shelves, etc. The carrier 10 provided in the embodiment of the present application may refer to any carrier for placing containers.

[0068] In some embodiments, the carrier 10 may be a dense storage shelf or a non-dense storage shelf. When the carrier 10 is a dense storage shelf, the gaps between the containers are relatively small.

[0069] In some embodiments, the carrier 10 may be a single-sided carrier, a double-sided carrier, or a four-sided carrier (i.e., containers can be taken from four sides respectively), which is not limited in the embodiments of the present application. The embodiments of the present application take the carrier 10 as a double-sided carrier as an example for illustrative description. For example, when the carrier 10 is a double-sided shelf, the carrier 10 may be provided with partitions between multiple placement positions in the vertical direction; each side of the carrier 10 may be provided with 30 placement positions, and a total of 60 placement positions are provided on both sides. The embodiments of the present application do not limit the type of the carrier 10 and the number of placement positions included, which is only an illustrative description.

[0070] In some embodiments, a plurality of carriers 10 may be distributed in rows and columns in the inventory area of ​​the storage system 100. The area between two adjacent rows or columns of carriers may be called an aisle, and the handling device 20 may move in the aisle.

[0071] In some embodiments, the transport device 20 is provided with a pick-and-place device ( Figure 1A (not shown), when the transport device 20 moves to the targeted carrier, the transport device 20 can perform a pick-and-place operation on the container on the targeted carrier 10 through a pick-and-place device to take out the container from the carrier 10 or put the container into the targeted placement position on the carrier 10. For example, the transport device 20 can also be called a cargo box robot.

[0072] like Figure 1B As shown, the handling equipment 20 includes a mobile chassis 21, a gantry 22 and a pick-and-place device 23. The mobile chassis 21 may be provided with running wheels, which rotate when driven by a motor, thereby driving the mobile chassis 21 to move. The gantry 22 may be provided on the mobile chassis 21. For example, the gantry 22 may be connected to the mobile chassis 21 in a fixed manner, or may be connected in a detachable manner through connecting parts such as bolts and screws. The mobile chassis 21 may drive the gantry 22 to move together. The pick-and-place device 23 may be provided on the gantry 22, and may be raised and lowered along the gantry 22, thereby adjusting the height position of the pick-and-place device 23 on the gantry 22, so as to perform box-taking operations on containers stored in placement positions at different heights on the carrier.

[0073] In some examples, the handling device 20 may further include a rotating device 24, which may be connected to the pick-and-place device 23, and when the rotating device 24 rotates, the pick-and-place device 23 may be driven to rotate relative to the gantry 22. For example, the rotating device 24 may rotate the import and export direction of the pick-and-place device 23 to retrieve items (containers or goods) from one side of the gantry 22 to the other side of the gantry 22.

[0074] In some examples, the handling device 20 may further include a cache device 25, which may be disposed on the gantry 22; when the inlet and outlet directions of the picking and placing device 23 face the gantry 22, the inlet and outlet of the picking and placing device 23 may be opposite to the cache device 25, so that the taken-out container can be placed on the cache device 25, or the container placed on the cache device 25 can be taken out and placed back on the carrier.

[0075] For example, a plurality of buffer devices 25 may be provided, and the plurality of buffer devices 25 may be arranged side by side in a vertical direction on the door frame 22. Each buffer device 25 may be used to place a container, thereby improving the handling capacity of the transport device 20 and improving the handling efficiency of the container.

[0076] In some examples, such as Figure 1B As shown, the transport device 20 can take out the container 101 on the carrier 10 through the pick-and-place device 23 and place it on any idle cache device 25; or, the transport device 20 can also move the container placed on the cache device 25 to an idle placement position on the carrier 10 through the pick-and-place device 23.

[0077] Exemplarily, the control device may be coupled to the moving device 20 to control the operation of the moving device 20. For example, the control device may control the moving device 20 to move and perform a pick-and-place operation on the container on the hit carrier.

[0078] In some examples, the control device is connected to the moving device 20 for data communication. For example, the control device can be connected to the moving device 20 for communication via a local area network (LAN), a wireless local area network (WLAN), or other networks.

[0079] In some examples, the control device may be a server or a terminal device, or a device deployed with a warehouse management system (WMS) and a robot management system (RMS). The terminal device may include at least one of a personal computer, a laptop, a smart phone, a tablet computer, and a portable wearable device; the server may include an independent server or a server cluster composed of multiple servers, which is not limited in the embodiments of the present application.

[0080] Figure 2A A schematic diagram of another storage system provided in some embodiments of the present application. Figure 2AAs shown, the storage system 200 includes a plurality of carriers 10, at least one workstation 30, a plurality of handling devices 40, and a control device ( Figure 2A not shown).

[0081] In some embodiments, the number of workstations 30 in the storage system 200 may be one or more. Each workstation 30 may be provided with a corresponding vehicle docking area, and the vehicle docking area includes one or more docking positions, and the docking positions are used to dock the vehicle 10.

[0082] In some embodiments, the vehicle docking area of ​​the workstation 30 may include an operation area and a queuing area. The operation area and the queuing area are both used to dock the vehicle 10. The operation area is used to dock the vehicle that the workstation 30 is performing an operation (e.g., a pick-and-place operation), and the queuing area is used to dock at least one vehicle that the workstation 30 has hit but has not yet performed an operation. That is, the vehicle docked in the operation area is performing an operation at the workstation 30, and the vehicle docked in the queuing area is waiting for the workstation 30 to perform an operation.

[0083] Figure 2B This is a schematic diagram of the structure of a workstation provided in some embodiments of the present application. Figure 2B As shown, the workstation 30 includes a support frame 31 , a guide mechanism 32 and a pick-and-place device 33 .

[0084] In some embodiments, the guide mechanism 32 is provided to the support frame 31. The guide mechanism 32 can move laterally and vertically relative to the support frame 31. The pick-and-place device 33 is provided to the guide mechanism 32 so that the pick-and-place device 33 can move laterally and / or vertically relative to the support frame 31.

[0085] In some embodiments, the pick-and-place device 33 is coupled to the control device. When the transport device 40 transports the carrier 10 to the operating area of ​​the workstation 30 under the control of the control device, the pick-and-place device 33 moves horizontally (such as in the L direction) and / or vertically (such as in the H direction) to reach a position corresponding to the placement position 15 in the carrier 10, thereby picking up and placing the container at the placement position 15.

[0086] Exemplarily, the guide mechanism 32 may include a lateral moving device 34, a moving rod 35, and a vertical moving device 36. The lateral moving device 34 is provided to the support frame 31. The lateral moving device 34 is coupled to the control device. The lateral moving device 34 can move laterally relative to the support frame 31. The moving rod 35 extends in the vertical direction, and the moving rod 35 is provided to the lateral moving device 34, so that the moving rod 35 can move laterally relative to the support frame 31. The vertical moving device 36 is provided to the moving rod 35. The vertical moving device 36 is coupled to the control device. The vertical moving device 36 can move vertically relative to the moving rod 35. The pick-up and placement device 33 is provided to the vertical moving device 36, so that the pick-up and placement device 33 can move vertically relative to the moving rod 35. Therefore, the pick-up and placement device 33 can move laterally and / or vertically on the support frame 31.

[0087] In some embodiments, the workstation 30 may not be provided with the support frame 31. When the workstation 30 is not provided with the support frame 31, the pick-and-place device 33 may be moved laterally and / or vertically through the guide mechanism 32.

[0088] Exemplarily, when the workstation 30 is not provided with the support frame 31, the workstation 30 may include at least one guide mechanism 32 and a pick-and-place device 33. The pick-and-place device 33 is provided to the guide mechanism 32, and the pick-and-place device 33 may move laterally and / or vertically through the guide mechanism 32.

[0089] In some embodiments, the lateral moving device 34 is coupled to the moving rod 35 and is configured to drive the moving rod 35 to move laterally; the moving rod 35 extends in the vertical direction, and the picking and placing device 33 is set to the moving rod 35 so that the moving rod 35 drives the picking and placing device 33 to move laterally; the vertical moving device 36 is coupled to the picking and placing device 33 and is configured to drive the picking and placing device 33 to move vertically relative to the moving rod 35.

[0090] In some embodiments, the lateral moving device 34 can be set to the moving rod 35, or can be set to the pick-and-place device 33; the vertical moving device 36 can be set to the moving rod 35. For example, the lateral moving device 34 and the vertical moving device 36 can be two driving motors. The embodiment of the present application does not limit the specific positions of the lateral moving device 34 and the vertical moving device 36, as long as the lateral moving device 34 can drive the moving rod 35 to move horizontally, and the vertical moving device 36 can drive the pick-and-place device 33 to move vertically relative to the moving rod 35.

[0091] In some embodiments, the guide mechanism 32 may be a robot arm (such as an automated robot arm), the pick-and-place device 33 may be connected to the robot arm, and the pick-and-place device 33 may be moved laterally and / or vertically by the robot arm (for example, the robot arm may move laterally and / or vertically with the pick-and-place device 33). The robot arm may be fixed to the ground or a guide rail, such as the robot arm may be permanently fixed to the ground or a guide rail, or may be temporarily fixed to the ground or a guide rail, which is not limited in the embodiments of the present application.

[0092] In some embodiments, the pick-and-place device 33 may include a pick-and-place component that can move along the depth direction.

[0093] In some embodiments, when the pick-and-place device 33 reaches the position corresponding to the placement position 15 by lateral movement and / or vertical movement, the pick-and-place component can be controlled to extend to the placement position 15 along the depth direction, that is, the pick-and-place component can extend to the placement position 15 along the direction toward the carrier, so as to pick up and place the container from the placement position 15. Figure 2B As shown, when the pick-and-place device 33 reaches the position corresponding to the placement position, the pick-and-place component (not shown in FIG. 2 ) can move along the depth direction (such as the Z direction) to the placement position 15 to pick up the container placed on the placement position 15 .

[0094] Exemplarily, the pick-and-place component may be a component such as a claw, a fork or a suction cup connected to the pick-and-place device 33. When the pick-and-place component is a claw, the pick-and-place component can pick and place the container from the placement position of the carrier 10 by grabbing; when the pick-and-place component is a fork, the pick-and-place component can pick and place the container from the placement position of the carrier 10 by holding; when the pick-and-place component is a suction cup, the pick-and-place component can pick and place the container from the placement position of the carrier 10 by sucking. The embodiment of the present application does not limit the specific structure of the pick-and-place device 33. It should be noted that the embodiment of the present application can be exemplified by taking the pick-and-place component as a suction cup as an example.

[0095] In some embodiments, the transport device 40 may be referred to as an automatic transport device or a carrier transport device, and is used to transport the carrier 10. For example, the transport device 40 may transport the carrier 10 in the shelf area to the carrier docking area corresponding to the workstation 30.

[0096] Exemplarily, the handling device 40 may be a handling robot, such as an automated guided vehicle (AGV). For example, the handling robot may run to the bottom of the carrier 10 and then lift the carrier 10 upward off the ground, thereby carrying the carrier 10 to move.

[0097] In some embodiments, the transport device 40 can transport the carrier 10 to the queue area corresponding to the workstation 30, and when the operation area of ​​the workstation 30 is free, the carrier 10 is transported from the queue area to the operation area, so that the workstation 30 performs a picking operation on the carrier 10. For example, the workstation 30 can take out a container from the carrier 10 parked in the operation area, or place the container on the placement position of the carrier 10.

[0098] It should be noted that the transporting equipment for transporting the carrier 10 from the inventory area to the queuing area corresponding to the workstation 30 and the transporting equipment for transporting the carrier 10 from the queuing area to the operation area may be the same transporting equipment or different transporting equipment.

[0099] Exemplarily, the control device may be coupled to the transport device 40 and the workstation 30, respectively, to control the operation of the transport device 40 and the workstation 30. For example, the control device may control the transport device 40 to move and transport the carrier 10, or may control the workstation 30 to perform a pick-and-place operation on the carrier 10 parked in the operation area.

[0100] In some embodiments, the control device is configured to determine the target carrier (e.g., the carrier to be inspected) and the target placement position on the target carrier (e.g., the placement position to be inspected) according to the task to be performed (e.g., the inspection task), generate a transport instruction according to the target carrier, and generate a pick-and-place instruction according to the target placement position. The transport device is configured to transport the target carrier to the workstation according to the transport instruction; the pick-and-place device of the workstation is configured to move to the pick-and-place box position corresponding to the target placement position before the target carrier arrives at the workstation according to the pick-and-place instruction; and when the target carrier arrives at the workstation, it moves from the pick-and-place box position to the target placement position, and takes out the target object from the target placement position, or places the target object at the target placement position.

[0101] It should be noted that Figure 2A The carrier and control device in the storage system shown are similar to Figure 1A The carriers and control devices in the warehouse system shown are similar and will not be described again here.

[0102] The pick-and-place module in the embodiment of the present application can be a moving device 20, a workstation 30, or a pick-and-place device. The pick-and-place module in the embodiment of the present application can be any structure that can realize the pick-and-place operation, and the embodiment of the present application does not limit this.

[0103] Exemplarily, the pick-and-place device can be arranged in the lane between two adjacent rows or columns of carriers, and a space for the handling device 40 to move can be left between the pick-and-place device and the ground. In the scenario where the pick-and-place module is a pick-and-place device, the pick-and-place device is coupled to the control device, and the control device is configured to determine the target carrier (e.g., the carrier to be inspected) and the target placement position on the target carrier (e.g., the placement position to be inspected) according to the task to be performed (e.g., the inspection task), and generate a pick-and-place instruction according to the target placement position. The pick-and-place device is configured to move to the target placement position according to the pick-and-place instruction, and take out the target object from the target placement position, or place the target object at the target placement position. Wherein, while the control device controls the pick-and-place device to move in the horizontal or vertical direction in the corresponding lane to perform the task to be performed, the handling device 40 can move along the lane below the pick-and-place device.

[0104] The following is combined with Figure 3 , the inspection method provided in the embodiment of the present application is described. It should be noted that the inspection method provided in the embodiment of the present application is as follows Figure 2A The storage system 200 shown is implemented, for example, by a control device in the storage system 200, that is, the pick-and-place module is taken as a workstation 30 as an example for illustrative description in the embodiment of the present application.

[0105] Figure 3 A flow chart of an inspection method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, in some embodiments, the inspection method provided in the embodiments of the present application includes S301-S304.

[0106] S301. Obtain an inspection task, and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task.

[0107] In some embodiments, the inspection task is used to indicate at least one carrier that needs to be inspected and a pick-and-place module that performs an inspection operation on the at least one carrier. The carrier to be inspected is a carrier that needs to be inspected in the storage system.

[0108] In some embodiments, the number of vehicles to be inspected may be one or more. Wherein, if the number of the multiple vehicles to be inspected is multiple, if the total number of the multiple vehicles to be inspected is greater than the preset number of vehicles, then the preset number of vehicles to be inspected is selected from the multiple vehicles to be inspected for inspection. If the total number of the multiple vehicles to be inspected is less than or equal to the preset number of vehicles, then the multiple vehicles to be inspected are inspected.

[0109] Exemplarily, when the total number of multiple vehicles to be inspected is greater than the preset number of vehicles, a preset number of vehicles to be inspected can be randomly selected from the multiple vehicles to be inspected for inspection; or a preset number of vehicles to be inspected can be selected from the multiple vehicles to be inspected for inspection based on the number of placement positions to be inspected on each vehicle to be inspected, for example, a preset number of vehicles to be inspected with the largest number of placement positions to be inspected among the multiple vehicles to be inspected is determined as the vehicles to be inspected that are ultimately to be inspected; or a preset number of vehicles to be inspected can be selected from the multiple vehicles to be inspected for inspection based on the moving paths and between each vehicle to be inspected and the pick-and-place module, for example, a preset number of vehicles to be inspected with the shortest moving paths and between the multiple vehicles to be inspected and the pick-and-place module is determined as the vehicles to be inspected that are ultimately to be inspected. The embodiments of the present application are not limited to this.

[0110] S302, controlling the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on at least one carrier to be inspected.

[0111] In some embodiments, the pick-and-place operation refers to the pick-and-place module placing the target object (also referred to as the inspection box) into the hit placement position to be inspected or taking the target object out of the hit placement position to be inspected. The placement position to be inspected refers to the placement position on the vehicle where the target object is not placed. The inspection box refers to a cargo box used for inspection. Among them, the placement position to be inspected may refer to all the free placement positions on the vehicle to be inspected, or may refer to some of the free placement positions on the vehicle to be inspected, that is, the placement position to be inspected may be set according to actual needs, and the embodiments of the present application do not limit this.

[0112] In some embodiments, the transport device may be controlled to transport at least one carrier to be inspected to the pick-and-place module for inspection. In the scenario where the pick-and-place module is a workstation, transporting the carrier to be inspected to the pick-and-place module for inspection means transporting the carrier to be inspected to the operating area of ​​the workstation for inspection. Transporting the carrier to be inspected to the pick-and-place module to wait for inspection means transporting the carrier to be inspected to the queuing area of ​​the workstation to wait for inspection.

[0113] Exemplarily, the vehicle to be inspected can be transported by a transport device. The transport device is any one of the multiple transport devices in the storage system. Wherein, in the case where there are multiple vehicles to be inspected, the transport device for transporting each vehicle to be inspected can be the same transport device or multiple different transport devices. The embodiments of the present application are not limited to this. For example, the control device can generate a transport instruction based on the vehicle to be inspected, and send the transport instruction to the transport device to control the transport device to transport the vehicle to be inspected from the current position to the docking point of the operating area corresponding to the workstation. Wherein, after receiving the transport instruction, the transport device can move from the starting position to the current position of the vehicle to be inspected according to the transport instruction, and transport the vehicle to be inspected from the current position to the docking point of the operating area corresponding to the workstation.

[0114] In some embodiments, the current position of the vehicle to be inspected may be located in a queuing area of ​​the workstation, or may be located outside the queuing area and the operating area of ​​the workstation.

[0115] For example, if the current position of the vehicle to be inspected is outside the queue area and the operating area of ​​the workstation, and there are handling equipment and / or vehicles parked in the operating area of ​​the workstation, the handling equipment will transport the vehicle to be inspected from the current position to the queue area of ​​the workstation for queuing, and after the handling equipment and / or vehicles currently parked in the operating area of ​​the workstation move out of the workstation, the vehicle to be inspected will be transported from the queue area of ​​the workstation to the operating area of ​​the workstation. If the current position of the vehicle to be inspected is within the queue area of ​​the workstation, the handling equipment will transport the vehicle to be inspected from the queue area of ​​the workstation to the corresponding operating area of ​​the workstation after the handling equipment and / or vehicles currently parked in the operating area of ​​the workstation move out of the workstation.

[0116] In some embodiments, a workbench for placing the inspection box may be provided on the workstation.

[0117] Exemplarily, the inspection object (also referred to as the staff) places the inspection box on the workbench of the workstation, and then controls the pick-and-place device on the workstation to perform a pick-and-place operation on at least one inspection placement position on the inspection vehicle based on the inspection box.

[0118] In some embodiments, the pick-and-place device on the workstation can be set to one or two. In the case where the pick-and-place device on the workstation is set to two, the workstation can only perform inspections, or can perform inspections and picking at the same time. This embodiment of the application is not limited to this.

[0119] For example, when there are two pick-and-place devices on a workstation, the workstation will correspond to two docking points. Figure 4As shown, it is assumed that the workstation corresponds to two docking points, namely the left docking point and the right docking point. The pick-and-place device on the workstation can inspect the two carriers docked at the left docking point and the right docking point at the same time, or one of the pick-and-place devices in the two pick-and-place modules can inspect the carrier docked at the left docking point, and the other pick-and-place device can pick the carrier docked at the right docking point.

[0120] In some embodiments, the workstation may be provided with one or more workbenches. When the workstation is provided with multiple workbenches, when the staff places the inspection box on the workbench of the workstation, the inspection box may be placed on a target workbench among the multiple workbenches, and then the workstation determines whether the inspection box is placed on the target workbench. After the workstation determines that the inspection box has been placed on the target workbench, the pick-and-place device on the workstation is controlled to perform a pick-and-place operation on at least one placement position to be inspected on the inspection vehicle; the inspection box may also be placed on any one of the multiple workbenches, and the control device detects the placement of the inspection box on each of the multiple workbenches, and after determining the workbench where the inspection box is placed from the multiple workbenches, the pick-and-place device on the workstation is controlled to perform a pick-and-place operation on at least one placement position to be inspected on the inspection vehicle. The embodiments of the present application are not limited to this, and the following embodiments take placing the inspection box on a target workbench among the multiple workbenches as an example for illustrative description.

[0121] For example, a workbench near the middle position can be set as the target workbench. Figure 4 As shown, suppose each workstation corresponds to two docking points, namely a left docking point and a right docking point. The workstation on the right side of the workstation corresponding to the left docking point on the workstation can be determined as the target workstation, and the workstation on the left side of the workstation corresponding to the right docking point on the workstation can be determined as the target workstation.

[0122] In some embodiments, after the staff places the inspection box on the target workbench, the control device can create a virtual cargo box based on the inspection box for inspection. After the inspection is completed, the virtual cargo box can be deleted, which will not affect other operations (such as picking, sorting, and warehousing).

[0123] In some embodiments, before controlling the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on at least one carrier to be inspected, at least one placement position to be inspected on a first inspection carrier may be determined first.

[0124] Exemplarily, at least one inspection placement position on each vehicle to be inspected can be determined based on the current storage status of the inspection box on the vehicle to be inspected. This embodiment of the present application is not limited to this. Among them, at least one inspection placement position on the entire vehicle to be inspected can be determined, and at least one inspection placement position on the current cargo surface (the side facing the pick-and-place module) of the vehicle to be inspected can also be determined. This embodiment of the present application is not limited to this.

[0125] like Figure 5 As shown, in some embodiments, S302 includes S3021-S3023.

[0126] S3021, control the pick-and-place module to move the target object to the first placement position to be inspected on the first carrier to be inspected.

[0127] The at least one vehicle to be inspected includes a first vehicle to be inspected, and the first placement position to be inspected refers to any one of the at least one placement position to be inspected on the first vehicle to be inspected.

[0128] In some embodiments, the first vehicle to be inspected is a vehicle that is currently being inspected.

[0129] Exemplarily, the control device can control the transport equipment to transport the first carrier to be inspected to the pick-and-place module, and control the pick-and-place module to grab the target object (also called an inspection box) placed on the workbench. After the first carrier to be inspected is transported to the pick-and-place module and the pick-and-place module grabs the inspection box, the pick-and-place module moves to the first placement position to be inspected on the first carrier to be inspected, and places the inspection box into the first placement position to be inspected.

[0130] In some embodiments, if the pick-and-place module can successfully transport the inspection box to the first placement position for inspection, it means that the first placement position for inspection is normal; conversely, if the pick-and-place module cannot successfully transport the inspection box to the first placement position for inspection, it means that there is an abnormality when transporting the inspection box to the first placement position for inspection.

[0131] S3022: Determine whether there is a second position to be inspected on the first carrier to be inspected.

[0132] The second placement position to be inspected refers to a placement position that has not been inspected among multiple placement positions to be inspected on the first vehicle to be inspected.

[0133] Exemplarily, the uninspected to-be-inspected position refers to a to-be-inspected placement position on which no pick-and-place operation has been performed.

[0134] S3023: If there is a second placement position to be inspected on the first carrier to be inspected, control the pick-and-place module to take the target object out of the first placement position to be inspected and move it to the second vacant placement position.

[0135] In some embodiments, if there is a second placement position to be inspected on the first carrier to be inspected, it means that the first carrier to be inspected has not completed the inspection. At this time, the pick-and-place module is controlled to take the target object out of the first placement position to be inspected and move it to the second vacant placement position.

[0136] In some embodiments, when there are multiple placement positions to be inspected on the first carrier to be inspected, after determining the multiple placement positions to be inspected, multiple pick-and-place tasks can be generated in a preset order (e.g., from bottom to top), and then the inspection of the first carrier to be inspected is completed by sequentially executing the multiple pick-and-place tasks. In this way, determining whether there is a second placement position to be inspected on the first carrier to be inspected is equivalent to determining whether there are any unexecuted pick-and-place tasks.

[0137] Exemplarily, multiple positions to be inspected on the first inspection vehicle can be identified. After the identification is completed, multiple positions to be inspected are obtained based on the identification, and multiple pick-and-place tasks are generated in a preset order (e.g., from bottom to top). Afterwards, the pick-and-place tasks are executed in sequence according to the execution order of the multiple pick-and-place tasks, so that the pick-and-place module performs pick-and-place operations on the multiple positions to be inspected on the first inspection vehicle in sequence. At this time, if there is a second position to be inspected on the first inspection vehicle, it means that there is an unexecuted pick-and-place task.

[0138] In other embodiments, after a placement position to be inspected is determined, a pick-and-place task may be generated first, and after the pick-and-place task is completed, the next placement position to be inspected is determined and a corresponding pick-and-place task is generated. This embodiment of the application is not limited to this.

[0139] As another example, the placement position to be inspected on the first inspection vehicle can be identified in a preset order. When the first inspection position is identified, a pick-and-place task is generated based on the first inspection position, and the pick-and-place task is executed, so that the pick-and-place module of the pick-and-place module puts the inspection box into the first inspection position, and then identifies whether there is a second inspection position on the first inspection vehicle. If it is identified that there is a second inspection position on the first inspection vehicle, a new pick-and-place task is generated based on the second inspection position, and the pick-and-place task is executed, so that the pick-and-place module takes the target object out of the first inspection position and moves it to the second inspection position.

[0140] In some embodiments, corresponding pick-and-place tasks are generated based on the position of the inspection box and the hit placement position to be inspected. The positions of the inspection box and the hit placement position to be inspected are different, and the generated pick-and-place tasks are also different, that is, the generated pick-and-place tasks are also different in different inspection stages.

[0141] For example, if the inspection box is on the workbench of the workstation, the pick-and-place task is the task from the workbench of the workstation to the hit placement position to be inspected. That is, the first pick-and-place task when starting the inspection phase or continuing the inspection phase after an abnormality occurs is from the workbench of the workstation to the hit placement position to be inspected. In the placement position of the inspection box on the vehicle to be inspected, and the hit next placement position to be inspected is on the same vehicle to be inspected or on the same cargo surface of the same vehicle to be inspected as the current placement position of the inspection box, that is, in the inspection phase, the pick-and-place task is to take the inspection box out of the current placement position of the inspection box and put the inspection box into the next hit placement position to be inspected. When the inspection box is in the placement position on the vehicle to be inspected, and the next placement position to be inspected is on the next vehicle to be inspected, that is, when switching the vehicle to be inspected, the pick-and-place task is to take out the inspection box from the current placement position of the inspection box and temporarily store it on the pick-and-place module, then move the current vehicle to be inspected away, and after the next shelf to be inspected is moved to the operating area of ​​the workstation, put the inspection box temporarily stored on the pick-and-place module into the placement position to be inspected. At the end of the inspection, the pick-and-place task is to take out the inspection box from the current placement position of the inspection box and place it on the workbench on the workstation, then move the inspection box from the workbench, and then move the current vehicle to be inspected back to the shelf area.

[0142] In some embodiments, if at least one placement position to be inspected on the first carrier to be inspected has completed the pick-and-place operation, it is determined that the carrier to be inspected has completed the inspection.

[0143] In some embodiments, the completion of the inspection of the vehicle to be inspected may refer to the completion of the inspection of the entire vehicle to be inspected, or may refer to the completion of the inspection of the current cargo surface of the vehicle to be inspected. This is not limited in the embodiments of the present application. In the following embodiments, the completion of the inspection of the vehicle to be inspected refers to the completion of the inspection of the current cargo surface of the vehicle to be inspected as an example for illustrative explanation.

[0144] For example, when the carrier is a double-sided carrier or a four-sided carrier, it can be determined whether there is a second inspection placement position on the current cargo surface of the first carrier to be inspected. If there is a second inspection placement position on the current cargo surface of the first carrier to be inspected, the pick-and-place module is controlled to take the target object out of the first inspection placement position and transport it to the second inspection placement position. If there is no second inspection placement position on the current cargo surface of the first carrier to be inspected, it is determined that the current cargo surface of the first carrier to be inspected has completed inspection, and the transport equipment is controlled to take the target object out of the first inspection placement position and transport it to the second inspection placement position.

[0145] In some embodiments, when the current cargo surface of the vehicle to be inspected has been inspected and other cargo surfaces of the vehicle to be inspected have not been inspected, if there are positions to be inspected on other cargo surfaces of the vehicle to be inspected, the transport equipment can be controlled to transport the vehicle to be inspected so that the cargo surface of the vehicle to be inspected that has not been inspected faces the pick-up and placement module; the transport equipment can also be controlled to move the vehicle to be inspected away from the docking point in the operation area of ​​the workstation, and move the vehicle to be inspected to the docking point in the queuing area corresponding to the workstation or other workstations to queue up and wait for the uninspected cargo surface to be inspected. The embodiments of the present application are not limited to this.

[0146] In some embodiments, the judgment condition that at least one placement position to be inspected on the first vehicle to be inspected has completed the pick-and-place operation can be that the pick-and-place module takes out the inspection box from the placement position for the last inspection on the first vehicle to be inspected, or that the pick-and-place module puts the inspection box into the placement position for the last inspection on the first vehicle to be inspected. The embodiments of the present application are not limited to this. In the following embodiments, the example that the pick-and-place module puts the inspection box into the placement position for the last inspection on the first vehicle to be inspected means that at least one placement position to be inspected on the first vehicle to be inspected has completed the pick-and-place operation is used for exemplary explanation.

[0147] like Figure 6 As shown, in some embodiments, the inspection method provided in the embodiments of the present application also includes S601-S602.

[0148] S601: If it is determined that the first carrier to be inspected has completed the inspection and there is a second carrier to be inspected, the pick-and-place module is controlled to take out the target object from the first carrier to be inspected and move the target object to the targeted placement position to be inspected on the second carrier to be inspected.

[0149] Among them, the second vehicle to be inspected is a vehicle waiting for inspection.

[0150] In some embodiments, in the scenario where the pick-and-place module is a workstation, the second carrier to be inspected may be located within the queue area corresponding to the workstation, or may be located outside the queue area corresponding to the workstation (eg, a shelf area). This embodiment of the application does not limit this.

[0151] In some embodiments, if the control device determines that the carrier being inspected (i.e., the first carrier to be inspected) has completed the inspection and there is a carrier waiting to be inspected (i.e., the second carrier to be inspected), the pick-and-place module is controlled to remove the target object from the carrier being inspected and move the removed target object to the placement position to be inspected on the carrier waiting to be inspected.

[0152] For example, in a scenario where the pick-and-place module is a workstation, if the control device determines that the first carrier to be inspected has completed inspection and there is a second carrier to be inspected, the control workstation is controlled to take out the target object from the placement position where the target object is placed on the first carrier to be inspected, and then the control transport device is controlled to move the first carrier to be inspected away from the workstation. After the first carrier to be inspected is moved away, the control transport device is controlled to move the second carrier to be inspected to the workstation, and finally the control workstation is controlled to move the taken out target object to the placement position to be inspected on the second carrier to be inspected. In the scenario where the pick-and-place module is a pick-and-place device or a moving device, if the control device determines that the first vehicle to be inspected has completed inspection and there is a second vehicle to be inspected, the pick-and-place device (moving device) is controlled to take out the target object from the placement position where the target object is placed on the first vehicle to be inspected, and then the pick-and-place device (moving device) is controlled to move from the first vehicle to be inspected to the second vehicle to be inspected, and finally the pick-and-place device (moving device) moves the taken out target object to the placement position to be inspected on the second vehicle to be inspected.

[0153] In some embodiments, the pick-and-place module can take out the inspection box from the placement position of the inspection box on the first vehicle to be inspected, and after the inspection box is temporarily stored in the pick-and-place module, the handling device can be controlled to move the first vehicle to be inspected away. In this way, after the inspection box is temporarily stored in the pick-and-place module, the handling device is controlled to move the first vehicle to be inspected away from the pick-and-place module, which can avoid the situation where the first vehicle to be inspected is moved away before the inspection box is firmly grasped when the pick-and-place module takes out the inspection box, thereby ensuring the normal progress of subsequent inspections and improving inspection efficiency.

[0154] In some embodiments, after controlling the transport equipment to transport the second carrier to be inspected to the pick-and-place module, the pick-and-place module is controlled to perform a pick-and-place operation on the placement position to be inspected on the second carrier to be inspected.

[0155] It should be noted that the second vehicle to be inspected may be one or more. In the case where there are multiple second vehicles to be inspected, the second vehicle to be inspected that is at the front of the queue can be transported to the pick-and-place module for inspection. It is also possible to select the second vehicle to be inspected with the shortest moving path and the shortest moving path from the multiple second vehicles to be inspected and transport it to the pick-and-place module for inspection based on the moving paths and between each second vehicle to be inspected and the pick-and-place module. It is also possible to select the second vehicle to be inspected with the largest number of placement positions to be inspected from the multiple vehicles to be inspected and transport it to the pick-and-place module for inspection based on the number of placement positions to be inspected on each second vehicle to be inspected. This is not limited in the embodiments of the present application.

[0156] S602: If it is determined that the first carrier to be inspected has completed the inspection and there is no second carrier to be inspected, control the pick-and-place module to take out the target object from the first carrier to be inspected and end the inspection.

[0157] In some embodiments, if it is determined that the first carrier to be inspected has completed the inspection and there is no second carrier to be inspected, the pick-and-place module is controlled to take out the inspection box from the placement position of the target object (inspection box) on the first carrier to be inspected and end the inspection.

[0158] It should be noted that the transport equipment for transporting the first carrier to be inspected to the pick-and-place module, the transport equipment for transporting the first carrier to be inspected away from the pick-and-place module, and the transport equipment for transporting the second carrier to be inspected to the pick-and-place module may be the same, partially the same, or completely different. This embodiment of the application does not limit this.

[0159] For example, in some scenarios, the transport device 1 can be controlled to transport the first carrier to be inspected to the pick-and-place module. Afterwards, when the first carrier to be inspected needs to be moved away from the pick-and-place module, the transport device 1 is controlled to move the first carrier to be inspected away from the pick-and-place module, and the transport device 1 is controlled to transport the second carrier to be inspected to the pick-and-place module. At this time, the transport device that transports the first carrier to be inspected to the pick-and-place module, the transport device that moves the first carrier to be inspected away from the pick-and-place module, and the transport device that transports the second carrier to be inspected to the pick-and-place module are all transport device 1. In other scenarios, the transport device 1 can be controlled to transport the first carrier to be inspected to the pick-and-place module. After that, after the transport device 1 transports the first carrier to be inspected to the pick-and-place module, the transport device 1 is controlled to place the first carrier to be inspected at the pick-and-place module, and the transport device 1 is controlled to drive away from the pick-and-place module. After that, when it is necessary to move the first carrier to be inspected away from the pick-and-place module, the transport device 2 can be controlled to move the first carrier to be inspected away from the pick-and-place module, and the transport device 2 can be controlled to transport the second carrier to be inspected to the pick-and-place module. At this time, the first transport device that transports the first carrier to be inspected to the pick-and-place module is the transport device 1, and the transport device that moves the first carrier to be inspected away from the pick-and-place module and the transport device that moves the second carrier to be inspected to the pick-and-place module are the transport device 2, that is, the transport device 1 and the transport device 2 are two different transport devices.

[0160] S303: Generate inspection results according to the pick-and-place operation results corresponding to each pick-and-place operation.

[0161] In some embodiments, the pick-and-place operation result includes the pick-and-place operation completion and the pick-and-place operation exception, that is, the pick-and-place operation result is used to indicate whether an exception occurs during the pick-and-place operation.

[0162] Exemplarily, if the pick-and-place module places the inspection box into the corresponding placement position, the pick-and-place operation result indicates that the pick-and-place operation is completed; if the pick-and-place module fails to place the inspection box into the corresponding placement position, the pick-and-place operation result indicates that an abnormality occurs in the pick-and-place operation.

[0163] In some embodiments, the content included in the inspection results can be set according to actual needs, and the embodiments of the present application are not limited to this.

[0164] Exemplarily, the inspection result may include at least one of the time when the inspection is started, the time from the start of the inspection to the current time or the end of the inspection, the number of the carrier (shelf) that has been inspected, the number of the carrier (shelf) that should be inspected, the cargo surface that has been inspected, the cargo surface that should be inspected, the placement position number that has been inspected, the placement position number that should be inspected, the number of shelves that have been inspected, the number of shelves that should be inspected, the number of cargo surfaces that have been inspected, the number of cargo surfaces that should be inspected, the number of placement positions that have actually been inspected, the number of placement positions that have been abnormally locked during the inspection process, the locking reason for abnormal locking during the inspection process, the task number corresponding to the inspection, and the status of the placement positions that have been inspected. Among them, the inspection result can only display the placement positions that have been abnormally locked, and the placement positions that have not been abnormally locked are not displayed. The inspection results can also be filtered according to the operation instructions entered by the inspection object (also known as the staff) to display part of the inspection results.

[0165] In some embodiments, the inspection results may be displayed in a table format.

[0166] Illustratively, the inspection results may be as shown in Table 1.

[0167] Table 1

[0168] Place Tag Shelf Number Cargo surface Put bit status Lock reason Task No. xxxxxx H001 F locking xxx-Return box visual positioning timeout xxxxxx xxxxxx H002 F locking xxxx-The suction cup is not strong enough when taking out the box xxxxxx xxxxxx H003 B locking xxxx-The suction cup is not waiting for the pick-up point when picking up the box xxxxxx

[0169] In some embodiments, the inspection method provided by the embodiments of the present application further includes: if the pick-and-place operation result indicates that an exception occurs when the pick-and-place module performs a pick-and-place operation on the placement position to be inspected, generating exception information.

[0170] The abnormal information is used to indicate the reason why the pick-and-place operation failed. The content included in the abnormal information can be set according to the actual application scenario. This embodiment of the application does not limit this.

[0171] Exemplarily, in the box returning stage, abnormal information may include: there is already a box on the pick-and-place module when picking up the box from the workbench, abnormal docking and positioning of the robot arm, no box on the workbench when picking up the box from the workbench, etc.; in the picking up stage, abnormal information may include: there is already a box on the pick-and-place module when picking up the box from the carrier, visual timeout for picking up the box, the suction cup is not waiting at the picking point before picking up the box, etc.; in addition to the box returning stage and the box picking stage, abnormal information may also include: motor abnormality, weighing abnormality, invalid picking coordinates, invalid delivery coordinates, emergency stop, etc.

[0172] like Figure 7 As shown, in some embodiments, the inspection method provided in the embodiments of the present application also includes S701-S702.

[0173] S701: Determine an exception handling strategy corresponding to the exception information.

[0174] In some embodiments, the exception information and the exception handling strategy correspond one to one. Among them, the exception handling strategy is used to indicate the method for handling the exception information. The exception handling strategy is preset information and can be set according to the actual application scenario. The embodiments of the present application are not limited to this.

[0175] Exemplarily, the exception handling strategy may include skipping the exception, suspending inspection, outputting alarm information, etc.

[0176] S702: If the exception handling strategy indicates to skip the exception, control the pick-and-place module to skip the current placement position to be inspected, and perform a pick-and-place operation on the next placement position to be inspected.

[0177] In some embodiments, if the abnormal information indicates to suspend the inspection, a mark (such as a red exclamation mark) is added before the corresponding pick-up and placement task for execution. When the inspection object (also known as the staff) interacts with the mark, the detailed description corresponding to the abnormal information will be displayed.

[0178] For example, if the abnormal information indicates that the inspection needs to be suspended, a red exclamation mark is added before the corresponding pick-up and placement task. If the staff moves the mouse to the red exclamation mark, the detailed description corresponding to the abnormal information will be displayed.

[0179] like Figure 8 As shown, in some embodiments, the inspection method provided in the embodiments of the present application also includes S801-S803.

[0180] S801. In response to an inspection instruction, determine a working mode of a pick-and-place module.

[0181] S802: If the working mode of the pick-and-place module is the target working mode, at least one carrier to be inspected is determined from multiple carriers in the storage system, and an inspection task is generated based on the at least one carrier to be inspected.

[0182] S803: If the working mode of the pick-and-place module is a non-target working mode, a switching instruction is generated.

[0183] The inspection instruction is used to instruct the start of the inspection. The switch instruction is used to instruct the pick-and-place module to switch the working mode to the target working mode.

[0184] In some embodiments, the staff clicks on the inspection control to trigger a selection operation on the inspection control; thereafter, an inspection instruction is generated in response to the selection operation triggered by the staff on the inspection control.

[0185] Exemplarily, the control device generates an inspection instruction in response to a selection operation triggered by a staff member on the inspection control, and determines the working mode of the pick-and-place module in response to the inspection instruction.

[0186] In some embodiments, if the working mode of the pick-and-place module is a non-target working mode, a switching instruction is generated to request the pick-and-place module to switch the working mode from the non-target working mode to the target working mode. If the working mode of the pick-and-place module is the target working mode, the pick-and-place module does not switch the working mode, and the control device enters the inspection mode, determines at least one carrier and pick-and-place module to be inspected from the storage system, and generates an inspection task based on the at least one carrier and pick-and-place module to be inspected.

[0187] Exemplarily, in a scenario where the pick-and-place module is a workstation, the control device determines the working mode of the workstation in response to the inspection instruction. Among them, the workstation includes multiple working modes, such as comprehensive mode, entry mode and tally mode. If the target working mode is a comprehensive mode or an entry mode, then when the working mode of the workstation is a comprehensive mode or an entry mode, the workstation does not need to switch the working mode, and the control device enters the inspection mode. When the working mode of the workstation is the tally mode, the workstation switches from the tally working mode to the comprehensive mode, and then the control device enters the inspection mode, determines at least one carrier to be inspected and a workstation (pick-and-place module) for inspection from the warehousing system, and generates an inspection task based on at least one carrier to be inspected and a workstation for inspection.

[0188] In some embodiments, in a scenario where the pick-and-place module is a workstation, if the workstation corresponds to multiple docking points, the control device responds to an inspection instruction, determines the working mode of the docking point for inspection corresponding to the workstation, and when the working mode of the docking point for inspection is a non-target working mode, controls the working mode of the docking point for inspection to switch from the non-target working mode to the target working mode.

[0189] Exemplarily, the two docking points corresponding to the workstation are respectively a left docking point and a right docking point. If the left docking point is used for inspection, the working mode of the left docking point is determined. When the working mode of the left docking point is a non-target working mode, the left docking point is controlled to switch the working mode to the target working mode.

[0190] In some embodiments, the workstation for inspection can be determined based on the working status of the workstation, or based on the path between the workstation and each vehicle to be inspected, or based on the queue status of the workstation. This embodiment of the application is not limited to this.

[0191] For example, a workstation in the storage system that is idle can be used for inspection; or, based on the sum of the moving paths between each carrier to be inspected and each workstation, the workstation with the shortest moving path among multiple workstations can be used for inspection; and, when the number of carrier allocations corresponding to multiple workstations reaches the maximum queue number, the workstation that releases the queue position first can be used for inspection.

[0192] In some embodiments, at least one carrier to be inspected is determined from multiple carriers in a warehousing system, including: obtaining a designated carrier, and based on the carrier type corresponding to the designated carrier, determining a carrier among multiple carriers whose carrier type is the same as the carrier type corresponding to the designated carrier as the carrier to be inspected.

[0193] Among them, the designated vehicle is the vehicle selected by the staff; the vehicle type is used to indicate the conditions for determining the vehicle to be inspected, that is, to determine the vehicle that is the same or similar to the designated vehicle as the vehicle to be inspected.

[0194] For example, if carrier 1 is a designated carrier, all carriers in the storage system whose carrier types are the same or similar to carrier 1 are determined as carriers to be inspected. The carrier type may include carrier specifications, the number of positions to be inspected, etc., that is, the same or similar to carrier 1 may be the same or similar to carrier specifications, or the same or similar to the number of positions to be inspected, which is not limited in the present embodiment of the application.

[0195] In some embodiments, the designated carrier can be determined from the storage system based on the selection operation of at least one control input by the staff. For example, if the staff clicks the control corresponding to carrier 1 in the operation interface, the selection operation of the control corresponding to carrier 1 is triggered, and carrier 1 is determined as the designated carrier. The designated carrier can also be determined from the storage system based on the carrier information to be inspected input by the staff, wherein the carrier information to be inspected can include at least one of the carrier (shelf) number and the placement position number. The embodiments of the present application are not limited to this.

[0196] For example, if the staff inputs carrier number 123 in the operation interface, and carrier number 123 corresponds to carrier 1, carrier 1 is determined as the designated carrier. It should be noted that if the staff inputs the carrier number and the placement position number at the same time, the carrier number and the placement position number are verified. When the carrier number and the placement position number indicate the same carrier, the carrier is determined as the designated carrier; when the carrier number and the placement position number do not indicate the same carrier, an error message is generated.

[0197] In some implementations, all vehicles in the storage system that have not been inspected can also be determined as vehicles to be inspected.

[0198] In some embodiments, if the carrier is in a state that cannot be inspected, the carrier is not inspected. The state that the carrier is in a state that cannot be inspected includes at least: the carrier is locked, all the placement positions are locked or occupied, and the carrier cannot be moved.

[0199] In some embodiments, during the inspection process, the pick-and-place module may first end the inspection and then switch the working mode.

[0200] Exemplarily, in a scenario where the pick-and-place module is a workstation, if the workstation needs to switch from the comprehensive mode to the tally mode during the inspection process, the inspection is completed first, and then the comprehensive mode is switched to the tally mode.

[0201] like Fig. 9 As shown, in some embodiments, the inspection method provided in the embodiments of the present application also includes S901-S902.

[0202] S901, in response to a stop instruction, determining a current working state of a pick-and-place module.

[0203] S902: If the current working state of the pick-and-place module is that the inspection has not been stopped, the pick-and-place module is controlled to take out the target object from the carrier being inspected and end the inspection.

[0204] In some embodiments, the staff triggers a selection operation on the stop control by clicking on the stop control; thereafter, a stop instruction is generated in response to the selection operation triggered by the staff on the stop control.

[0205] Exemplarily, the control device generates a stop instruction in response to a selection operation triggered by a staff member on a stop control, and determines the current working state of the pick-and-place module in response to the stop instruction.

[0206] In some embodiments, if the current working state of the pick-and-place module is that the inspection has not been stopped, the pick-and-place module is controlled to take out the target object from the carrier being inspected and end the inspection. If the current working state of the pick-and-place module is that the inspection has been stopped, it is determined whether the target object (inspection box) has left the site, and if the inspection box has left the site, the working mode of the pick-and-place module is restored to the working mode before responding to the inspection instruction. Among them, the inspection box has left the site includes the inspection box being moved away from the workbench, and any one of the virtual cargo boxes corresponding to the inspection box is deleted from the control device.

[0207] In some embodiments, the inspection method provided by the embodiments of the present application further includes: if the inspection is ended, restoring the working mode of the pick-and-place module to the working mode before responding to the inspection instruction.

[0208] In some embodiments, if the inspection is finished, the handling equipment is controlled to move the carrier to be inspected away, and the working mode of the pick-and-place module is restored to the working mode before executing the response inspection instruction.

[0209] It can be understood that the inspection method provided in the embodiment of the present application can be applied before the project is implemented. That is, before the project is implemented, the inspection of each placement position on the carrier is completed by performing pick-and-place operations on each placement position on the carrier to determine whether there are any abnormalities before the project is implemented. This makes it easier to handle each abnormality in a timely manner and avoid business interruption due to abnormalities after the implementation of subsequent projects. This can improve work efficiency after the implementation of subsequent projects.

[0210] like Fig.10 As shown, the embodiment of the present application also provides an inspection method, including:

[0211] S1001. Create inspection items (inspection tasks).

[0212] S1002. Switch the working mode of the target stop point corresponding to the workstation to a comprehensive mode or an entry mode.

[0213] The target stop point refers to a stop point used for inspection among at least two stop points corresponding to a workstation in the warehousing system.

[0214] S1003, transport the shelf (the first carrier to be inspected) to the workstation (pick-and-place module), and transport the inspection box to the workbench corresponding to the target stop point.

[0215] S1004. After the shelf arrives at the target stop point, it hits an empty cargo compartment on the shelf (the position to be inspected), and the inspection box is moved to the empty cargo compartment.

[0216] S1005: Determine whether the inspection of the current shelf surface (current cargo surface) of the shelf has been completed. If not, execute S1006; if yes, execute S1007.

[0217] S1006, taking the inspection box out of the current empty cargo compartment and putting it into the next target cargo compartment.

[0218] S1007: Determine whether there are any shelves (second vehicles to be inspected) waiting in line for inspection at the target stop point. If yes, execute S1008-S1011; if no, execute S1012-S1014.

[0219] S1008. Take the inspection box from the shelf where the inspection is completed and put it to the gripper.

[0220] Among them, the gripper is a pick-and-place device on the workstation.

[0221] S1009, after the inspection box reaches the gripper, move the current shelf away.

[0222] S1010. Move the queued shelves to the target docking point and hit an empty cargo compartment on the shelves.

[0223] S1011. Place the inspection box on the gripper into the empty cargo compartment hit in S1010.

[0224] S1012. Take the inspection box from the shelf where the inspection is completed and bring it to the workbench.

[0225] S1013. After the inspection box arrives at the workbench, the inspection box leaves the site.

[0226] S1014. Switch the working mode of the target stop point to the working mode before inspection.

[0227] Among them, pre-inspection refers to before responding to the inspection instruction.

[0228] Based on the same inventive concept, the embodiment of the present application also provides a patrol inspection device for implementing the patrol inspection method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more patrol inspection device embodiments provided below can refer to the limitations on the patrol inspection method above, and will not be repeated here. Specifically, Fig.11 Schematic diagram of the structure of a patrol inspection device in the embodiment of the present application. Fig.11 As shown, the inspection device comprises:

[0229] An acquisition module 1110 is used to acquire an inspection task and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task;

[0230] The control module 1120 is used to control the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected; the pick-and-place operation refers to the pick-and-place module placing the target object into the hit placement position to be inspected, or taking the target object out of the hit placement position to be inspected;

[0231] The generating module 1130 is used to generate an inspection result according to the pick-and-place operation results corresponding to each of the pick-and-place operations.

[0232] In some embodiments, the control module 1120 is also used to control the pick-and-place module to move the target object to a first position to be inspected on a first carrier to be inspected; wherein, at least one of the carriers to be inspected includes the first carrier to be inspected; the first position to be inspected refers to any one of the at least one position to be inspected on the first carrier to be inspected; determine whether there is a second position to be inspected on the first carrier to be inspected; wherein, the second position to be inspected refers to any one of the positions to be inspected that have not been inspected on the first carrier to be inspected; if the second position to be inspected exists on the first carrier to be inspected, control the pick-and-place module to take the target object out of the first position to be inspected and move it to the second position to be inspected.

[0233] In some embodiments, the control module 1120 is further used to control the pick-and-place module to take out the target object from the first vehicle to be inspected, and to control the pick-and-place module to move the target object to the inspection placement position hit on the second vehicle to be inspected, if it is determined that the first vehicle to be inspected has completed the inspection and there is a second vehicle to be inspected; and to control the pick-and-place module to take out the target object from the first vehicle to be inspected and end the inspection, if it is determined that the first vehicle to be inspected has completed the inspection and there is no second vehicle to be inspected; wherein the second vehicle to be inspected is a vehicle waiting for inspection.

[0234] In some embodiments, the inspection device further includes: a determination module, configured to determine that the first carrier to be inspected has completed inspection if the pick-and-place operation has been completed for the at least one placement position to be inspected on the first carrier to be inspected.

[0235] In some embodiments, the determination module is further used to determine the working mode of the pick-and-place module in response to the inspection instruction;

[0236] The generation module 1130 is also used to determine at least one vehicle to be inspected from multiple vehicles in the storage system if the working mode of the pick-and-place module is the target working mode, and generate the inspection task based on at least one vehicle to be inspected; if the working mode of the pick-and-place module is the non-target working mode, generate a switching instruction; the switching instruction is used to instruct the pick-and-place module to switch the working mode to the target working mode.

[0237] In some embodiments, the acquisition module 1110 is further used to acquire a designated vehicle, and based on the vehicle type corresponding to the designated vehicle, determine a vehicle among the multiple vehicles whose vehicle type is the same as the vehicle type corresponding to the designated vehicle as the vehicle to be inspected.

[0238] In some embodiments, the determination module is further configured to determine the current working state of the pick-and-place module in response to the stop instruction;

[0239] The control module 1120 is further configured to control the pick-and-place module to take out the target object from the carrier being inspected and end the inspection if the current working state of the pick-and-place module is that the inspection has not been stopped.

[0240] In some embodiments, the control module 1120 is further configured to restore the working mode of the pick-and-place module to the working mode before responding to the inspection instruction if the inspection is finished.

[0241] In some embodiments, the generating module 1130 is further configured to generate abnormal information if the pick-and-place operation result indicates that an abnormality occurs when the pick-and-place module performs a pick-and-place operation on the placement position to be inspected.

[0242] In some embodiments, the determination module is further used to determine an exception handling strategy corresponding to the exception information;

[0243] The control module 1120 is further configured to control the pick-and-place module to skip the current placement position to be inspected and perform the pick-and-place operation on the next placement position to be inspected if the exception handling strategy indicates to skip the exception.

[0244] For the specific limitations of the inspection device and the beneficial effects that can be achieved, please refer to the limitations of the inspection method above, which will not be repeated here.

[0245] like Fig.12 As shown, it is a schematic diagram of the internal structure of a robot provided in this embodiment. The robot includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. Among them, the processor of the robot is used to provide computing and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the robot is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a patrol method is implemented. The display screen of the robot can be a liquid crystal display screen or an electric first ink display screen, and the input device of the robot can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the robot shell, or an external keyboard, touch pad or mouse, etc.

[0246] like Fig.13 As shown, it is a schematic diagram of the internal structure of an electronic device provided in this embodiment. The electronic device may be a server. The electronic device includes a processor, a memory and a network interface connected via a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store altitude parameter quantities and three-dimensional map quantity data. The network interface of the electronic device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a patrol method is implemented.

[0247] Those skilled in the art will understand that Fig.12 and Fig.13The structure shown in the figure is merely a block diagram of a partial structure related to the present application scheme, and does not constitute a limitation on the robot and electronic device to which the present application scheme is applied. The specific robot and electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0248] In a specific implementation, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method in any of the above embodiments are implemented.

[0249] In a specific implementation, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

[0250] In a specific implementation, an embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the method in any of the above embodiments when executed by a processor.

[0251] In a specific implementation, an embodiment of the present application provides a computer program, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0252] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and quantitative data (including but not limited to quantitative data for analysis, quantitative data for storage, quantitative data for display, etc.) involved in this application are all information and quantitative data authorized by the user or fully authorized by all parties. A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The quantity database involved in each embodiment provided in this application may include at least one of a relational quantity database and a non-relational quantity database. The non-relational quantity database may include a distributed quantity database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on the first calculation, etc., but is not limited thereto.

[0253] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0254] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A patrol inspection method, characterized in that: The method comprises: Obtaining an inspection task, and at least one to-be-inspected carrier and a pick-and-place module corresponding to the inspection task; Controlling the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected; the pick-and-place operation refers to the pick-and-place module placing the target object into the hit placement position to be inspected, or taking the target object out of the hit placement position to be inspected; An inspection result is generated according to the pick-and-place operation results corresponding to each of the pick-and-place operations.

2. The inspection method according to claim 1, characterized in that: The controlling the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected includes: Control the pick-and-place module to move the target object to a first inspection placement position on a first inspection carrier; wherein at least one of the inspection carriers includes the first inspection carrier; the first inspection placement position refers to any inspection placement position of at least one of the inspection placement positions on the first inspection carrier; Determine whether there is a second placement position to be inspected on the first vehicle to be inspected; wherein the second placement position to be inspected refers to any placement position to be inspected that has not been inspected on the first vehicle to be inspected; If the second placement position to be inspected exists on the first carrier to be inspected, the pick-and-place module is controlled to take the target object out of the first placement position to be inspected and transport it to the second placement position to be inspected.

3. The method according to claim 2, characterized in that The method further comprises: If it is determined that the first carrier to be inspected has completed the inspection and there is a second carrier to be inspected, the pick-and-place module is controlled to take out the target object from the first carrier to be inspected, and move the target object to the placement position to be inspected on the second carrier to be inspected; wherein the second carrier to be inspected is a carrier waiting for inspection; If it is determined that the first carrier to be inspected has completed the inspection and the second carrier to be inspected does not exist, the pick-and-place module is controlled to take out the target object from the first carrier to be inspected and the inspection ends.

4. The method according to claim 3, characterized in that The determining that the first vehicle to be inspected has completed inspection includes: If the pick-and-place operation has been completed for the at least one placement position to be inspected on the first carrier to be inspected, it is determined that the inspection of the first carrier to be inspected has been completed.

5. The method according to claim 1, characterized in that The method further comprises: In response to the inspection instruction, determining the working mode of the pick-and-place module; If the working mode of the pick-and-place module is the target working mode, at least one carrier to be inspected is determined from a plurality of carriers in the storage system, and the inspection task is generated based on the at least one carrier to be inspected; If the working mode of the pick-and-place module is a non-target working mode, a switching instruction is generated; the switching instruction is used to instruct the pick-and-place module to switch the working mode to the target working mode.

6. The method according to claim 5, characterized in that The step of determining at least one vehicle to be inspected from a plurality of vehicles in the storage system comprises: A designated vehicle is obtained, and based on the vehicle type corresponding to the designated vehicle, a vehicle among the multiple vehicles whose vehicle type is the same as the vehicle type corresponding to the designated vehicle is determined as the vehicle to be inspected.

7. The method according to claim 1, characterized in that The method further comprises: In response to the stop instruction, determining the current working state of the pick-and-place module; If the current working state of the pick-and-place module is that the inspection has not been stopped, the pick-and-place module is controlled to take out the target object from the carrier being inspected, and the inspection is ended.

8. The method according to claim 3 or 7, characterized in that: The method further comprises: If the inspection is finished, the working mode of the pick-and-place module is restored to the working mode before responding to the inspection instruction.

9. The method according to claim 1, characterized in that: The method further comprises: If the pick-and-place operation result indicates that an exception occurs when the pick-and-place module performs a pick-and-place operation on the placement position to be inspected, then exception information is generated.

10. The method according to claim 9, characterized in that The method further comprises: Determine an exception handling strategy corresponding to the exception information; If the exception handling strategy indicates to skip the exception, the pick-and-place module is controlled to skip the current placement position to be inspected, and perform the pick-and-place operation on the next placement position to be inspected.

11. A patrol inspection device, characterized in that: include: An acquisition module, used to acquire an inspection task and at least one vehicle to be inspected corresponding to the inspection task; A control module, used to control the pick-and-place module to perform a pick-and-place operation on at least one placement position to be inspected on the at least one carrier to be inspected; the pick-and-place operation refers to the pick-and-place module placing the target object into the hit placement position to be inspected, or taking the target object out of the hit placement position to be inspected; A generating module is used to generate an inspection result according to the pick-and-place operation results corresponding to each of the pick-and-place operations.

12. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the method according to any one of claims 1 to 10 when executing the computer program.

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

14. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10.

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