Target object positioning method and device, electronic equipment and storage medium

A technology of target object and positioning method, which is applied in the field of robotics and can solve problems such as inability to align

Pending Publication Date: 2021-06-08
SHANGHAI TMI ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, it is necessary to align the AGV trolley with the cargo box or trash can. At present, two-dimensional code or two-dimensional code auxiliary guiding mechanism is generally used for alignment, but it cannot be aligned without auxiliary facilities.

Method used

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  • Target object positioning method and device, electronic equipment and storage medium
  • Target object positioning method and device, electronic equipment and storage medium
  • Target object positioning method and device, electronic equipment and storage medium

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Embodiment Construction

[0051] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0052] Like numbers and letters denote similar items in the following figures, so that once an item is defined in one figure, it does not require further definition and explanation in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second" and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0053] figure 1 The block diagram of the target object positioning system provided by the embodiment of the present application. like figure 1 As shown, the positioning system 100 can be applied to a transportation robot to carry a target object. The positioning system 100 may include a laser radar 101 , a depth camera 102 and a central control platform 103 . The laser radar 101 and ...

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Abstract

The invention provides a target object positioning method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining first point cloud data of laser radar and depth information collected by a depth camera; projecting the depth information to a laser radar coordinate system to obtain second point cloud data; performing straight line detection on the first point cloud data and the second point cloud data to obtain a plurality of corresponding first straight line segments and a plurality of corresponding second straight line segments; and determining the boundary of a target object according to the distance between the end point of the second straight line segments and the end points of the parallel lines included in the plurality of first straight line segments. According to the invention, the target position can be positioned without a two-dimensional code and an auxiliary guide mechanism, and the alignment success rate is greatly improved.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular to a method and device for locating a target object, electronic equipment, and a computer-readable storage medium. Background technique [0002] As robots become more and more popular, robots are more and more widely used in various scenarios. In particular, AGV (Automated Guided Vehicle) type transportation robots are more and more widely used in the fields of material handling and garbage transportation. [0003] Generally, when a transport robot transports materials or garbage, the cargo box or trash can is directly placed on the robot for transportation, thus requiring the AGV trolley to drive into the bottom of the cargo box or trash can. Therefore, it is necessary to align the AGV trolley with the cargo box or trash can. At present, two-dimensional code or two-dimensional code auxiliary guiding mechanism is generally used for alignment, but it cannot be aligned w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T2207/10028G06T2207/10044G06T7/73G06T7/80
Inventor 苏至钒潘晶夏知拓金宇赢冯义兴
Owner SHANGHAI TMI ROBOTICS TECH CO LTD
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