WO2018149341A1

WO2018149341A1 - Article routing inspection method and related device

Info

Publication number: WO2018149341A1
Application number: PCT/CN2018/075538
Authority: WO
Inventors: 高扬; 陈少华; 彭安斋; 王勇; 李文哲; 伍科宇
Original assignee: 菜鸟智能物流控股有限公司
Priority date: 2017-02-17
Filing date: 2018-02-07
Publication date: 2018-08-23
Also published as: CN108460314A; TW201832147A

Abstract

An article routing inspection method applied to a moving apparatus, for realising the detection of whether an article is stored in an article storage unit of a detected object. Specifically, a moving apparatus can obtain a movement route corresponding to a detected object before routing inspection. The movement route is a route that is pre-planned according to an arrangement mode of an article storage unit arranged in the detected object and that passes the article storage unit. Therefore, the moving apparatus can autonomously move along the movement route, and detects whether an article is stored in the article storage unit when passing the article storage unit in the autonomous movement process. Compared to a moving apparatus needing to be remotely controlled by ground staff, in the method, the moving apparatus can control its own movement process, thereby realising the automation of an article routing inspection process.

Description

Article inspection method and related equipment

The present application claims the priority of the Japanese Patent Application Serial No. JP-A-------------

Technical field

The present application relates to the field of article detection technology, and more particularly, to an article inspection method and related equipment.

Background technique

Generally, goods such as parcels are stored in the warehouse. In order to facilitate management, multiple rows of shelves are placed in the warehouse, and each row of shelves is provided with a plurality of cargo spaces, and the goods are placed in the cargo spaces. See Figure 1, which is a front view of a row of shelves. As shown in Figure 1, a row of shelves is provided with a plurality of cargo spaces (small rectangular areas in the illustration), and the goods are stored in the cargo space of the shelves.

One aspect of managing goods is to count the amount of goods stored on the shelves. The current inventory scheme is to set a two-dimensional code on the goods, manually control the remote control adapted to the drone, control the flight of the drone, and scan the cargo space by the drone equipped with the scanner. Further, according to whether the result of scanning the two-dimensional code can be determined, whether the goods are stored in the cargo space is determined, thereby achieving the purpose of inventorying the goods.

However, at least the problem with the existing cargo inventory scheme is that the flight of the drone needs to be controlled manually by the remote controller, and the flight control method is not automated enough.

Summary of the invention

In view of this, the present application provides an item inspection method for solving the problem that the exercise device is not sufficiently automated in the inspection process of the article.

To achieve the stated object, the technical solution provided by the present application is as follows:

In a first aspect, the present application provides an item inspection method for an exercise device, the method comprising:

Obtaining motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit;

Controlling movement of the motion device along a route indicated by the motion path data;

When the moving device passes the article storage unit during the movement, the moving device is triggered to detect whether an item is stored in the article storage unit, and the detection result is obtained.

In a second aspect, the present application provides an item inspection method for an exercise device, the method comprising:

An image of the detection object is acquired in the motion, and the image is transmitted to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included.

In a third aspect, the present application provides an inspection method for an article, which is applied to a inspection management device, and the method includes:

Receiving an image of the detection object transmitted by the motion device;

And if the unit label is detected from detecting the image of the detection object, sending an acquisition instruction to the motion device; wherein the detection object is provided with a plurality of item storage units, wherein the item storage unit has a corresponding unit label, The collecting instruction is configured to trigger the moving device to collect an image of the item storage unit in the detecting object and corresponding to the unit label; and receive an image of the item storage unit sent by the moving device;

Depending on the image of the item storage unit, it is detected whether the item storage unit contains an item.

In a fourth aspect, the present application provides an item inspection apparatus, including:

a processor, configured to obtain motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, the route indicated by the movement route data passes through the item storage unit; and the movement route data is Send to the navigation module;

a navigation module; configured to control a movement of the item inspection device along the route indicated by the movement route data;

The processor is further configured to detect whether an item is stored in the item storage unit when the item inspection device passes the item storage unit during the movement, and obtain a detection result.

In a fifth aspect, the present application provides an exercise device, including:

a processor, configured to obtain motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the motion path data passes through the item storage unit;

a navigation module, configured to control a motion of the motion device along the route indicated by the motion path data;

An image acquisition module, configured to acquire an image of the detection object in the motion; and send the image to a communication interface;

a communication interface for transmitting the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included.

In a sixth aspect, the application provides a patrol management apparatus, including:

a communication interface, configured to receive an image of the detection object sent by the motion device; and receive an image of the item storage unit sent by the motion device;

a processor, configured to send a collection instruction to the mobile device if the unit label is detected from detecting the image of the detection object; wherein the detection object is provided with a plurality of item storage units, and the item storage unit has a corresponding a unit label, the collection instruction is configured to trigger the motion device to collect an image of the item storage unit in the detection object and corresponding to the unit label; and detect the item storage according to an image of the item storage unit Whether the item is included in the unit.

It can be seen from the above technical solutions that the present application provides an inspection method for an article applied to an exercise device to realize detection of whether or not an article is stored in the article storage unit of the detection object. Specifically, the motion device can obtain a motion route corresponding to the detection object before the patrol inspection, and the motion route is a pre-planned route passing through the article storage unit according to the arrangement manner of the article storage unit provided in the detection object, and therefore, the motion The device can move autonomously along the movement route, and when the article storage unit passes through the autonomous movement, it is detected whether or not the article is stored therein. Compared with the remote control of the motion device by the ground personnel, the motion device can control the motion process of the device, thereby realizing the automation of the article inspection process.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

Figure 1 is a schematic front view of the shelf;

2 is a schematic view of an existing item inventory scheme;

FIG. 3 is a schematic diagram of an application scenario of an inspection method for an article provided by the present application;

4A and 4B are schematic diagrams showing two different motion paths corresponding to two different shelves provided by the present application;

5A and FIG. 5B are schematic diagrams showing two motion paths corresponding to a shelf provided by the present application;

6 is a schematic diagram of an arrangement UWB signal transmitting module provided by the present application;

FIG. 7 is a schematic diagram of a shelf image collected by the information collection module provided by the present application;

8 is a schematic structural view of an article inspection device provided by the present application;

9 is another schematic structural diagram of an article inspection device provided by the present application;

10 is a schematic structural view of a motion device provided by the present application;

FIG. 11 is a schematic structural diagram of a patrol management apparatus provided by the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

Goods such as parcels are usually stored on the shelves. During the management of the goods, the quantity of goods stored on the shelves needs to be counted. Some warehouses that have not yet been automated will use manual counting methods, that is, warehouse managers check whether the goods on the shelves are stored. When checking the position at the high position, the warehouse manager needs to take equipment such as a lift to move to a high position. This type of inspection is not only inefficient but also dangerous.

In order to solve the problem of manual use of lifting equipment to check the cargo plan, some warehouses are equipped with fixed cameras, which are manually counted by observing the image of the shelves taken by the camera. Although this method can solve the above problems, the shooting result does not cover the entire shelf because the viewing angle of the camera is limited, so the counting result is not accurate enough.

Therefore, in order to improve the efficiency of inventory and ensure the accuracy of the inventory results, a more automated inventory scheme is currently used. As shown in Figure 2, the manual remote control adapts the remote control to control the flight of the drone. After the drone is controlled to fly to the cargo space, the scanner mounted on the drone scans the cargo space according to whether it can The result of scanning the QR code to determine whether goods are stored in the cargo space, thereby achieving an inventory of the quantity of goods stored on the shelf.

However, at least the problem with the above cargo inventory scheme is that the flight path of the drone needs to be controlled by the manual remote control to the drone, and the flight process is not sufficiently automated.

In order to solve at least the above problem, the present application provides an item inspection method for detecting whether an item is stored in a detection object such as a shelf.

It should be noted that the inspection object of the article inspection method is not limited to the shelf, and the object to be detected includes the article storage unit, and the article storage unit is not limited to the storage space on the shelf. The object to be inspected placed in the article storage unit may be a cargo or other articles having a specific shape. In addition, the detection object may include other devices in addition to the article storage unit. Alternatively, the detection object is composed of an item storage unit, that is, the whole formed by the plurality of item storage units arranged according to a certain rule is called a detection object. For example, the whole of a plurality of boxes arranged in a plurality of rows and columns is a detection target. The device to which the object can be placed can be placed upright or it can be placed horizontally.

The item inspection method provided by the present application is applied to a motion device, which may be a device capable of performing autonomous motion, such as a drone or a robot. Referring to FIG. 3, an application scenario of an item inspection method is shown. The application scenario still takes the inspection of the goods on the shelf as an example, and describes the specific implementation process of the inspection method of the articles.

As shown in FIG. 3, the item inspection system may include a ground control device, and the ground control device may transmit data of the pre-planned motion route to the drone before each inspection. Sending the data of the motion route to the drone means sending the motion route to the drone. The pre-planned movement route needs to pass through the object storage unit on the inspection object that needs to be inspected.

Different shelves correspond to different movement route data. Specifically, the different layouts of the shelves are different in the arrangement of the storage positions on the shelves, and the difference in the arrangement form may be reflected in the difference in the number of the positions or the same number of arrangements.

See the motion paths corresponding to the two different shelves shown in Figures 4A and 4B. Here, the cargo space on the shelf shown in FIG. 4A is different from the cargo space on the shelf shown in FIG. 3, and therefore, the motion route shown in FIG. 4A is different from the motion route shown in FIG. The position on the shelf shown in FIG. 4B is the same as the number of the shelves on the shelf shown in FIG. 3, but the arrangement rules of the positions are different. Therefore, the motion route shown in FIG. 4B is different from the motion route shown in FIG. .

The length of the movement route represents the length of the flight distance during the inspection of the drone. Therefore, in order to shorten the flight distance of the drone, the movement route can be set according to the arrangement of the cargo space.

As shown in FIG. 5A, if the cargo spaces are arranged in a row and row manner, the motion route includes a plurality of inflection points in addition to the start point and the end point. In addition to the first row and the last row, each intermediate row includes two inflection points, and the motion path between the two inflection points is parallel to the row direction. Of course, for the first line, the motion path between the starting point and the inflection point on the first line is parallel to the row direction; for the last line, the motion path between the end point and the inflection point on the last line is also parallel to the row direction. . Except for the first row and the last row, the motion path between the inflection points of the two rows is parallel to the column direction. Of course, for the first line, the motion path between the inflection point on the line and the inflection point on the following line is parallel to the column direction; for the last line, the inflection point on the line is between the inflection point on the previous line and the inflection point on the previous line. The motion route is also parallel to the column direction.

For the cargo spaces arranged in a row and row manner, the motion route may be planned as the route of the behavior inspection unit shown in FIG. 5A, and the route may be referred to as a patrol route, or may be planned as shown in FIG. 5B. The route of the inspection unit, which can be called the inspection route. The patrol route and the patrol line are only different in form, but the route composition is the same.

The shelves in the warehouse may not be one or multiple. A shelf can be called a row of shelves, and after the drone detects a row of shelves, it needs to fly to another row of shelves. Therefore, the planned sub-route and the detection sub-route can be included in the planned exercise route. The transition sub-route is a route from one shelf to another, and the detection sub-route is a route for detecting whether the cargo on the shelf stores the goods.

Therefore, the drone is controlled to move along the route indicated by the transition sub-route to move the drone from one shelf to another; whenever the drone moves to a shelf, the drone is controlled to correspond to the shelf. The detection of the sub-route movement enables the detection of the multi-row shelf by the guided drone.

In the above example, the arrangement of the cargo spaces is regular. If the arrangement of the cargo spaces is irregular, it is necessary to plan according to the arrangement of the cargo spaces, as long as the route from the previous cargo space to the next cargo space in the motion route is guaranteed. The shortest route is enough.

After the motion route is determined, the motion route can be sent to the drone in addition to the ground control device, and can also be preset in the drone. In this way, each time the drone performs the patrol task, it can move according to the route indicated by the preset motion route data. Since the arrangement of the item storage units in the detection object changes, the route indicated by the movement route data also needs to be adaptively changed in order to pass through the item storage unit. Therefore, the scheme of presetting the movement route data in the exercise device is more suitable for the scenario in which the arrangement of the article storage units in the detection object is relatively fixed.

After the drone receives the motion route data corresponding to the shelf to be detected, the motion device can be controlled to move along the motion route indicated by the motion route data. The specific control process can be implemented in the following two ways. One implementation is that the drone is navigated by the ground control device to control the drone to move along the preset motion path. Another implementation is that the flight control module on the drone navigates the drone to control the drone itself to move along the preset motion path.

If it is the second implementation mode, the positioning module and the flight control module can be set on the drone. The flight control module obtains the real-time positioning data of the positioning module to the drone, and plans the motion trajectory of the drone according to the real-time positioning data and the motion route data, so that the motion trajectory coincides with the route indicated by the motion route data. The following describes the positioning process of the positioning module on the drone.

Specifically, the shelf may be disposed in a specific space such as a warehouse. In order to realize the positioning of the flight position of the drone in a specific space, a pulse signal transmitting module may be disposed in the warehouse, and correspondingly, the positioning module on the drone is Pulse signal receiving module. The pulse signal receiving module may be multiple. After receiving the pulse signal transmitted by each pulse signal, the pulse signal receiving module locates the position of the drone according to the strength of the plurality of pulse signals to obtain the position data of the drone. .

In an implementation manner, the pulse signal transmitting module may be an ultra-wideband (UWB) signal transmitting module, and the pulse signal receiving module is an ultra-wideband (UWB) signal receiving module. As shown in Fig. 6, at the four corners of the top of the warehouse, a UWB signal transmitting module is arranged. Each UWB signal transmitting module can transmit the UWB signal to the outside. After receiving the UWB signals, the UWB signal receiving module on the drone realizes the positioning of the UAV according to the strength of each UWB signal.

Of course, the number of the pulse signal transmitting modules is not limited to four, and may be two or more other numbers. In order to achieve the accuracy of positioning, the more the pulse signal transmitting module, the better, but considering the implementation cost, the number of suitable pulse signal transmitting modules can be selected according to the actual situation.

It should be noted that the pulse signal will be affected by certain substances. If the material of the shelf in the warehouse includes these substances, the pulse signal will be attenuated, which will affect the reception of the pulse signal by the pulse signal receiving module of the drone. Therefore, when arranging the pulse signal transmitting module, the shelf is prevented from blocking the pulse signal. For example, as shown in FIG. 6, the pulse signal transmitting module can be arranged at the top of the warehouse. In order to enlarge the emission area of the signal, the pulse signal transmitting module is arranged at a corner point according to the shape of the top of the warehouse. Of course, if you want to expand the number of pulse signal transmitting modules, you can also arrange the pulse signal transmitting module at other locations.

It should be noted that the drone can be various types of drones such as a rotary wing drone. The flight control module on the drone can use the flight control algorithm to control the attitude of the drone during flight to ensure the stability of the flight attitude of the drone.

In order to further improve the accuracy of the UAV navigation process and better control the flight attitude, a Strap-down Inertial Navigation System (SINS) can be set on the UAV. The system installs the accelerometer and the gyroscope directly on the carrier, calculates the attitude matrix in real time according to the information measured by the accelerometer and the gyroscope, and calculates the relationship between the carrier coordinate system and the navigation coordinate system, and then the carrier coordinates. The accelerometer information of the system is converted into information in the navigation coordinate system, thereby navigating according to the conversion information.

Alternatively, a radar altimeter and an optical flow velocity sensor can be provided on the drone. The flight control module can further obtain the height information measured by the radar altimeter and the horizontal speed information measured by the optical flow velocity sensor, and obtain the motion state information calculated by the SINS system, and use the flight control algorithm to perform the motion state information, the altitude information, and the horizontal velocity information. Comprehensive calculation, navigation and attitude control of the flight process based on the comprehensive calculation results. Among them, the flight control algorithm may include various algorithms such as a Kalman filter algorithm.

The drone passes through the cargo space during the movement along the movement route. When the drone passes the cargo position, the drone is triggered to detect whether the goods are stored in the cargo space. It should be noted that the drone can detect the cargo space every time a cargo space passes, or it can also detect the passing predetermined cargo space.

The detection method can be a two-dimensional code scanning method. Specifically, a two-dimensional code can be set on the goods, and the drone detects whether the goods are stored in the cargo space according to whether the two-dimensional code is scanned. The detection method is not limited to the two-dimensional code scanning method, and may be other methods, such as an image detection method. Specifically, the drone can collect an image of the cargo space and send the image to the ground control device, and the ground control device processes the image to detect whether the cargo is stored in the cargo space. Alternatively, after the drone collects the image of the cargo space, the image is processed by itself to detect whether the goods are stored in the cargo space. The specific image detection method is described in the following content, and is not described here.

It should be noted that, in the above embodiment, the device for externally controlling the UAV is a ground control device, but the present invention is not limited thereto, and any device that performs external control on the motion device may be collectively referred to as a control device. In addition, the item storage unit through which the exercise route passes may be all the item storage units provided in the detection object. Of course, if it is desired to detect whether or not items are stored in some or some item storage unit, the items passing by the exercise route are The storage unit may be some or some item storage unit within the detection object.

The item inspection method may further include: generating a inspection result according to whether the detection result of the item is stored. Specifically, the status identifier is generated according to the detection result, and the different status identifiers indicate the state in which the articles are stored or not stored in the article storage unit. For example, the state identifier 1 indicates that there is an article, and the state identifier 0 indicates that the article is not stored. Of course, the status identifier can also be other forms and is not limited to numerical values. The item storage unit has a unit identifier, and the unit identifier is a unique identifier of the item storage unit in the detection object. The unit identifier may be the position of the item storage unit on the detection object such as the second row of the third row, or the location identifier may be the number of the item storage unit such as number 54. The correspondence between the location identifier and the status identifier is established and saved in the inspection result.

For example, the unit identifier of the cargo space on the shelf is the cargo space identifier. If the cargo space identifier of a cargo space is 3-2 (indicating the third row and the second column), the status identifier is 1 (1 indicates that the goods are stored), and the inspection is performed. The result includes the correspondence between the location identifier and the status identifier to indicate that the item is stored in the third row and the second row.

The article detecting method may further include: counting the number of articles stored in the object according to the inspection result, that is, the article detecting method further includes counting the number of articles. The specific implementation method may be: the statistical status identifier is a preset number indicating the status identifier of the stored item. Of course, the item detection method can also be used to count the number of item storage units in the object that are not stored in the object. The specific implementation method is similar to the foregoing implementation method, that is, the statistical status identifier is a preset number indicating the status identifier of the item not stored.

The existing item inventory scheme shown in FIG. 2 has a problem of low accuracy in addition to the problem that manual remote control is required. Specifically, in the solution shown in FIG. 2, the drone continuously scans the two-dimensional code during flight, and determines whether there is a cargo in the cargo space by scanning the two-dimensional code, but the area of the two-dimensional code is small and Some QR codes are worn, resulting in a lower scanning success rate of the QR code, which affects the accuracy of the goods inventory results.

Therefore, in order to improve the accuracy of the cargo inspection, in the embodiment of the above-mentioned article inspection method, when the drone passes the cargo space during the movement, the specific implementation manner of triggering the drone to detect whether the goods are stored in the cargo space may include the following Implementation.

In one implementation, the preset motion path includes one or more detection points, and the detection points correspond to the positions of the cargo spaces in the shelf. The detection point is set according to the position of the cargo space on the shelf, that is to say, which one or which cargo spaces on the shelf need to be detected, it is necessary to set corresponding detection points for the cargo spaces in the motion route. When the drone moves along the movement route, when passing the detection point, the drone is triggered to detect whether the item is stored in the cargo space.

In this implementation manner, the drone can accurately determine the position at which the detection operation is performed during the movement along the movement route, but it is necessary to pre-determine the position and quantity of the position on the shelf in advance, thereby The detection points in the information planning movement route make the planning of the movement route more difficult.

Another implementation method is to set an information collection module on the drone, and the information acquisition module will move along with the movement of the drone, and determine the detection point according to whether the information collection module collects the cargo space label during the movement. Specifically, each cargo space can be set with a cargo space label corresponding to the cargo space, and the set point of the cargo space label indicates a location point at which the cargo space can be detected. That is to say, if the information collecting module can collect the cargo space label at a certain point, it indicates that there is a cargo space at the position of the cargo space label, and then the goods can be detected for whether the cargo space is stored.

As shown in Fig. 7, a cargo space label is arranged below the cargo space. If the information collecting module on the drone can collect the cargo space label, it indicates that there is a cargo space at the cargo space label position, so that the cargo can be detected. Whether the goods are stored in the position.

In this implementation manner, it is not necessary to plan a detection point in the motion route, and it is determined according to whether the information collection module can collect the location label to determine whether a detection point is reached. When the information collection module collects the location label in the motion, the trigger is triggered. The drone detects whether goods are stored in the cargo space.

It should be noted that the implementation manner is described by taking the cargo space as an example. Therefore, the unit label corresponding to the article storage unit is a cargo space label. Of course, if the item storage unit is another type of device, the unit label is a label corresponding to other forms.

In the implementation, the information collection module may be an image acquisition module such as a camera module or a depth camera sensor. The image acquisition module may collect the image of the shelf in real time during the flight of the drone, and determine whether the information collection module collects the location label. The implementation manner may be: detecting whether the image of the shelf includes a location label, and if the image of the shelf includes a location label, the image acquisition module collects the location label.

The location tag may have certain image characteristics, and the image feature may be a color feature, a shape feature, or the like. Therefore, if an image area having a specific image feature can be detected in the shelf image, it means that the location label can be collected in the shelf image. Wherein, the specific image feature is that the image tag has an image feature such as a specific shape. Assuming that the location label is a rectangle having a length of 10 cm and a width of 5 cm, the camera device on the drone can collect the shelf image as shown in FIG. 7. If the rectangle detected from the shelf image meets the above characteristics, then Indicates that the shelf image contains a location label.

If the location label can be collected from the shelf image, it indicates that there is a location at the location of the location label, so that the drone can be triggered to detect whether the goods are stored in the location. The detection method may be a two-dimensional code scanning method or another method such as image detection. The image detection method will be specifically described below.

After determining the detection point indicated by the location label, the drone can be guided to the spatial position corresponding to the detection point, thereby triggering the image acquisition module to collect the image of the location corresponding to the location label. Specifically, after determining the image location of the location label in the location image, determining a spatial location corresponding to the image location; controlling the drone to move to the spatial location, and acquiring an image at the spatial location, the acquired image is The image of the location corresponding to the location label is simply referred to as the location image.

After the location image is acquired, an image processing algorithm such as a depth detection algorithm is used to detect whether or not the goods are contained in the image of the location. It should be noted that the depth detection algorithm is an image processing algorithm. When detecting whether the cargo image is included in the cargo image, the present invention is not limited to using the depth detection algorithm, and other image processing algorithms may also be used.

Take the depth detection algorithm as an example to describe the detection process. Specifically, the location image is first binarized, and the contour region is extracted from the binarized image. If the extracted contour area satisfies a specific shape feature, which is a shape feature of the cargo, it can be determined that the cargo is stored in the location. If the contour area is not extracted, or the extracted contour area does not satisfy the specific shape feature, it can be determined that the goods are not stored in the location.

After obtaining the test result, the drone can send the test result to the ground control device for processing by the ground control device, such as displaying the test result in the display interface. Alternatively, the drone may also transmit the image acquired by the image acquisition module to the ground control device for processing, such as saving or displaying, by the ground control device.

FIG. 8 is a schematic structural diagram of an article inspection apparatus provided by the present application, specifically including a processor 801 and a navigation module 802.

The processor 801 is configured to obtain motion path data corresponding to the detection object, where the detection object is provided with a plurality of item storage units, the route indicated by the movement route data passes through the item storage unit, and the movement route is Data is sent to the navigation module;

a navigation module 802; configured to control a movement of the item inspection device along the route indicated by the motion path data;

The processor 801 is further configured to: when the item inspection device passes the item storage unit during the movement, detect whether an item is stored in the item storage unit, and obtain a detection result.

In an example, when performing the step of controlling the movement of the item inspection device along the route indicated by the movement route data, the navigation module 802 is specifically configured to determine real-time positioning data of the item inspection device; The real-time positioning data and the motion path data plan a motion trajectory of the item patrol device to match the motion trajectory with the route indicated by the motion path data.

In one example, a pulse signal transmitting module is disposed in a space in which the detecting object is located, and the navigation module includes a pulse signal receiving module; and then performing real-time positioning data on the article patrol device of the positioning module is performed. In the step, the navigation module 802 is specifically configured to obtain real-time positioning data generated by the pulse signal receiving module according to the pulse signal transmitted by the pulse signal transmitting module.

In one example, the item inspection device is a drone, the pulse signal transmission module is an ultra-wideband signal transmission module, and the pulse signal receiving module is an ultra-wideband signal receiving module.

In one example, the detection object is a plurality of, and the route indicated by the motion path data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route; and then the control of the item inspection device along the movement is performed. When the route data indicates the step of the route movement, the navigation module 802 is specifically configured to control the route of the article inspection device along the transition sub-route to move the article inspection device from one detection object to another a detecting object; and each time the article inspecting device moves to the detecting object, controlling the article inspecting device to move along the detecting sub-route corresponding to the detecting object.

In one example, the route indicated by the motion route data includes a plurality of detection points, and the detection points correspond to positions of the item storage unit in the detection object; When detecting the step of storing an item in the item storage unit when the item storage unit passes the movement, the processor 801 is specifically configured to: when the item inspection device passes the detection in the movement When the point is detected, it is detected whether the item is stored in the item storage unit.

FIG. 9 is a schematic diagram showing another structure of the article inspection device provided by the present application, which specifically includes a processor 801, a navigation module 802, and an information collection module 803.

The item storage unit has a corresponding unit label.

The information collecting module 803 is configured to collect a unit label in the route movement indicated by the item inspection device along the movement path data; and then execute when the item inspection device passes the item storage in the movement When the unit detects the step of storing the item in the item storage unit, the processor 801 is specifically configured to: when the information collecting module collects the unit label in the movement, detect the item storage unit Whether items are stored.

In an example, the information collection module 803 is an image acquisition module, configured to collect an image of the detection object in real time during the movement of the item inspection device; and then execute when the information collection module is in the motion. The processor 801 is specifically configured to detect whether the unit label is included in the image of the detection object collected by the image collection module, when the unit label is detected, and the step of detecting whether the item is stored in the item storage unit; Including, detecting whether an item is stored in the item storage unit.

In an example, the image acquisition module is further configured to: after receiving the acquisition instruction, collect an image of the item storage unit corresponding to the unit label; and send an image of the item storage unit corresponding to the unit label to the processor 801;

The processor 801 is specifically configured to send an acquisition instruction to the image collection module, and detect whether the image of the item storage unit corresponding to the unit label includes the step of detecting whether the item is stored in the item storage unit. Said items.

In one example, when performing the step of detecting whether the item is included in the image of the item storage unit, the processor 801 is specifically configured to detect whether the image is included in the image of the item storage unit using the depth detection algorithm article.

In an example, the processor 801 is further configured to determine an image position of the unit label in an image of the item storage unit corresponding to the unit label, and determine the image before sending the collection instruction to the image collection module. a spatial location corresponding to the location; and controlling movement of the item inspection device to the spatial location.

FIG. 10 is a schematic structural diagram of a motion device provided by the present application, specifically including: a processor 1001, a navigation module 1002, an image acquisition module 1003, and a communication interface 1004.

a processor 1001, configured to obtain motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit;

a navigation module 1002, configured to control a motion of the motion device along the route indicated by the motion path data;

An image acquisition module 1003, configured to collect an image of the detection object in the motion; and send the image to a communication interface;

The communication interface 1004 is configured to send the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included.

In one example, the route indicated by the motion path data includes a plurality of detection points, and the detection points correspond to positions of the item storage unit in the detection object; then, performing detection in the movement is performed The image capturing module 1003 is specifically configured to: when the moving device passes the detection point in the motion, collect an image of the item storage unit in the detection object and corresponding to the detection point .

In an example, the item storage unit has a corresponding unit label; and when performing the step of collecting an image of the detection object in the motion, the image acquisition module 1003 is specifically configured to: when the collection instruction is received, collect the An image of the item storage unit in the object and corresponding to the unit label is detected.

It should be noted that the above motion device may be the drone shown in FIG. 3.

Referring to FIG. 11 , the present application also provides a schematic diagram of a structure of a patrol management device, which specifically includes:

a communication interface 1101, configured to receive an image of the detection object sent by the motion device; and receive an image of the item storage unit sent by the motion device;

The processor 1102 is configured to: if a unit label is detected from detecting an image of the detection object, send an acquisition instruction to the motion device; wherein the detection object is provided with a plurality of item storage units, and the item storage unit has a corresponding unit label, the collection instruction is configured to trigger the motion device to collect an image of the item storage unit in the detection object and corresponding to the unit label; and detect the item according to an image of the item storage unit Whether the item is included in the storage unit.

In one example, the processor 1102 is further configured to determine an arrangement manner of the plurality of item storage units in the detection object; and generate motion path data according to the arrangement manner; wherein the route indicated by the motion path data passes the Several item storage units. The communication interface 1101 is further configured to send the motion route data to the motion device.

It should be noted that the above patrol management device may be the ground control device shown in FIG. 3.

It should be noted that each embodiment in the specification is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the embodiments are referred to each other. can.

It should also be noted that, in this context, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying such entities or operations. There is any such actual relationship or order between them. Furthermore, the term "comprises" or "comprises" or "comprises" or any other variations thereof is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also Other elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional elements in the process, method, article, or device that comprises the above described elements.

The above description of the disclosed embodiments enables those skilled in the art to make or use the application. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application is not limited to the embodiments shown herein, but is to be accorded the broadest scope of the principles and novel features disclosed herein.

Claims

An article inspection method, characterized in that it is applied to an exercise device, and the method comprises:

Obtaining motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit;

Controlling movement of the motion device along a route indicated by the motion path data;

When the moving device passes the article storage unit during the movement, the moving device is triggered to detect whether an item is stored in the article storage unit, and the detection result is obtained.
The method of inspecting an article according to claim 1, wherein the moving device is provided with a positioning module; and controlling the movement of the moving device along the route indicated by the movement route data comprises:

Obtaining real-time positioning data of the positioning module on the motion device;

And locating a motion trajectory of the motion device according to the real-time positioning data and the motion route data, so that the motion trajectory coincides with a route indicated by the motion route data.
The method for inspecting an article according to claim 2, wherein a pulse signal transmitting module is disposed in a space in which the detecting object is located, and the positioning module is a pulse signal receiving module;

Obtain real-time positioning data of the positioning module on the motion device, including:

Obtain real-time positioning data generated by the pulse signal receiving module according to the pulse signal transmitted by the pulse signal transmitting module.
The method for inspecting an article according to claim 3, wherein the motion device is a drone, the pulse signal transmitting module is an ultra-wideband signal transmitting module, and the pulse signal receiving module is an ultra-wideband signal receiving module. .
The item inspection method according to claim 1, wherein the detection object is a plurality of, and the route indicated by the motion route data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route;

Controlling the motion of the motion device along the route indicated by the motion path data, including:

Controlling movement of the motion device along the route represented by the transition sub-route to move the motion device from one detection object to another detection object;

Each time the motion device moves to the detection object, the motion device is controlled to move along a detection sub-route corresponding to the detection object.
The article inspection method according to claim 1, wherein the route indicated by the motion route data includes a plurality of detection points, and the detection points correspond to positions of the article storage unit in the detection object. ;

When the moving device passes the article storage unit during the movement, triggering the motion device to detect whether the article is stored in the article storage unit includes:

When the motion device passes the detection point in the motion, the motion device is triggered to detect whether an item is stored in the item storage unit.
The article inspection method according to claim 1, wherein the motion device is provided with an information collection module, and the article storage unit has a corresponding unit label;

When the moving device passes the article storage unit during the movement, triggering the motion device to detect whether the article is stored in the article storage unit includes:

When the information collecting module collects the unit label in the motion, the motion device is triggered to detect whether an item is stored in the item storage unit.
The method of inspecting an item according to claim 7, wherein the information collecting module is an image collecting module, configured to collect an image of the detecting object in real time during the movement of the moving device;

When the information collection module collects the unit label in the motion, the motion device is triggered to detect whether the item is stored in the item storage unit, including:

Detecting whether the unit label is included in an image of the detection object;

If included, the motion device is triggered to detect whether an item is stored in the item storage unit.
The method of inspecting an article according to claim 8, wherein the triggering the motion device to detect whether an item is stored in the item storage unit comprises:

Triggering the image acquisition module to collect an image of the item storage unit corresponding to the unit label;

Detecting whether the item is included in an image of the item storage unit.
The method of inspecting an article according to claim 9, wherein the detecting whether the article is included in the image of the article storage unit comprises:

A depth detection algorithm is used to detect whether the item is contained within the image of the item storage unit.
The method of inspecting an item according to claim 9, wherein the triggering the image acquisition module to collect an image of the item storage unit corresponding to the unit label comprises:

Determining an image position of the unit label in the image, and determining a spatial position corresponding to the image position;

Controlling movement of the motion device to the spatial position and acquiring an image at the spatial location; wherein the image is an image of an item storage unit corresponding to the unit label.
An article inspection method, characterized in that it is applied to an exercise device, and the method comprises:

Obtaining motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the movement route data passes through the item storage unit;

Controlling movement of the motion device along a route indicated by the motion path data;

An image of the detection object is acquired in the motion, and the image is transmitted to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included.
The article inspection method according to claim 12, wherein the route indicated by the movement route data includes a plurality of detection points, and the detection points correspond to positions of the article storage unit in the detection object ;

Then collecting the image of the detection object in the motion, including:

And when the moving device passes the detection point in the movement, acquiring an image of the item storage unit in the detection object and corresponding to the detection point.
The article inspection method according to claim 12, wherein the article storage unit has a corresponding unit label;

Then collecting the image of the detection object in the motion, including:

When receiving the acquisition instruction, an image of the item storage unit in the detection object and corresponding to the unit label is acquired.
An item inspection method, which is characterized in that it is applied to a patrol management device, and the method includes:

Receiving an image of the detection object transmitted by the motion device;

And if the unit label is detected from detecting the image of the detection object, sending an acquisition instruction to the motion device; wherein the detection object is provided with a plurality of item storage units, wherein the item storage unit has a corresponding unit label, The collecting instruction is configured to trigger the moving device to collect an image of the item storage unit in the detecting object and corresponding to the unit label; and receive an image of the item storage unit sent by the moving device;

Depending on the image of the item storage unit, it is detected whether the item storage unit contains an item.
The method of inspecting an article according to claim 15, further comprising: determining an arrangement manner of a plurality of article storage units in the detection object;

According to the arrangement manner, the motion route data is generated; wherein the route indicated by the motion route data passes through the several item storage units;

The motion route data is transmitted to the exercise device.
An article inspection device, comprising:

a processor, configured to obtain motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, the route indicated by the movement route data passes through the item storage unit; and the movement route data is Send to the navigation module;

a navigation module; configured to control a movement of the item inspection device along the route indicated by the movement route data;

The processor is further configured to detect whether an item is stored in the item storage unit when the item inspection device passes the item storage unit during the movement, and obtain a detection result.
The item inspection device according to claim 17, wherein the navigation module for controlling the movement of the item inspection device along the route indicated by the movement path data comprises:

a navigation module, specifically configured to determine real-time positioning data of the item inspection device; and, according to the real-time positioning data and the motion path data, plan a motion trajectory of the item inspection device to make the motion track Consistent with the route indicated by the athletic route data.
The article inspection device according to claim 18, wherein a pulse signal transmitting module is disposed in a space in which the detecting object is located, and the navigation module includes a pulse signal receiving module;

And a navigation module, configured to obtain real-time positioning data of the positioning module by the positioning module, including:

The navigation module is specifically configured to obtain real-time positioning data generated by the pulse signal receiving module according to the pulse signal transmitted by the pulse signal transmitting module.
The article inspection device according to claim 19, wherein the article inspection device is a drone, the pulse signal transmission module is an ultra-wideband signal transmission module, and the pulse signal receiving module is an ultra-wideband signal. Receive module.
The article inspection device according to claim 17, wherein the detection object is a plurality of, and the route indicated by the motion route data corresponding to the plurality of detection objects includes a transition sub-route and a detection sub-route;

And a navigation module for controlling the movement of the item inspection device along the route indicated by the movement route data, comprising:

a navigation module, specifically for controlling movement of the item inspection device along the route indicated by the transition sub-route, so that the item inspection device moves from one detection object to another detection object; and whenever the item The inspection device moves to the detection object, and controls the article inspection device to move along the detection sub-route corresponding to the detection object.
The article inspection apparatus according to claim 17, wherein the route indicated by the movement route data includes a plurality of detection points, and the detection points correspond to positions of the article storage unit in the detection object ;

And the processor for detecting whether the item is stored in the item storage unit when the item inspection device passes the item storage unit during the movement, comprising:

The processor is configured to detect whether an item is stored in the item storage unit when the item inspection device passes the detection point during the movement.
The article inspection device according to claim 17, wherein the article storage unit has a corresponding unit label;

An information collecting module, configured to collect a unit label in a route movement indicated by the item inspection device along the motion path data;

And the processor for detecting whether the item is stored in the item storage unit when the item inspection device passes the item storage unit during the movement, comprising:

The processor is configured to detect whether an item is stored in the item storage unit when the information collecting module collects the unit label in the motion.
The article inspection device according to claim 23, wherein the information collection module is an image acquisition module, configured to collect an image of the detection object in real time during the movement of the article inspection device;

And the processor for detecting whether the item is stored in the item storage unit when the information collecting module collects the unit label in the movement, including:

The processor is specifically configured to detect whether the unit label is included in an image of the detection object collected by the image acquisition module; if included, detecting whether an item is stored in the item storage unit.
The article inspection device according to claim 24, wherein

The image acquisition module is further configured to: after receiving the acquisition instruction, collect an image of the item storage unit corresponding to the unit label; and send an image of the item storage unit corresponding to the unit label to the processor;

A processor for detecting whether an item is stored in the item storage unit, comprising:

The processor is specifically configured to send an acquisition instruction to the image collection module; and detect whether the item is included in an image of the item storage unit corresponding to the unit label.
The article inspection apparatus according to claim 25, wherein the processor for detecting whether the article is contained in the image of the article storage unit comprises:

The processor is specifically configured to detect, by using a depth detection algorithm, whether the item is included in an image of the item storage unit.
The article inspection device according to claim 25, wherein

The processor is further configured to determine an image position of the unit label in an image of the item storage unit corresponding to the unit label, and determine a spatial position corresponding to the image position, before sending the collection instruction to the image collection module And controlling movement of the item inspection device to the spatial position.
An exercise device, comprising:

a processor, configured to obtain motion path data corresponding to the detection object; wherein the detection object is provided with a plurality of item storage units, and the route indicated by the motion path data passes through the item storage unit;

a navigation module, configured to control a motion of the motion device along the route indicated by the motion path data;

An image acquisition module, configured to acquire an image of the detection object in the motion; and send the image to a communication interface;

a communication interface for transmitting the image to the patrol management device; wherein the image is used by the patrol management device to detect whether an item is included.
The exercise device according to claim 28, wherein the route indicated by the motion route data includes a plurality of detection points, and the detection points correspond to positions of the article storage unit in the detection object;

An image acquisition module for collecting an image of the detection object in the motion, comprising:

The image acquisition module is configured to collect an image of the item storage unit in the detection object and corresponding to the detection point when the motion device passes the detection point in the motion.
The exercise device according to claim 28, wherein said article storage unit has a corresponding unit label;

An image acquisition module for collecting an image of the detection object in the motion, comprising:

The image acquisition module is configured to: when receiving the acquisition instruction, acquire an image of the item storage unit in the detection object and corresponding to the unit label.
A patrol management device, comprising:

a communication interface, configured to receive an image of the detection object sent by the motion device; and receive an image of the item storage unit sent by the motion device;

a processor, configured to send a collection instruction to the mobile device if the unit label is detected from detecting the image of the detection object; wherein the detection object is provided with a plurality of item storage units, and the item storage unit has a corresponding a unit label, the collection instruction is configured to trigger the motion device to collect an image of the item storage unit in the detection object and corresponding to the unit label; and detect the item storage according to an image of the item storage unit Whether the item is included in the unit.
The inspection management apparatus according to claim 31, wherein

The processor is further configured to determine an arrangement manner of the plurality of item storage units in the detection object; and generate motion path data according to the arrangement manner; wherein the route indicated by the motion path data passes through the plurality of item storage units;

The communication interface is further configured to send the motion route data to the motion device.