[SUI, Liang 隋亮, QIAN, Jiale 钱家乐] Floor 16, Linghang Technology Building, No. 68 Zhichun Road, Haidian District 中国北京市海淀区知春路68号院领航科技大厦16层, Beijing 100086Beijing 100086;104 Building 5, No.15 Shunchang Avenue, Shunyi District 中国北京市顺义区顺畅大道15号5幢104, Beijing 101318Beijing 101318 Disclosed are an inventory checking apparatus, a backend apparatus, an inventory checking management system, and an inventory checking method. The inventory checking apparatus comprises: a navigation trolley and a liftable inventory checking module, wherein the liftable inventory checking module is arranged on the navigation trolley, the liftable inventory checking module is used for moving based on the control of the navigation trolley, and used for obtaining depth information of an object pile to be inventory checked by means of movement, and the navigation trolley is used for determining the edge length information of the object pile based on the depth information, determining an inventory checking result of the object pile based on the edge length information, and sending the inventory checking result to the backend apparatus. Disclosed are an inventory checking apparatus, a backend apparatus, an inventory checking management system, and an inventory checking method. The inventory checking apparatus comprises: a navigation trolley and a liftable inventory checking module, wherein the liftable inventory checking module is arranged on the navigation trolley, the liftable inventory checking module is used for moving based on the control of the navigation trolley, and used for obtaining depth information of an object pile to be inventory checked by means of movement, and the navigation trolley is used for determining the edge length information of the object pile based on the depth information, determining an inventory checking result of the object pile based on the edge length information, and sending the inventory checking result to the backend apparatus.

[ZHANG, Junkui 张军奎, TANG, Yaming 唐亚明] Floor 16, Tower A, Linghang Technology Building, No. 68 Zhichun Road, Haidian District 中国北京市海淀区知春路68号院领航科技大厦A座16层, Beijing 100086Beijing 100086;3F K-TOUCH Tower, No. 55, Jiachuang Second Road, Tongzhou District 中国北京市通州区嘉创二路55号天语大厦3层, Beijing 101111Beijing 101111 An intelligent interactive module, applicable to a trolley (10). The trolley (10) comprises a stand (300) and a handle (400). The intelligent interactive module comprises a printing unit (510), a body (520), a touch screen (530), a reading unit (540), and a control unit (550). The printing unit (510) is disposed on the stand (300); the body (520) is disposed on the stand (300) and close to the handle (400); the touch screen (530) is disposed on the body (520); the reading unit (540) is disposed in the body (520); the control unit (550) is disposed in the body (520) and is electrically connected to the printing unit (510), the touch screen (530), and the reading unit (540). When the reading unit scans identification information of an article, the control unit receives a first signal from the reading unit and controls the touch screen to display information to be printed corresponding to the article; and when the touch screen receives an input instruction from a user, the control unit receives a second signal from the touch screen and controls the printing unit to print the article information corresponding to the article. In addition, also discloses in the present application is a trolley comprising the intelligent interactive module. An intelligent interactive module, applicable to a trolley (10). The trolley (10) comprises a stand (300) and a handle (400). The intelligent interactive module comprises a printing unit (510), a body (520), a touch screen (530), a reading unit (540), and a control unit (550). The printing unit (510) is disposed on the stand (300); the body (520) is disposed on the stand (300) and close to the handle (400); the touch screen (530) is disposed on the body (520); the reading unit (540) is disposed in the body (520); the control unit (550) is disposed in the body (520) and is electrically connected to the printing unit (510), the touch screen (530), and the reading unit (540). When the reading unit scans identification information of an article, the control unit receives a first signal from the reading unit and controls the touch screen to display information to be printed corresponding to the article; and when the touch screen receives an input instruction from a user, the control unit receives a second signal from the touch screen and controls the printing unit to print the article information correspo

[ZHAO, An 赵安, ZHAO, Yuchen 赵雨辰, DI, Xingchao 邸兴超, TANG, Wenqing 唐文庆, WU, Wenbo 武文博, ZHANG, Chuanfa 张传发] C4, Beijing Shangde Intelligent Manufacturing Industrial Park, No. 10 Jiancaicheng East Road, Xisanqi, Haidian District 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096Beijing 100096 Provided is a motion control method for a mobile robot (1), comprising: an initial planning step S1, wherein a first planned trajectory comprising time information capable of enabling the mobile robot (1) to complete a predetermined first path (2) at the shortest time is acquired, and a target point is located on the first path (2); and a time determining step S2, wherein first time of arrival when the mobile robot (1) arrives at the target point in the first planned trajectory and expected time of arrival when the mobile robot (1) is expected to arrive at the target point are determined; and a re-planning step S3, wherein if the first time of arrival is earlier than the expected time of arrival, the expected time of arrival is used as planned time of arrival and the time information of the first planned trajectory is changed to obtain a second planned trajectory, so that the mobile robot (1) can arrive at the target point at the planned time of arrival according to the second planned trajectory. Also provided is a corresponding computer program product. The present invention improves the punctuality of the mobile robot.

[TANG, Jie 唐杰, CHEN, Chiung Lin 陈炯霖] Floor 16, Linghang Technology Building 中国北京市海淀区知春路68号院领航科技大厦16层, Beijing 100086No. 68 Zhichun Road, Haidian DistrictBeijing 100086 An automatic transport device, having a folded mode and an unfolded mode, and comprising a main body (1100), a control module (1200), a driving module (1300), and a plurality of wheels (1400). The main body (1100) comprises a bearing part (1120) and an operating part (1140), the bearing part is formed with an accommodating space H and comprises a top surface T and a bottom surface B, the top surface T is adapted to bear goods, the bottom surface B is opposite to the top surface T, and the operating part (1140) is pivoted to the bearing part (1120). The control module (1200) is arranged in the main body (1100), and the driving module (1300) is arranged in the main body (1100) and electrically connected to the control module (1200). The plurality of wheels (1400) are coupled to the bottom surface B and each comprise a wheel body (1420) and a motor. The wheel body (1420) is adapted to contact the ground. The motor is arranged in the wheel body (1420) and electrically connected to the driving module (1300), and the motor is adapted to drive the wheel body (1420) to roll on the ground. According to the automatic transport device, the flexibility of the automatic transport device during use is improved. An automatic transport device, having a folded mode and an unfolded mode, and comprising a main body (1100), a control module (1200), a driving module (1300), and a plurality of wheels (1400). The main body (1100) comprises a bearing part (1120) and an operating part (1140), the bearing part is formed with an accommodating space H and comprises a top surface T and a bottom surface B, the top surface T is adapted to bear goods, the bottom surface B is opposite to the top surface T, and the operating part (1140) is pivoted to the bearing part (1120). The control module (1200) is arranged in the main body (1100), and the driving module (1300) is arranged in the main body (1100) and electrically connected to the control module (1200). The plurality of wheels (1400) are coupled to the bottom surface B and each comprise a wheel body (1420) and a motor. The wheel body (1420) is adapted to contact the ground. The motor is arranged in the wheel body (1420) and electrically connected to the driving module (1300), and the motor is adapted to drive the wheel body (1420) to roll on the ground. According to the automatic transport device, the flexibility of the automatic transport device during use is improved.

[ZHANG, Shuo 张硕] C4, Beijing Shangde Intelligent Manufacturing Industrial Park 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096No. 10 Jiancaicheng East Road, Xisanqi, Haidian DistrictBeijing 100096 Embodiments of the present application provide a transfer robot, a transfer system, and a prompt information generation method. The transfer robot comprises: a body; a sensing device provided on the body and used for sensing information of an environment around the body; a controller electrically connected to the sensing device and used for obtaining the information of the environment by means of the sensing device when the transfer robot is in a loading waiting working state, and outputting a prompt instruction when determining, on the basis of the information of the environment, that a target object exists in a set range of the periphery of the body; and a prompt device electrically connected to the controller and used for outputting, according to the prompt instruction, prompt information capable of being sensed by a human body, wherein the prompt information reflects the position where the body is located, so as to provide a reference for the target object to perform a loading action. The technical solutions provided by the embodiments of the present application can reduce the occurrence rate of collision and damage of the transfer robot, and the present invention is simple in structure and low in cost. Embodiments of the present application provide a transfer robot, a transfer system, and a prompt information generation method. The transfer robot comprises: a body; a sensing device provided on the body and used for sensing information of an environment around the body; a controller electrically connected to the sensing device and used for obtaining the information of the environment by means of the sensing device when the transfer robot is in a loading waiting working state, and outputting a prompt instruction when determining, on the basis of the information of the environment, that a target object exists in a set range of the periphery of the body; and a prompt device electrically connected to the controller and used for outputting, according to the prompt instruction, prompt information capable of being sensed by a human body, wherein the prompt information reflects the position where the body is located, so as to provide a reference for the target object to perform a loading action. The technical solutions provided by the embodiments of the present application can reduce the occurrence rate of collision and damage of the transfer robot, and the present invention is simple in structure and low in cost.

[TANG, Wenqing 唐文庆, ZHANG, Chuanfa 张传发, CHENG, Peng 成鹏] C4, Beijing Shangde Intelligent Manufacturing Industrial Park, No. 10 Jiancaicheng East Road, Xisanqi, Haidian District 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096Beijing 100096 A track control method and device, a robot and a storage medium. The track control method comprises: a forward moving track of a robot is recorded according to the current driving task; and when a forward planning track includes a turning-around driving track and there is not a turning-around driving space in the current position of the robot, a desired reversing track is obtained according to the forward moving track, and according to the desired reversing track and the forward planning track, the robot is controlled to drive to the end of a task to be driven. For a robot that only has a forward monitoring device, accurate reversing track control is realized and the flexibility of the robot is greatly improved. In addition, the desired reversing track is a safe area where the robot has driven, and thus safety in the driving track of the robot is ensured if a backward monitoring device is not provided. A track control method and device, a robot and a storage medium. The track control method comprises: a forward moving track of a robot is recorded according to the current driving task; and when a forward planning track includes a turning-around driving track and there is not a turning-around driving space in the current position of the robot, a desired reversing track is obtained according to the forward moving track, and according to the desired reversing track and the forward planning track, the robot is controlled to drive to the end of a task to be driven. For a robot that only has a forward monitoring device, accurate reversing track control is realized and the flexibility of the robot is greatly improved. In addition, the desired reversing track is a safe area where the robot has driven, and thus safety in the driving track of the robot is ensured if a backward monitoring device is not provided.

[CHENG, Peng 成鹏, WANG, Dong 王栋, QI, Ou 齐欧] C4, Beijing Shangde Intelligent Manufacturing Industrial Park 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096No. 10 Jiancaicheng East Road, Xisanqi, Haidian DistrictBeijing 100096 An autonomous mobile forklift, comprising: a device body (1), which comprises a body (11) and fork teeth (12), the fork teeth (12) being arranged on the body (11); and a plurality of traveling wheels (2), which comprise two driving wheel assemblies (21) and at least two universal wheels (22), wherein the driving wheel assemblies (21) have advancing, retreating and steering capabilities, and the universal wheels (22) follow the advancement, retreat or steering of the driving wheel assemblies (21); and the body (11) and the traveling wheels (2) at the bottom of the fork teeth (12) are symmetrically arranged with respect to the axis of symmetry of the device body (1), the axis of symmetry extending along the advancing or retreating direction of the device body (1). The mobile forklift makes controlling the driving wheel assemblies relatively simple, and may also reduce costs. Moreover, the friction between the forklift and the ground may be increased, so that the problem of the forklift easily slipping is alleviated to some extent, and at the same time, the stability of the forklift is improved. An autonomous mobile forklift, comprising: a device body (1), which comprises a body (11) and fork teeth (12), the fork teeth (12) being arranged on the body (11); and a plurality of traveling wheels (2), which comprise two driving wheel assemblies (21) and at least two universal wheels (22), wherein the driving wheel assemblies (21) have advancing, retreating and steering capabilities, and the universal wheels (22) follow the advancement, retreat or steering of the driving wheel assemblies (21); and the body (11) and the traveling wheels (2) at the bottom of the fork teeth (12) are symmetrically arranged with respect to the axis of symmetry of the device body (1), the axis of

[SUI, Liang 隋亮] Floor 16, Linghang Technology Building 中国北京市海淀区知春路68号院领航科技大厦16层, Beijing 100086No. 68 Zhichun Road, Haidian DistrictBeijing 100086 Disclosed is an automatic transport device (100), comprising: a distance sensor for measuring the distance between a surrounding object and the automatic transport device; a movable chassis provided with a power wheel for driving the automatic transport device; a bearing part provided with a space for bearing a container (200); a container sensor (120) for sensing whether the container (200) is associated with the automatic transport device (100); a wireless communication module for transmitting the serial number of the container to a remote server (500) after it is determined that the container (200) is associated with the automatic transport device (100), and receiving picking information that has been fed back; and a display screen (110) for displaying the serial number (410) of the associated container and the picking information (430). Further disclosed is a picking information acquisition and display method. The automatic transport device achieves quick combination and release of picking, container and vehicle information between the automatic transport device and a remote server, various pieces of information are displayed to field workers in time, and the goods carrying efficiency is improved. Disclosed is an automatic transport device (100), comprising: a distance sensor for measuring the distance between a surrounding object and the automatic transport device; a movable chassis provided with a power wheel for driving the automatic transport device; a bearing part provided with a space for bearing a container (200); a container sensor (120) for sensing whether the container (200) is associated with the automatic transport device (100); a wireless communication module for transmitting the serial number of the container to a remote server (500) after it is determined that the container (200) is associated with the automatic transport device (100), and receiving picking information that has been fed back; and a display screen (110) for displaying the serial number (410) of the associated container and the picking information (430). Further disclosed is a picking information acquisition and display method. The automatic transport device achieves quick combination and release of picking, container and vehicle information between the automatic transport device and a remote server, various pieces of information are displayed to field workers in time, and the goods carrying efficiency is improved.

[CAI, Lintai 蔡林太, CHEN, Xiaoyi 陈小义, LI, Xiuzhi 李秀芝] C4, Beijing Shangde Intelligent Manufacturing Industrial Park 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096No. 10 Jiancaicheng East Road, Xisanqi, Haidian DistrictBeijing 100096 A method for guiding a robot to transport cargo in a warehouse, and an apparatus. The method comprises: obtaining cargo information of cargo to be transported by a robot; determining a storage location where the cargo is stored in a warehouse according to the cargo information; causing the robot to move, so as to arrive at a target location corresponding to the storage location; and after determining that the robot has arrived at the target location, displaying storage location information used for indicating the storage location. Cargo to be transported can placed on a robot with high efficiency by means of displaying storage location information of a storage location according to the present technical solution, thereby improving cargo transportation efficiency. A method for guiding a robot to transport cargo in a warehouse, and an apparatus. The method comprises: obtaining cargo information of cargo to be transported by a robot; determining a storage location where the cargo is stored in a warehouse according to the cargo information; causing the robot to move, so as to arrive at a target location corresponding to the storage location; and after determining that the robot has arrived at the target location, displaying storage location information used for indicating the storage location. Cargo to be transported can placed on a robot with high efficiency by means of displaying storage location information of a storage location according to the present technical solution, thereby improving cargo transportation efficiency.

[LIU, Yehang 刘烨航, CHENG, Peng 成鹏, MAO, Yuliang 毛玉良] C4, Beijing Shangde Intelligent Manufacturing Industrial Park, No. 10 Jiancaicheng East Road, Xisanqi 中国北京市海淀区西三旗街道建材城东路10号京城尚德智造产业园C4栋, Beijing 100096Haidian DistrictBeijing 100096 A method and device for controlling an autonomous mobile robot. The method comprises: during the autonomous navigation traveling of an autonomous mobile robot, determining whether autonomous navigation information is detected (S1); in the case of determining that the autonomous navigation information is not detected, detecting QR code information (S2); and after the QR code information is detected, enabling the autonomous mobile robot to travel according to the detected QR code information (S3). According to the method and device for controlling the autonomous mobile robot, the autonomous mobile robot can continue to travel according to the QR code information in the case that the autonomous navigation information cannot be obtained during the autonomous navigation traveling of the autonomous mobile robot, and thus the flexibility and the stability of controlling the autonomous mobile robot are improved. A method and device for controlling an autonomous mobile robot. The method comprises: during the autonomous navigation traveling of an autonomous mobile robot, determining whether autonomous navigation information is detected (S1); in the case of determining that the autonomous navigation information is not detected, detecting QR code information (S2); and after the QR code information is detected, enabling the autonomous mobile robot to travel according to the detected QR code information (S3). According to the method and device for controlling the autonomous mobile robot, the autonomous mobile robot can continue to travel according to the QR code information in the case that the autonomous navigation information cannot be obtained during the autonomous navigation traveling of the autonomous mobile robot, and thus the flexibility and the stability of controlling the autonomous mobile robot are improved.