Material checking method and system

Abstract

According to the material checking method and system provided by the embodiment of the invention, in the checking process, a mobile robot automatically completes carrying and returning of a carrier, so that compared with a traditional checking mode which depends on manual carrying, the manual carrying is slow in speed and easy to cause operation errors and interruption, and the checking efficiency is improved. And the movable robot can quickly and stably complete the carrying task according to the preset route, so that the time consumed by the carrier carrying link is saved, and the material checking efficiency is further improved. The code reading device can read the material box identifications of all the material boxes on the carrier at a time in the preset code reading area, compared with a traditional checking mode that manual one-by-one reading is needed, the reading speed of the material box identifications is increased, the control device conducts comparison according to the read material box identifications to determine the abnormal material boxes, and the material checking efficiency is further improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a material inventory method and system. Background Art

[0002] In the field of warehouse management, inventory counts of actual inventory quantities are required regularly or on an ad hoc basis based on actual demand, thereby providing timely and accurate information on material usage. Traditional, non-intelligent warehouse inventory counts rely entirely on manual operations, which consumes a significant amount of manpower and time. Inaccurate results can be easily caused by fatigue and negligence, impacting inventory management and subsequent operations.

[0003] With the rise of intelligent warehousing systems, the goods-to-person inventory method has emerged. In this method, inventory tasks are assigned to warehouse robots in the form of instructions. Following these instructions, the robots move bins containing materials to be counted to manual counting stations, facilitating the counting process. Once the counting is complete, the robots return the bins to the warehouse. However, this process still requires frequent manual scanning of the bins to complete the count, resulting in low efficiency. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a material inventory method and system to improve inventory efficiency. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a material inventory method, which is applied to a control device, wherein the control device pre-records the material boxes loaded on each carrier in the storage area and records the transaction status of each material box, and the method includes:

[0006] Controlling the first movable robot to move the first carrier from the storage area to the preset code reading area;

[0007] In response to the first mobile robot transporting the first carrier to the preset code reading area, acquiring all first container identifiers read by a code reading device disposed in the preset code reading area;

[0008] Among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box, and the second movable robot is controlled to move the first carrier from the preset code reading area to the storage area.

[0009] In a possible embodiment, the control device also pre-records the number of materials in each material box, and the method further includes:

[0010] According to the recorded information, among the carriers stored in the storage area, a carrier on which all the containers are in a transaction status of untransacted is determined as a first carrier, and a carrier on which at least one container is in a transaction status of transacted is determined as a second carrier;

[0011] Controlling the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point;

[0012] In response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the second carrier that does not match the second bin identifier and recording the bin as a first abnormal bin;

[0013] And among the boxes recorded as being loaded on the second carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the fourth movable robot to move the second carrier from the preset manual inventory point to the storage area.

[0014] In a possible embodiment, determining, among the carriers stored in the storage area, a carrier on which all boxes have a transaction status of untransacted as the first carrier includes:

[0015] In response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determining, among the carriers stored in the storage area, a carrier on which all of the boxes are in a transaction status of untransacted as a first carrier;

[0016] The step of determining a carrier on which at least one container has a transaction status of "traded" as the second carrier includes:

[0017] In response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, a carrier having at least one box thereon in a transaction status of "traded" is determined as a second carrier among the carriers stored in the storage area.

[0018] In a possible embodiment, the first carrier is any carrier in the storage area;

[0019] The method further comprises:

[0020] Determining, based on the recorded information, the transaction status of each of the boxes indicated by the first box identifiers;

[0021] The step of searching for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier and recording the box as a first abnormal box includes:

[0022] If all the determined transaction states are untransacted, then among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box.

[0023] In a possible embodiment, the method further includes:

[0024] If at least one of the determined transaction states is completed, controlling the fifth mobile robot to move the first carrier from the preset code reading area to a preset manual inventory point;

[0025] In response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, searching for a bin recorded as loaded on the first carrier that does not match the third bin identifier and recording the bin as a first abnormal bin;

[0026] And among the boxes recorded as being loaded on the first carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the sixth movable robot to move the first carrier from the preset manual inventory point to the storage area.

[0027] In a possible embodiment, the method further includes:

[0028] In response to the preset inventory condition being met and the inventory mode being the preset third inventory mode, controlling the seventh mobile robot to move a third carrier from the storage area to a preset code reading area, wherein the third carrier is any carrier in the storage area;

[0029] In response to the seventh mobile robot transporting the third carrier to the preset code reading area, acquiring all fourth material box identifiers read by a code reading device disposed in the preset code reading area;

[0030] Determining, based on the recorded information, the transaction status of the containers represented by each of the fourth container identifiers;

[0031] If all the determined transaction states are untransacted, searching for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, recording the box as a first abnormal box, and controlling the eighth mobile robot to move the third carrier from the preset code reading area to the storage area;

[0032] If at least one of the determined transaction states is completed, controlling the ninth mobile robot to move the third carrier from the preset code reading area to a preset manual inventory point;

[0033] In response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier and recording the bin as a first abnormal bin;

[0034] And among the boxes recorded as being loaded on the third carrier, search for the boxes whose recorded number does not match the number of materials, record them as the second abnormal boxes, and control the ninth movable robot to move the third carrier from the preset manual inventory point to the storage area.

[0035] In a second aspect, an embodiment of the present application provides a material inventory device, which is applied to a control device, wherein the control device pre-records the material boxes loaded on each carrier in the storage area and records the transaction status of each material box, and the device includes:

[0036] A first control module is used to control the first mobile robot to move the first carrier from the storage area to the preset code reading area;

[0037] a first reading module, configured to obtain, in response to the first mobile robot transporting the first carrier to the preset code reading area, all first bin identifiers read by a code reading device disposed in the preset code reading area;

[0038] The first search module is used to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record the box as a first abnormal box, and control the second movable robot to move the first carrier from the preset code reading area to the storage area.

[0039] In a possible embodiment, the control device also pre-records the number of materials in each material box, and the device further includes:

[0040] a first screening module configured to, based on the recorded information, determine, from the carriers stored in the storage area, a carrier on which all of the containers are in an untransacted state as a first carrier, and determine, as a second carrier, a carrier on which at least one container is in a transacted state;

[0041] A second control module is used to control the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point;

[0042] a second search module configured to, in response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the second carrier that does not match the second bin identifier and record the bin as a first abnormal bin;

[0043] The third search module is used to search for boxes whose recorded number does not match the number of materials in the boxes recorded as being loaded on the second carrier, record them as second abnormal boxes, and control the fourth movable robot to transport the second carrier from the preset manual inventory point to the storage area.

[0044] In a possible embodiment, the first screening module includes:

[0045] a first screening submodule, configured to, in response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determine, among the carriers stored in the storage area, a carrier on which all bins are in a transaction status of untransacted as a first carrier;

[0046] The first screening module includes:

[0047] The second screening submodule is used to determine, in response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, a carrier whose transaction status of at least one box is traded among the carriers stored in the storage area as a second carrier.

[0048] In a possible embodiment, the first carrier is any carrier in the storage area;

[0049] The device further comprises:

[0050] A first determining module is configured to determine, based on the recorded information, the transaction status of each of the first container identifiers.

[0051] The first search module includes:

[0052] The first search submodule is used to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier if all the determined transaction states are no transactions, and record the box as a first abnormal box.

[0053] In a possible embodiment, the device further includes:

[0054] a third control module, configured to control a fifth mobile robot to transport the first carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed;

[0055] a fourth search module configured to, in response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, search for a bin recorded as loaded on the first carrier that does not match the third bin identifier and record the bin as a first abnormal bin;

[0056] The fifth search module is used to search for boxes whose recorded number does not match the number of materials in the boxes recorded as being loaded on the first carrier, record them as second abnormal boxes, and control the sixth movable robot to transport the first carrier from the preset manual inventory point to the storage area.

[0057] In a possible embodiment, the device further includes:

[0058] a fourth control module, configured to control the seventh mobile robot to move a third carrier from the storage area to a preset code reading area in response to the preset inventory condition being met and the inventory mode being a preset third inventory mode, wherein the third carrier is any carrier in the storage area;

[0059] a second reading module, configured to obtain, in response to the seventh mobile robot transporting the third carrier to the preset code reading area, all fourth material box identifiers read by a code reading device disposed in the preset code reading area;

[0060] A second determining module is configured to determine, based on the recorded information, the transaction status of each of the boxes indicated by the fourth box identifiers;

[0061] a sixth search module configured to, if all determined transaction states are not traded, search for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, record the box as a first abnormal box, and control the eighth mobile robot to move the third carrier from the preset code reading area to the storage area;

[0062] a fifth control module, configured to control a ninth mobile robot to transport the third carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed;

[0063] a seventh search module, configured to, in response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier, and record the bin as a first abnormal bin;

[0064] The eighth search module is used to search for boxes whose recorded number does not match the number of materials in the boxes recorded as being loaded on the third carrier, record them as second abnormal boxes, and control the ninth movable robot to transport the third carrier from the preset manual inventory point to the storage area.

[0065] In a third aspect, an embodiment of the present application further provides a material inventory system, comprising a control device, a first mobile robot, a code reading device, and a second mobile robot; the control device pre-records the material boxes loaded on each carrier in the storage area, and records the transaction status of each material box;

[0066] The control device is configured to control the first mobile robot to transport the first carrier from the storage area to a preset code reading area; in response to the first mobile robot transporting the first carrier to the preset code reading area, control the code reading device disposed in the preset code reading area to read all first bin identifiers; and obtain all first bin identifiers read by the code reading device;

[0067] The first movable robot is configured to transport the first carrier from the storage area to a preset code reading area in response to control of the control device;

[0068] The code reading device is configured to read all first bin identifiers in response to control by the control device, and send all read first bin identifiers to the control device;

[0069] The control device is further configured to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record the box as a first abnormal box, and control the second mobile robot to move the first carrier from the preset code reading area to the storage area;

[0070] The second movable robot is configured to transport the first carrier from the preset code reading area to the storage area in response to control of the control device.

[0071] In a fourth aspect, an electronic device is provided, including:

[0072] memory for storing computer programs;

[0073] The processor is configured to implement any of the methods described in the first aspect when executing a program stored in the memory.

[0074] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method described in the first aspect is implemented.

[0075] Beneficial effects of the embodiments of the present application:

[0076] The material inventory method and system provided by the embodiment of the present application is that the control device controls the mobile robot to transport the carrier from the storage area to the preset code reading area, the code reading device reads the material box identification, and searches for the material box that does not match the material box identification read by the code reading device according to the pre-recorded material boxes loaded on the carrier, and determines the material box as an abnormal material box. After the abnormal material box is determined, the robot transports the carrier back to the storage area. During the inventory process, on the one hand, since the carrier (i.e., the material box) is automatically transported and returned to the warehouse (i.e., transported back to the storage area) by the mobile robot, compared with the traditional inventory mode that relies on manual transportation, which is not only slow but also prone to operational errors and interruptions, the mobile robot can complete the transportation task quickly and stably according to the pre-set route, saving the time spent on the carrier transportation link, thereby improving the efficiency of material inventory. On the other hand, the code reading device can read the material box identification of all the material boxes on the carrier at one time in the preset code reading area. Compared with the traditional inventory mode that requires manual reading one by one, the reading speed of the material box identification is improved. The control device compares the read material box identification to determine the abnormal material box, further improving the material inventory efficiency.

[0077] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0079] Figure 1a A first schematic diagram of a container carrier provided in an embodiment of the present application;

[0080] Figure 1b A second schematic diagram of the container carrier provided in an embodiment of the present application;

[0081] Figure 2 A schematic diagram of the first process of the material inventory method provided in an embodiment of the present application;

[0082] Figure 3 A second flow chart of the material inventory method provided in an embodiment of the present application;

[0083] Figure 4 A third flow chart of the material inventory method provided in an embodiment of the present application;

[0084] Figure 5 A fourth flow chart of the material inventory method provided in an embodiment of the present application;

[0085] Figure 6 A fifth flow chart of the material inventory method provided in an embodiment of the present application;

[0086] Figure 7 A schematic diagram of the structure of the material inventory system provided in an embodiment of the present application;

[0087] Figure 8 A schematic diagram of the structure of a material inventory device provided in an embodiment of the present application;

[0088] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0090] The materials are placed in the material boxes, and each material box is stacked on the carrier in the form of a whole box. The carrier loaded with the stacked material boxes is stored in the storage area. The carrier can be a pallet, a shelf or other carrier. For the case where the carrier is a pallet 100, see Figure 1a , Figure 1a This is a first schematic diagram of a container carrier provided in an embodiment of the present application, wherein a container 101 is loaded on a pallet 100. For the case where the carrier is a shelf 102, see Figure 1b , Figure 1b This is a second schematic diagram of a container carrier provided in an embodiment of the present application, with container 101 loaded onto shelf 102. Inventory is one of the most fundamental operations in warehouse management. Traditional, non-intelligent warehouse inventory counting relies entirely on manual labor, requiring significant manpower and time. Inaccurate counts can be easily caused by fatigue and negligence, impacting inventory management and subsequent operations.

[0091] With the rise of intelligent warehousing systems, the goods-to-person inventory method has emerged. In this inventory method, the inventory task is issued to the corresponding robot equipment in the form of instructions. In response to the instructions, the robot equipment will move the carrier used to place the materials to the manual inventory station to scan the materials for inventory. After the manual inventory is completed, the robot equipment will transport the material carrier to the storage area. This inventory method has improved efficiency compared to non-intelligent warehousing inventory, but it still requires frequent manual scanning operations, and the inventory efficiency still has room for improvement. Therefore, how to improve the inventory efficiency of materials in a complex warehousing environment has become a technical problem that needs to be solved urgently.

[0092] Based on this, an embodiment of the present application provides a material inventory method, which is applied to a control device, in which the material boxes loaded on each carrier in the storage area are pre-recorded, and the transaction status of each material box is recorded. In this application, the transaction status includes untraded and traded. Correspondingly, the material box with a transaction status of untraded is referred to as an untraded material box, and the material box with a transaction status of traded is referred to as a traded material box. Since no outbound transaction has occurred in the untraded material box, the number of materials in the untraded material box should be consistent with the number on the outer packaging label of the material box (not considering the situation of manual removal of materials and unrecorded situations). The material inventory of this type of material box is essentially to count whether each material box is on its corresponding pallet. Since the outbound transaction has occurred in the traded material box, the number of materials remaining in the traded material box will be inconsistent with the number on the outer packaging label of the material box. The material inventory of this type of material box is essentially to count the number of materials in each material box.

[0093] See also Figure 2 , Figure 2 A first flow chart of a material inventory method provided in an embodiment of the present application, the method comprising:

[0094] S201, controlling a first mobile robot to move a first carrier from a storage area to a preset code reading area;

[0095] S202 , in response to the first mobile robot moving the first carrier to a preset code reading area, obtaining all first container identifiers read by a code reading device disposed in the preset code reading area;

[0096] S203, searching for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, recording it as a first abnormal box, and controlling the second movable robot to move the first carrier from the preset code reading area to the storage area.

[0097] Applying the above embodiment, the control device controls the mobile robot to transport the carrier from the storage area to the preset code reading area, and the code reading device reads the material box identification, and searches for the material box that does not match the material box identification read by the code reading device according to the pre-recorded material boxes loaded on the carrier, and determines the material box as an abnormal material box. After the abnormal material box is determined, the robot transports the carrier back to the storage area. During the inventory process, on the one hand, the carrier (connected material box) is automatically transported and returned to the warehouse (that is, transported back to the storage area) by the mobile robot. The traditional inventory mode relies on manual transportation, which is not only slow but also prone to operational errors and interruptions. The mobile robot can complete the transportation task quickly and stably according to the pre-set route. Therefore, compared with the traditional inventory mode, the material inventory method provided by this application can save the time spent on the carrier transportation link, thereby improving the efficiency of material inventory. On the other hand, the code reading device can read the material box identification of all material boxes on the carrier at one time in the preset code reading area. Compared with the traditional inventory mode that requires manual reading one by one, the material inventory method provided by this application improves the reading speed of the material box identification. The control device compares the read material box identification to determine the abnormal material box, further improving the material inventory efficiency.

[0098] Before describing the aforementioned steps S201 to S203, the aforementioned control device, mobile robot, carrier, and code reading device are described:

[0099] The control device may be an IWMS (Intelligent Warehouse Management System) system, or may be other systems or devices having the same functions as the IWMS system.

[0100] The mobile robot in this application may be an AMR (Autonomous Mobile Robot) or an AGV (Automated Guided Vehicle). The first mobile robot, the second mobile robot, the third mobile robot, etc. mentioned in this application may be the same mobile robot or different mobile robots.

[0101] The carrier can be a pallet, shelf, or other carrier. The barcode reading device can be any device that can scan or read the bin to obtain the bin identification, including but not limited to barcode reading gates, devices that support RFID (Radio Frequency Identification) technology, and other devices that can collect and obtain the bin identification.

[0102] For the convenience of description, this application only takes the example of the control device being an IWMS system, the movable robot being an AMR, the carrier being a pallet, and the code reading device being a code reading door. The principles are the same for the cases where the control device is not an IWMS, the movable robot is not an AMR, the carrier is not a pallet, or the code reading device is not a code reading door, and will not be repeated in this article.

[0103] The IWMS system pre-records the boxes loaded on each carrier. Specifically, the IWMS system can record the boxes loaded on each carrier by recording the correspondence between the box identification and the carrier identification of each box. The box identification serves as the identity of the box and may include information such as the model, batch, production date, and location coordinates of the box. The carrier identification serves as the identity of the carrier and may include information such as the carrier number, specifications, region, and location coordinates. When it is necessary to take inventory of the materials on a certain carrier, the region and coordinates of the carrier can be obtained by querying the IWMS system, thereby determining the specific location of the carrier in the storage area.

[0104] The IWMS system also pre-records the transaction status of each container. The transaction status of the container reflects the various status information of the container and its internal goods in the warehousing business process, including whether it has been traded or not. For example, when a batch of containers on a carrier are currently being transported to the storage area, the IWMS system will mark the transaction status of the container as "not traded". If a batch of containers on a carrier has been moved out of the storage area, and the containers on the carrier have been moved or unpacked, the IWMS system will mark the transaction status of the container as "traded".

[0105] The above steps S201 to S203 are described below:

[0106] In step S201, the IWMS system generates an inventory task for the first carrier according to the current inventory demand, which may include the coordinates of the first carrier and the coordinates of the preset code reading area to which the carrier is to be transported.

[0107] After receiving the inventory task, the AMR plans a transport path based on the coordinates of the first carrier and the preset barcode reading area, moving the first carrier loaded with boxes from the storage area to the preset barcode reading area. The preset barcode reading area is pre-set by professional technicians based on the reading range of the barcode reading gate, the spatial layout of the storage area, and the arrangement of the boxes on the first carrier, ensuring that the barcode reading gate can read the box identification of all boxes on the first carrier.

[0108] In step S202 , after the AMR transports the first carrier loaded with the boxes to a preset code reading area, the code reading gate reads the box identifications of all the boxes on the carrier.

[0109] The code reading gate can read the bin identification of a bin by scanning the QR code label or barcode on the bin. Specifically, taking the barcode scanning to read the bin identification as an example, the code reading gate automatically obtains the point cloud data of the barcodes on the two material bins. Using its own visual processing capabilities, it analyzes the corresponding barcode point cloud data, converts it into information such as the bin number, and sends this information as the bin identification of the bin to the IWMS system.

[0110] When the barcode reader supports RFID (Radio Frequency Identification) technology, it can transmit a radio frequency signal of a specific frequency to the RFID tag attached to the bin, activating the tag. It then reads the stored information, such as the bin number, and uses this information as the bin identifier. This method eliminates the need to directly scan the bin label surface and enables contactless reading within a certain distance, improving reading efficiency and flexibility.

[0111] When the code reading device reads the bin identification through a QR code label, barcode or RFID tag, in order to enable the code reading device to read the bin identification of all bins at one time, during the operation of loading the bins onto the first carrier, the surface of the bins with the QR code label, barcode or RFID label should be placed towards the code reading device to avoid the code reading device being unable to fully and accurately read the bin identification due to inconsistent placement directions of the bins.

[0112] In step S203, the boxes loaded on the first pallet that do not match the first box identification refer to: boxes that the IWMS system pre-recorded should be on the first pallet but are not currently on the first pallet, and boxes that are currently on the first pallet but the IWMS system pre-recorded should not be on the first pallet.

[0113] The identification of mismatched bins is determined by comparing the read bin ID with the pre-recorded bin ID. If a bin ID is not found in the record, or if the recorded bin ID is inconsistent with the read bin ID, the bin is considered an abnormal bin. The IWMS system marks these abnormal bins as first abnormal bins. Here, the first bin ID, third bin ID, fourth bin ID, and fifth bin ID are all used to determine the bin ID of the first abnormal bin.

[0114] After completing the reading of the material box identification and the search for abnormal material boxes, the mobile robot transports the first carrier loaded with the material box from the preset code reading area back to the storage area, that is, returns it to the warehouse.

[0115] In steps S201 and S202, the first carrier can be any carrier in the storage area. That is, the bins in the first carrier can be untransacted bins, transacted bins, or both. After being transported to a predetermined barcode reading area and having the bin identification read by a barcode reading gate, the bin's transaction status is determined based on pre-recorded information. The pre-recorded information is information that characterizes the current bin's transaction status. For example, each bin identification and the corresponding bin's transaction status are pre-recorded. Once the bin identification for the current bin is read, the bin's transaction status can be determined.

[0116] When all the boxes in the first carrier are untraded boxes, a first abnormal box is searched for among the boxes recorded as being loaded on the first carrier.

[0117] When at least one of the boxes in the first carrier has been traded, the first carrier is moved to a preset manual inventory point for manual inventory to find the first and second abnormal boxes. The second abnormal box will be described below and will not be repeated here.

[0118] By applying this embodiment, the bin identification is identified by a barcode reading gate, and the transaction status of each bin is determined in combination with pre-recorded information. When all bins are untraded, abnormal bins are automatically screened to reduce manual intervention. When the bin contains traded bins, manual inventory is performed. The entire inventory process integrates automated inventory and manual inventory, which not only improves inventory efficiency but also ensures inventory accuracy.

[0119] In order to more clearly illustrate the material inventory method provided in the embodiment of the present application, the following will be described using three inventory modes: a preset first inventory mode, a preset second inventory mode, and a preset third inventory mode used in the actual material inventory process:

[0120] 1. Preset the first inventory mode

[0121] The IWMS system also pre-records the number of materials placed in each material box, that is, the IWMS system pre-records the corresponding relationship between the carrier, the material box and the number of materials.

[0122] As can be seen from the above content, for the inventory of materials in untraded bins, the key point to be determined is not the number of materials in the bins, but whether such bins are currently on their corresponding carriers. Therefore, the inventory of materials in these bins does not require human participation. When taking inventory of materials, it is only necessary to move the carriers on which all the bins are untraded bins from the storage area to the preset code reading area, and have the code reading door read the material identification to realize the inventory of materials in untraded bins. This inventory mode is referred to as the preset first inventory mode in this article, and can also be called the cycle inventory mode. This mode is suitable for scenes with low on-site inbound and outbound business or unattended operation when personnel are off duty.

[0123] The following describes how to implement material inventory when the inventory mode is the preset first inventory mode. Figure 3 , Figure 3 A second flow chart of the material inventory method provided in an embodiment of the present application includes:

[0124] S301, based on the recorded information, in response to a preset inventory condition being met and the inventory mode being the preset first inventory mode, determining, among the carriers stored in the storage area, a carrier on which all bins are in a transaction status of untransacted as a first carrier;

[0125] S302 , in response to the first mobile robot moving the first carrier to a preset code reading area, obtaining all first container identifiers read by a code reading device disposed in the preset code reading area;

[0126] S303, searching for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, recording it as a first abnormal box, and controlling the second movable robot to move the first carrier from the preset code reading area to the storage area.

[0127] In step S301, the IWMS system responds to the operator selecting the preset first inventory mode. When the preset inventory conditions are met, the system identifies, based on the recorded transaction status of each container, a carrier stored in the storage area whose container's transaction status is "untransacted" as the first carrier. That is, in the preset first inventory mode, all containers on the first carrier are considered "untransacted."

[0128] Among them, the preset inventory conditions are used to determine whether the material inventory can be started at present. Specifically, the preset inventory conditions can be that the current time is the preset start execution time, and the start execution time can be pre-set by the operator according to the inventory requirements. For example, in order to inventory the materials before the start of daily production operations, the operator can set 7 am on each working day as the start execution time. The preset inventory conditions can also be the current operator's instruction to start the material inventory, etc. For example, the operator sends a start inventory instruction to the IWMS through the terminal, which can be regarded as the operator's instruction to start the material inventory. The preset inventory conditions can also be other conditions depending on the application scenario, which are not specifically limited here.

[0129] If the first mobile robot and the second mobile robot are different mobile robots, the first mobile robot transports the first carrier to the preset barcode reading area and then places the first carrier at a designated location within the preset barcode reading area. After waiting for the barcode reading gate to read the first carrier, the second mobile robot transports the first carrier back to the storage area.

[0130] If the first and second mobile robots are the same mobile robot, in one possible embodiment, the mobile robot transports the first carrier to a predetermined barcode reading area and then places the first carrier at a designated location within the predetermined barcode reading area. The robot then waits for the barcode reading gate to read the first carrier. After the reading is complete, the mobile robot transports the first carrier back to the storage area.

[0131] In another possible embodiment, when the mobile robot carries the first carrier through the preset code reading area, the code reading gate directly reads the first carrier. After the code reading gate completes the reading, the mobile robot continues to carry the first carrier back to the storage area.

[0132] For step S302 and step S303, please refer to the related description of the aforementioned step S202 and step S203, which will not be repeated here.

[0133] Applying the above embodiment, when the inventory mode is the preset first inventory mode (i.e., the cycle inventory mode), the first carrier whose transaction status of all bins on the carrier is untransacted is determined based on the recorded information. The mobile robot transports the first carrier to the preset code reading area. The code reading device reads all bin identifications, identifies abnormal bins, and finally, the mobile robot transports the carrier back to the warehouse. In this process, the automation of material handling and inventory is achieved, reducing manpower input. This is suitable for scenarios where there is little inbound and outbound business or when staff are off duty and unattended, reducing labor costs. In addition, the code reading device reads all bin identifications, eliminating the need for manual recording. This is not only fast, but also avoids human recording errors, improves the accuracy and timeliness of bin identification reading, and thus improves inventory efficiency.

[0134] 2. Preset the second inventory mode

[0135] As mentioned above, for the inventory of materials in the traded bins, the key point is to determine the number of materials in the bins, so the inventory of materials in this part of the bins requires human participation. During the inventory of materials, it is necessary to move the carrier with at least one bin on it with the transaction status of "traded" from the storage area to the preset manual inventory point, and manually read the material identification and the number of materials corresponding to each material identification, so as to realize the inventory of materials in the traded bins. This inventory mode is referred to as the preset second inventory mode in this article, and can also be called the outbound dynamic inventory mode. This mode is a supplement to the preset first inventory mode (cycle inventory mode), and is only for the inventory of materials in the outbound transaction and unpacking part.

[0136] The following describes how to implement material inventory when the inventory mode is the preset second inventory mode. Figure 4 , Figure 4 This is a third flow chart of the material inventory method provided in an embodiment of the present application, the method comprising:

[0137] S401, based on the recorded information, in response to a preset inventory condition being met and the inventory mode being a preset second inventory mode, determining, among the carriers stored in the storage area, a carrier on which at least one container has a transaction status of "traded" as a second carrier;

[0138] S402, controlling the third mobile robot to move the second carrier from the storage area to a preset manual inventory location;

[0139] S403, in response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the manual inventory point for the second carrier, searching for a bin recorded as loaded on the second carrier that does not match the second bin identifier and recording the bin as a first abnormal bin;

[0140] S404, and in the boxes recorded as being loaded on the second carrier, search for the boxes whose recorded number does not match the material number, record them as the second abnormal boxes, and control the fourth movable robot to move the second carrier from the preset manual inventory point to the storage area.

[0141] In step S401, the IWMS system responds to the operator selecting the preset second inventory mode. When the preset inventory conditions are met, the system identifies, based on the recorded transaction status of each container, a carrier stored in the storage area with at least one container in the transaction status of a traded container as the second carrier. In other words, in the preset second inventory mode, the containers on the second carrier may be either traded containers, untraded containers, or all of them traded containers.

[0142] In step S402, the IWMS system controls the mobile robot to transport the second carrier from the storage area to a pre-set manual inventory location. At the pre-set manual inventory location, a human scans the bins on the second carrier to obtain bin identifiers and the number of items in each bin. The scanned bin identifiers and corresponding number of items in each bin are then sent to the IWMS system.

[0143] In step S403 and step S404, since the second carrier may include both traded boxes and untraded boxes, the boxes in the second carrier may include untraded boxes with mismatched box identifiers and traded boxes with mismatched material quantities.

[0144] After receiving the bin IDs and the corresponding item counts for each bin, the IWMS system searches for unsold bins among the bins recorded as loaded on the second carrier that do not match the received bin IDs. These are recorded as first abnormal bins. Furthermore, among the bins recorded as loaded on the second carrier, the system searches for traded bins whose recorded item counts do not match the recorded item counts. These are recorded as second abnormal bins. In other words, first abnormal bins are unsold bins with mismatched bin IDs, while second abnormal bins are traded bins with mismatched item counts.

[0145] After confirming that an abnormal material box has been obtained, the IWMS system controls the mobile robot to move the second carrier back to the warehouse from the preset manual inventory point.

[0146] By applying the above embodiment, carriers with at least one material box whose transaction status is "traded" are screened out, and the mobile robot transports the carrier to a preset manual inventory point for manual inventory. This mode serves as a supplement to the cyclic inventory mode. The inventory of the materials in the unpacked part of the outbound transaction is conducted by manual counting of the number of materials in each material box, which can more accurately obtain the actual number of materials in the unpacked part of the outbound transaction, thereby improving the accuracy of the material inventory.

[0147] 3. Preset the third inventory mode

[0148] Due to the different inventory scenarios, in the aforementioned preset first inventory mode and the preset second inventory mode, before the material boxes are shipped out, the untraded material boxes and the traded material boxes are classified according to the recorded transaction status of each material box to meet the inventory requirements of the inventory mode currently selected by the user.

[0149] When the preset manual inventory points and code reading equipment in the inventory scene meet the inventory requirements at the same time, the material boxes can be sorted before they are shipped out. All the material boxes that need to be inventoried are moved to the preset code reading area, and the code reading equipment determines the transaction status of the material boxes corresponding to each material box identification based on the read material box identification, thereby determining the traded material boxes and controlling the movable robot to move the carrier loaded with the traded material boxes to the manual inventory station for further manual inventory. This inventory mode is referred to as the preset third inventory mode in this article, and can also be called the dynamic inventory mode for entry and exit. It can complete the material inventory in one go, reducing the secondary handling of materials.

[0150] The following describes how to implement material inventory when the inventory mode is the preset third inventory mode. Figure 5 , Figure 5 This is a fourth flow chart of the material inventory method provided in an embodiment of the present application, the method comprising:

[0151] S501 , in response to a preset inventory condition being met and the inventory mode being a preset third inventory mode, controlling a seventh mobile robot to transport a third carrier from a storage area to a preset code reading area.

[0152] The third carrier is any carrier in the storage area.

[0153] S502 : In response to the seventh mobile robot transporting the third carrier to the preset code reading area, all fourth material box identifiers read by the code reading device set in the preset code reading area are obtained.

[0154] S503: Determine the transaction status of the material boxes represented by all the fourth material box identifiers respectively according to the recorded information.

[0155] S504: If all the determined transaction statuses are not traded, then among the boxes recorded as loaded on the third carrier, search for the box that does not match the fourth box identifier, record it as the first abnormal box, and control the eighth movable robot to move the third carrier from the preset code reading area to the storage area.

[0156] S505: If at least one of the determined transaction states is completed, the ninth mobile robot is controlled to move the third carrier from the preset code reading area to the preset manual inventory point.

[0157] S506, in response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the manual inventory point for the second carrier, search for a bin that does not match the fifth bin identifier among the bins recorded as loaded on the third carrier, and record it as the first abnormal bin.

[0158] S507, and in the boxes recorded as being loaded on the third carrier, search for the boxes whose recorded number does not match the number of materials, record them as the second abnormal boxes, and control the ninth mobile robot to move the third carrier from the preset manual inventory point to the storage area.

[0159] In step S501, in the preset third inventory mode, the bins are not sorted before they are shipped out. Therefore, the third carrier is any carrier in the storage area, that is, the bins in the third carrier can be untraded bins, traded bins, or a combination of untraded bins and traded bins.

[0160] In steps S502-S507, the IWMS system determines the transaction status of each bin identified by the bin identifier currently read by the barcode reader based on the recorded information. It then controls the robot to transport carriers with at least one bin in the "Traded" state to a pre-determined manual inventory location for manual inventory. It also performs a manual inventory on all bins in carriers with an "Untraded" state.

[0161] Similar to the first and second mobile robots described above, when the seventh and eighth mobile robots are different mobile robots, the seventh mobile robot transports the third carrier to the predetermined barcode reading area and then places the third carrier at a designated location within the predetermined barcode reading area. After waiting for the barcode reading gate to read the third carrier, the eighth mobile robot transports the first carrier back to the storage area.

[0162] If the seventh and eighth mobile robots are the same mobile robot, in one possible embodiment, the mobile robot transports the third carrier to a predetermined barcode reading area and then places the third carrier at a designated location within the predetermined barcode reading area. The robot then waits for the barcode reading gate to read the third carrier. After the reading is complete, the mobile robot transports the third carrier back to the storage area.

[0163] In another possible embodiment, when the mobile robot carries the third carrier through the preset code reading area, the code reading gate directly reads the third carrier. After the code reading gate completes the reading, the mobile robot continues to carry the third carrier back to the storage area.

[0164] For details on how to manually count materials at preset manual counting points and how to count materials with a barcode reading door, please refer to the aforementioned steps S202 to S203 and steps S402 to S404.

[0165] Applying the above embodiment, when the inventory mode is the preset third inventory mode, a movable robot is used to transport all carriers to a preset code reading area, and the material box identification is read with the help of a code reading device, and the transaction status of the material box is determined based on the recorded information. When the transaction status of all material boxes on the carrier is untraded, the abnormal material box is determined based on the material box identification read by the code reading device. When there is a traded material box on the carrier, the movable robot transports the carrier with the traded material box to a preset manual inventory point, and determines the abnormal material box based on the material box identification and material number obtained by manual scanning. Finally, the carrier that has completed the inventory is moved back to the storage area. The entire inventory process integrates automated inventory and manual inventory, which not only improves the inventory efficiency but also ensures the inventory accuracy.

[0166] For ease of understanding, the material inventory method provided in the embodiment of this application will be described in detail below with reference to the flow chart. Figure 6 , Figure 6 This is a fifth flow chart of the material inventory method provided in an embodiment of the present application, the method comprising:

[0167] S601, the operator issues the inventory task;

[0168] S602, the IWMS system generates an inventory document;

[0169] S603, presetting the first inventory mode; which is equivalent to the aforementioned step S301;

[0170] S604, screening untraded bins; which is equivalent to the aforementioned step S301;

[0171] S605: The unsold bin is transported to the barcode reading gate, which is equivalent to the aforementioned step S302.

[0172] S606, transporting to the storage area; that is, after completing the reading of the material box identification and the search for abnormal material boxes, the material boxes are returned to the warehouse; which is equivalent to the above-mentioned step S303;

[0173] S607, presetting the second inventory mode; which is equivalent to the aforementioned step S401;

[0174] S608, screening the traded boxes; which is equivalent to the above step S401;

[0175] S609, manual inventory at the workbench, which is equivalent to the aforementioned steps S402 to S404;

[0176] S610, transporting to a storage area; which is equivalent to the aforementioned steps S402 to S404;

[0177] S611, presetting the third inventory mode; which is equivalent to the aforementioned step S501;

[0178] S612: All bins are moved to the code reading gate, which is equivalent to the aforementioned step S501.

[0179] S613, filtering out traded containers and untraded containers; this is equivalent to the aforementioned steps S502 to S503;

[0180] S614: The traded material boxes are transported to the workbench for manual inventory, which is equivalent to the aforementioned steps S505 to S507.

[0181] S615, the untraded material boxes are transported to the storage area; this is equivalent to the aforementioned step S504.

[0182] Regarding step S601 and step S615, please refer to the related descriptions of steps S202-step S203, steps S301-step S303, steps S401-step S404 and steps S501-step S507, which will not be repeated here.

[0183] In a possible embodiment, the control device also pre-records the number of materials in each material box, and the method further includes:

[0184] According to the recorded information, among the carriers stored in the storage area, a carrier on which all the containers are in a transaction status of untransacted is determined as a first carrier, and a carrier on which at least one container is in a transaction status of transacted is determined as a second carrier;

[0185] Controlling the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point;

[0186] In response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the second carrier that does not match the second bin identifier and recording the bin as a first abnormal bin;

[0187] And among the boxes recorded as being loaded on the second carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the fourth movable robot to move the second carrier from the preset manual inventory point to the storage area.

[0188] In a possible embodiment, determining, among the carriers stored in the storage area, a carrier on which all boxes have a transaction status of untransacted as the first carrier includes:

[0189] In response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determining, among the carriers stored in the storage area, a carrier on which all of the boxes are in a transaction status of untransacted as a first carrier;

[0190] The step of determining a carrier on which at least one container has a transaction status of "traded" as the second carrier includes:

[0191] In response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, a carrier having at least one box thereon in a transaction status of "traded" is determined as a second carrier among the carriers stored in the storage area.

[0192] In a possible embodiment, the first carrier is any carrier in the storage area;

[0193] The method further comprises:

[0194] Determining, based on the recorded information, the transaction status of each of the boxes indicated by the first box identifiers;

[0195] The step of searching for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier and recording the box as a first abnormal box includes:

[0196] If all the determined transaction states are untransacted, then among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box.

[0197] In a possible embodiment, the method further includes:

[0198] If at least one of the determined transaction states is completed, controlling the fifth mobile robot to move the first carrier from the preset code reading area to a preset manual inventory point;

[0199] In response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, searching for a bin recorded as loaded on the first carrier that does not match the third bin identifier and recording the bin as a first abnormal bin;

[0200] And among the boxes recorded as being loaded on the first carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the sixth movable robot to move the first carrier from the preset manual inventory point to the storage area.

[0201] In a possible embodiment, the method further includes:

[0202] In response to the preset inventory condition being met and the inventory mode being the preset third inventory mode, controlling the seventh mobile robot to move a third carrier from the storage area to a preset code reading area, wherein the third carrier is any carrier in the storage area;

[0203] In response to the seventh mobile robot transporting the third carrier to the preset code reading area, acquiring all fourth material box identifiers read by a code reading device disposed in the preset code reading area;

[0204] Determining, based on the recorded information, the transaction status of the containers represented by each of the fourth container identifiers;

[0205] If all the determined transaction states are untransacted, searching for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, recording the box as a first abnormal box, and controlling the eighth mobile robot to move the third carrier from the preset code reading area to the storage area;

[0206] If at least one of the determined transaction states is completed, controlling the ninth mobile robot to move the third carrier from the preset code reading area to a preset manual inventory point;

[0207] In response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier and recording the bin as a first abnormal bin;

[0208] And among the boxes recorded as being loaded on the third carrier, search for the boxes whose recorded number does not match the number of materials, record them as the second abnormal boxes, and control the ninth movable robot to move the third carrier from the preset manual inventory point to the storage area.

[0209] Corresponding to the aforementioned material inventory method, the present application embodiment also provides a material inventory system, see Figure 7 , Figure 7 This is a schematic diagram of the structure of a material inventory system provided in an embodiment of the present application. The material inventory system 700 includes a control device 701, a first mobile robot 702, a barcode reading device 703, and a second mobile robot 704. The control device 701 pre-records the material boxes loaded on each carrier in the storage area and the transaction status of each material box.

[0210] The control device 701 is configured to control the first mobile robot 702 to move the first carrier from the storage area to the preset code reading area; in response to the first mobile robot 702 moving the first carrier to the preset code reading area, control the code reading device 703 disposed in the preset code reading area to read all first bin identifiers; and obtain all first bin identifiers read by the code reading device 703;

[0211] The first mobile robot 702 is configured to move the first carrier from the storage area to a preset code reading area in response to control of the control device 701;

[0212] The code reading device 703 is used to read all first bin identifiers in response to the control of the control device 701 and send all the read first bin identifiers to the control device 701;

[0213] The control device 701 is further configured to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record the box as a first abnormal box, and control the second mobile robot 704 to move the first carrier from the preset code reading area to the storage area;

[0214] The second movable robot 704 is configured to transport the first carrier from the preset code reading area to the storage area in response to the control of the control device 701 .

[0215] Applying the above embodiment, the control device controls the mobile robot to transport the carrier from the storage area to the preset code reading area, and the code reading device reads the material box identification, and searches for the material box that does not match the material box identification read by the code reading device according to the pre-recorded material boxes loaded on the carrier, and determines the material box as an abnormal material box. After the abnormal material box is determined, the robot transports the carrier back to the storage area. During the inventory process, on the one hand, since the mobile robot automatically completes the transportation and return of the carrier (i.e., the material box) to the warehouse (i.e., transporting it back to the storage area), compared with the traditional inventory mode that relies on manual transportation, which is not only slow but also prone to operational errors and interruptions, the mobile robot can complete the transportation task quickly and stably according to the pre-set route, saving the time spent on the carrier transportation link, thereby improving the efficiency of material inventory. On the other hand, the code reading device can read the material box identification of all the material boxes on the carrier at one time in the preset code reading area. Compared with the traditional inventory mode that requires manual reading one by one, the reading speed of the material box identification is improved. The control device compares the read material box identification to determine the abnormal material box, further improving the material inventory efficiency.

[0216] For a detailed description of the material inventory system, please refer to the above description of the material inventory method, which will not be repeated here.

[0217] Corresponding to the aforementioned material inventory method, the embodiment of the present application further provides a material inventory device, which is applied to a control device, wherein the control device pre-records the material boxes loaded on each carrier in the storage area and records the transaction status of each material box, see Figure 8 , Figure 8 This is a schematic diagram of the structure of a material inventory device provided in an embodiment of the present application, the device comprising:

[0218] The first control module 801 is used to control the first mobile robot to move the first carrier from the storage area to the preset code reading area;

[0219] A first reading module 802 is configured to obtain, in response to the first mobile robot moving the first carrier to the preset code reading area, all first container identifiers read by a code reading device disposed in the preset code reading area;

[0220] The first search module 803 is used to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record it as a first abnormal box, and control the second movable robot to move the first carrier from the preset code reading area to the storage area.

[0221] Applying the above embodiment, the control device controls the mobile robot to transport the carrier from the storage area to the preset code reading area, and the code reading device reads the material box identification, and searches for the material box that does not match the material box identification read by the code reading device according to the pre-recorded material boxes loaded on the carrier, and determines the material box as an abnormal material box. After the abnormal material box is determined, the robot transports the carrier back to the storage area. During the inventory process, on the one hand, since the mobile robot automatically completes the transportation and return of the carrier (i.e., the material box) to the warehouse (i.e., transporting it back to the storage area), compared with the traditional inventory mode that relies on manual transportation, which is not only slow but also prone to operational errors and interruptions, the mobile robot can complete the transportation task quickly and stably according to the pre-set route, saving the time spent on the carrier transportation link, thereby improving the efficiency of material inventory. On the other hand, the code reading device can read the material box identification of all the material boxes on the carrier at one time in the preset code reading area. Compared with the traditional inventory mode that requires manual reading one by one, the reading speed of the material box identification is improved. The control device compares the read material box identification to determine the abnormal material box, further improving the material inventory efficiency.

[0222] In a possible embodiment, the control device also pre-records the number of materials in each material box, and the device further includes:

[0223] a first screening module configured to, based on the recorded information, determine, from the carriers stored in the storage area, a carrier on which all of the containers are in an untransacted state as a first carrier, and determine, as a second carrier, a carrier on which at least one container is in a transacted state;

[0224] A second control module is used to control the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point;

[0225] a second search module configured to, in response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the second carrier that does not match the second bin identifier and record the bin as a first abnormal bin;

[0226] a third search module, configured to search for a box whose recorded number does not match the material number among the boxes recorded as being loaded on the second carrier, record the box as a second abnormal box, and control the fourth mobile robot to transport the second carrier from the preset manual inventory point to the storage area;

[0227] The first screening module includes:

[0228] a first screening submodule, configured to, in response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determine, among the carriers stored in the storage area, a carrier on which all bins are in a transaction status of untransacted as a first carrier;

[0229] The first screening module includes:

[0230] a second screening submodule, configured to, in response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, determine, among the carriers stored in the storage area, a carrier on which at least one bin is in the transaction status of having been traded as a second carrier;

[0231] The first carrier is any carrier in the storage area;

[0232] The device further comprises:

[0233] A first determining module is configured to determine, based on the recorded information, the transaction status of each of the first container identifiers.

[0234] The first search module includes:

[0235] a first search submodule configured to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier and record the box as a first abnormal box if all the determined transaction states are not traded;

[0236] The device further comprises:

[0237] a third control module, configured to control a fifth mobile robot to transport the first carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed;

[0238] a fourth search module configured to, in response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, search for a bin recorded as loaded on the first carrier that does not match the third bin identifier and record the bin as a first abnormal bin;

[0239] a fifth search module, configured to search for a box whose recorded number does not match the number of materials among the boxes recorded as being loaded on the first carrier, record the box as a second abnormal box, and control the sixth mobile robot to transport the first carrier from the preset manual inventory point to the storage area;

[0240] The device further comprises:

[0241] a fourth control module, configured to control the seventh mobile robot to move a third carrier from the storage area to a preset code reading area in response to the preset inventory condition being met and the inventory mode being a preset third inventory mode, wherein the third carrier is any carrier in the storage area;

[0242] a second reading module, configured to obtain, in response to the seventh mobile robot transporting the third carrier to the preset code reading area, all fourth material box identifiers read by a code reading device disposed in the preset code reading area;

[0243] A second determining module is configured to determine, based on the recorded information, the transaction status of each of the boxes indicated by the fourth box identifiers;

[0244] a sixth search module configured to, if all determined transaction states are not traded, search for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, record the box as a first abnormal box, and control the eighth mobile robot to move the third carrier from the preset code reading area to the storage area;

[0245] a fifth control module, configured to control a ninth mobile robot to transport the third carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed;

[0246] a seventh search module, configured to, in response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier, and record the bin as a first abnormal bin;

[0247] The eighth search module is used to search for boxes whose recorded number does not match the number of materials in the boxes recorded as being loaded on the third carrier, record them as second abnormal boxes, and control the ninth movable robot to transport the third carrier from the preset manual inventory point to the storage area.

[0248] The present application also provides an electronic device, such as Figure 9 Shown, including:

[0249] Memory 901, used for storing computer programs;

[0250] The processor 902 is configured to execute the program stored in the memory 901 and implement the following steps:

[0251] Controlling the first movable robot to move the first carrier from the storage area to the preset code reading area;

[0252] In response to the first mobile robot transporting the first carrier to the preset code reading area, acquiring all first container identifiers read by a code reading device disposed in the preset code reading area;

[0253] Among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box, and the second movable robot is controlled to move the first carrier from the preset code reading area to the storage area.

[0254] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 902 , the communication interface, and the memory 901 communicate with each other via the communication bus.

[0255] The communication bus mentioned in the electronic device mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0256] The communication interface is used for communication between the above electronic device and other devices.

[0257] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0258] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0259] In another embodiment provided in the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of any of the above-mentioned material inventory methods are implemented.

[0260] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the material inventory counting methods in the above embodiments.

[0261] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0262] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0263] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0264] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A material inventory method, characterized in that: Applied to a control device, the control device pre-records the boxes loaded on each carrier in the storage area and the transaction status of each box, the method comprising: Controlling the first movable robot to move the first carrier from the storage area to the preset code reading area; In response to the first mobile robot transporting the first carrier to the preset code reading area, acquiring all first container identifiers read by a code reading device disposed in the preset code reading area; Among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box, and the second movable robot is controlled to move the first carrier from the preset code reading area to the storage area.

2. The method according to claim 1, characterized in that The control device also pre-records the number of materials in each material box, and the method further includes: According to the recorded information, among the carriers stored in the storage area, a carrier on which all the containers are in a transaction status of untransacted is determined as a first carrier, and a carrier on which at least one container is in a transaction status of transacted is determined as a second carrier; Controlling the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point; In response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the second carrier that does not match the second bin identifier and recording the bin as a first abnormal bin; And among the boxes recorded as being loaded on the second carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the fourth movable robot to move the second carrier from the preset manual inventory point to the storage area.

3. The method according to claim 2, characterized in that The step of determining, among the carriers stored in the storage area, a carrier on which all the boxes are in a transaction status of untransacted as a first carrier includes: In response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determining, among the carriers stored in the storage area, a carrier on which all of the boxes are in a transaction status of untransacted as a first carrier; The step of determining a carrier on which at least one container has a transaction status of "traded" as the second carrier includes: In response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, a carrier having at least one box thereon in a transaction status of "traded" is determined as a second carrier among the carriers stored in the storage area.

4. The method according to claim 1, wherein The first carrier is any carrier in the storage area; The method further comprises: Determining the transaction status of each of the boxes indicated by the first box identifiers according to the recorded information; The step of searching for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier and recording the box as a first abnormal box includes: If all the determined transaction states are untransacted, then among the boxes recorded as being loaded on the first carrier, a box that does not match the first box identifier is searched and recorded as a first abnormal box.

5. The method according to claim 4, characterized in that The method further comprises: If at least one of the determined transaction states is completed, controlling the fifth mobile robot to move the first carrier from the preset code reading area to a preset manual inventory point; In response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, searching for a bin recorded as loaded on the first carrier that does not match the third bin identifier and recording the bin as a first abnormal bin; And among the boxes recorded as being loaded on the first carrier, search for boxes whose recorded number does not match the number of materials, record them as second abnormal boxes, and control the sixth movable robot to move the first carrier from the preset manual inventory point to the storage area.

6. The method according to claim 3, characterized in that The method further comprises: In response to the preset inventory condition being met and the inventory mode being the preset third inventory mode, controlling the seventh mobile robot to move a third carrier from the storage area to a preset code reading area, wherein the third carrier is any carrier in the storage area; In response to the seventh mobile robot transporting the third carrier to the preset code reading area, acquiring all fourth material box identifiers read by a code reading device disposed in the preset code reading area; Determining, based on the recorded information, the transaction status of the containers represented by each of the fourth container identifiers; If all the determined transaction states are untransacted, searching for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, recording the box as a first abnormal box, and controlling the eighth mobile robot to move the third carrier from the preset code reading area to the storage area; If at least one of the determined transaction states is completed, controlling the ninth mobile robot to move the third carrier from the preset code reading area to a preset manual inventory point; In response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, searching for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier and recording the bin as a first abnormal bin; And among the boxes recorded as being loaded on the third carrier, search for the boxes whose recorded number does not match the number of materials, record them as the second abnormal boxes, and control the ninth movable robot to move the third carrier from the preset manual inventory point to the storage area.

7. A material inventory device, characterized in that: Applied to a control device, wherein the control device pre-records the boxes loaded on each carrier in the storage area and the transaction status of each box, the device includes: A first control module is used to control the first mobile robot to move the first carrier from the storage area to the preset code reading area; a first reading module, configured to obtain, in response to the first mobile robot transporting the first carrier to the preset code reading area, all first bin identifiers read by a code reading device disposed in the preset code reading area; The first search module is used to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record the box as a first abnormal box, and control the second movable robot to move the first carrier from the preset code reading area to the storage area.

8. The device according to claim 7, characterized in that The control device also pre-records the number of materials in each material box, and the device also includes: a first screening module configured to, based on the recorded information, determine, from the carriers stored in the storage area, a carrier on which all of the containers are in an untransacted state as a first carrier, and determine, as a second carrier, a carrier on which at least one container is in a transacted state; A second control module is used to control the third mobile robot to transport the second carrier from the storage area to a preset manual inventory point; a second search module configured to, in response to all second bin identifiers and the number of materials corresponding to each second bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the second carrier that does not match the second bin identifier and record the bin as a first abnormal bin; a third search module, configured to search for a box whose recorded number does not match the material number among the boxes recorded as being loaded on the second carrier, record the box as a second abnormal box, and control the fourth mobile robot to transport the second carrier from the preset manual inventory point to the storage area; and / or, The first screening module includes: a first screening submodule, configured to, in response to a preset inventory condition being met and the inventory mode being a preset first inventory mode, determine, among the carriers stored in the storage area, a carrier on which all bins are in a transaction status of untransacted as a first carrier; The first screening module includes: a second screening submodule, configured to, in response to the preset inventory condition being met and the inventory mode being the preset second inventory mode, determine, among the carriers stored in the storage area, a carrier on which at least one bin is in the transaction status of having been traded as a second carrier; and / or, The first carrier is any carrier in the storage area; The device further comprises: A first determining module is configured to determine, based on the recorded information, the transaction status of each of the first container identifiers. The first search module includes: a first search submodule configured to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier and record the box as a first abnormal box if all the determined transaction states are not traded; and / or, The device further comprises: a third control module, configured to control a fifth mobile robot to transport the first carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed; a fourth search module configured to, in response to all third bin identifiers and the number of materials corresponding to each third bin identifier sent by the preset manual inventory point for the first carrier, search for a bin recorded as loaded on the first carrier that does not match the third bin identifier and record the bin as a first abnormal bin; a fifth search module, configured to search for a box whose recorded number does not match the number of materials among the boxes recorded as being loaded on the first carrier, record the box as a second abnormal box, and control the sixth mobile robot to transport the first carrier from the preset manual inventory point to the storage area; and / or, The device further comprises: a fourth control module, configured to control the seventh mobile robot to move a third carrier from the storage area to a preset code reading area in response to the preset inventory condition being met and the inventory mode being a preset third inventory mode, wherein the third carrier is any carrier in the storage area; a second reading module, configured to obtain, in response to the seventh mobile robot transporting the third carrier to the preset code reading area, all fourth material box identifiers read by a code reading device disposed in the preset code reading area; A second determining module is configured to determine, based on the recorded information, the transaction status of each of the boxes indicated by the fourth box identifiers; a sixth search module configured to, if all determined transaction states are not traded, search for a box that does not match the fourth box identifier among the boxes recorded as being loaded on the third carrier, record the box as a first abnormal box, and control the eighth mobile robot to move the third carrier from the preset code reading area to the storage area; a fifth control module, configured to control a ninth mobile robot to transport the third carrier from the preset code reading area to a preset manual inventory location if the determined at least one transaction status is completed; a seventh search module, configured to, in response to all fifth bin identifiers and the number of materials corresponding to each fifth bin identifier sent by the preset manual inventory point for the second carrier, search for a bin recorded as loaded on the third carrier that does not match the fifth bin identifier, and record the bin as a first abnormal bin; The eighth search module is used to search for boxes whose recorded number does not match the number of materials in the boxes recorded as being loaded on the third carrier, record them as second abnormal boxes, and control the ninth movable robot to transport the third carrier from the preset manual inventory point to the storage area.

9. A material inventory system, characterized in that: The system includes a control device, a first mobile robot, a code reading device, and a second mobile robot; the control device pre-records the boxes loaded on each carrier in the storage area and the transaction status of each box; The control device is configured to control the first mobile robot to transport the first carrier from the storage area to a preset code reading area; in response to the first mobile robot transporting the first carrier to the preset code reading area, control the code reading device disposed in the preset code reading area to read all first bin identifiers; and obtain all first bin identifiers read by the code reading device; The first movable robot is configured to transport the first carrier from the storage area to a preset code reading area in response to control of the control device; The code reading device is configured to read all first bin identifiers in response to control by the control device, and send all read first bin identifiers to the control device; The control device is further configured to search for a box that does not match the first box identifier among the boxes recorded as being loaded on the first carrier, record the box as a first abnormal box, and control the second mobile robot to move the first carrier from the preset code reading area to the storage area; The second movable robot is configured to transport the first carrier from the preset code reading area to the storage area in response to control of the control device.

10. An electronic device, characterized in that: include: memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 6 when executing a program stored in a memory.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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