Method, device and equipment for determining wear of positioning mark

Abstract

The present application provides a method, device, and equipment for determining the wear of a positioning marker. The method for determining the wear of a positioning marker includes: obtaining an identification image of a positioning marker collected by a movable device in a logistics scene, wherein the logistics scene includes multiple logistics areas, and the logistics area includes at least one positioning marker; determining the estimated position information of the movable device based on the identification image; obtaining the positioning position information of the movable device; if the first difference between the estimated position information and the positioning position information is greater than a first distance threshold, determining that the positioning marker is worn. The present application can obtain the estimated position information of the movable device through the identification image collected by the movable device, compare the estimated position information with the positioning position information of the movable device, and then accurately determine whether the positioning marker is worn, thereby improving the efficiency and accuracy of identifying whether the positioning marker is worn.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device, and apparatus for determining wear of a positioning marker. Background Art

[0002] With the continuous development of automation technology, it has gained widespread adoption and application in many industrial production processes. The logistics component of automation technology is a key component in improving industrial efficiency. This logistics process includes multiple mobile automated devices, such as automated gantry cranes and automated transport vehicles (AGVs). These automated devices can move along prescribed paths to designated locations within logistics scenarios to perform their functions. For example, in a package sorting scenario, an AGM moves to a truck area to load packages and then to a sorting chute to unload them.

[0003] Typically, positioning markers, such as numbers, text, or QR codes, are placed in different areas of logistics scenarios. These markers allow automated equipment to use these markers to correct their position, ensuring they can accurately perform their functions. However, when positioning markers become worn, automated equipment cannot perform position corrections, posing a safety hazard.

[0004] Currently, whether a positioning mark is worn is usually determined manually, which results in low identification efficiency. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, and apparatus for determining wear of a positioning marker, so as to improve the efficiency of identifying wear of the positioning marker.

[0006] In a first aspect, an embodiment of the present application provides a method for determining the wear of a positioning marker, comprising: obtaining an identification image of a positioning marker collected by a movable device in a logistics scenario, the logistics scenario including multiple logistics areas, and the logistics areas containing at least one positioning marker; determining the estimated position information of the movable device based on the identification image; obtaining the positioning location information of the movable device; and determining that the positioning marker is worn if a first difference between the estimated position information and the positioning location information is greater than a first distance threshold.

[0007] In one possible implementation, the estimated position information of the movable device is determined based on the identification image, including: determining the relative position information between the movable device and the positioning identification, and the first position information corresponding to the positioning identification based on the identification image; and determining the estimated position information based on the relative position information and the first position information.

[0008] In one possible implementation, the relative position information between the movable device and the positioning marker, as well as the first position information corresponding to the positioning marker, is determined based on the identification image, including: inputting the identification image into a preset first recognition model to obtain the relative position information between the movable device and the positioning marker and a local image in the identification image, the first recognition model being used to identify the distance between the positioning marker object in the identification image and the movable device that collects the identification image, as well as the local image, wherein the local image includes the positioning marker object; and determining the first position information corresponding to the positioning marker object based on the preset grid coordinate information and the positioning marker object.

[0009] In one possible implementation, the first position information corresponding to the positioning identification object is determined based on preset grid coordinate information and the positioning identification object, including: using optical character recognition or QR code scanning to determine the target information in the positioning identification object; and determining the first position information corresponding to the target information based on the grid coordinate information and the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0010] In one possible implementation, the relative position information between the movable device and the positioning marker, as well as the first position information corresponding to the positioning marker, is determined based on the identification image, including: inputting the identification image into a preset second recognition model to obtain the relative position information between the movable device and the positioning marker and the target information in the identification image, the second recognition model being used to identify the distance between the positioning marker object in the identification image and the movable device that collects the identification image, as well as the target information in the identification image; determining the first position information corresponding to the positioning marker object based on the grid coordinate information and the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0011] In one possible implementation, the method for determining the wear of a positioning marker further includes: if two marker images are included, determining the second position information corresponding to each positioning marker based on the marker image; if the second difference between each second position information is greater than a second distance threshold, determining that each positioning marker is worn.

[0012] In one possible implementation, the method for determining the wear of a positioning marker further includes: counting the proportion of times the positioning marker is determined to be worn; if the proportion of times is greater than a proportion threshold, displaying a prompt message, the prompt information including the positioning marker and the positioning position information of the positioning marker, the positioning position information of the positioning marker is determined based on the positioning position information and relative position information of the movable device.

[0013] In a second aspect, an embodiment of the present application provides a device for determining wear of a positioning mark, comprising:

[0014] A first acquisition module is configured to acquire an identification image of a positioning identifier collected by a movable device in a logistics scene, wherein the logistics scene includes a plurality of logistics areas, and each logistics area includes at least one positioning identifier;

[0015] A first determining module, configured to determine estimated location information of the movable device based on the identification image;

[0016] A second acquisition module is used to obtain the positioning location information of the movable device;

[0017] The second determining module is configured to determine that the positioning marker is worn if a first difference between the estimated position information and the positioning position information is greater than a first distance threshold.

[0018] In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the methods in the first aspect when executing the computer program.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on an electronic device, the electronic device executes any method as in the first aspect.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is run on an electronic device, the electronic device executes any one of the methods in the first aspect.

[0021] The embodiments of the present application provide a method, device, and equipment for determining the wear of a positioning marker. The method for determining the wear of a positioning marker includes: obtaining an identification image of a positioning marker collected by a movable device in a logistics scene, wherein the logistics scene includes multiple logistics areas, and the logistics areas include at least one positioning marker; determining the estimated position information of the movable device based on the identification image; obtaining the positioning position information of the movable device; and determining that the positioning marker is worn if a first difference between the estimated position information and the positioning position information is greater than a first distance threshold. The present application can obtain the estimated position information of the movable device through the identification image collected by the movable device, compare the estimated position information with the positioning position information of the movable device, and then accurately determine whether the positioning marker is worn, thereby improving the efficiency and accuracy of identifying whether the positioning marker is worn. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] Figure 1A schematic diagram of an application scenario of the method for determining wear of a positioning marker provided in this application;

[0024] Figure 2 A schematic flow chart of a method for determining wear of a positioning marker provided in one embodiment of the present application;

[0025] Figure 3 A schematic diagram of a logo image provided in one embodiment of the present application;

[0026] Figure 4 A schematic flow chart of a method for determining wear of a positioning marker provided in another embodiment of the present application;

[0027] Figure 5 A schematic diagram of determining a local image in a logo image provided by an embodiment of the present application;

[0028] Figure 6 A schematic flow chart of a method for determining wear of a positioning marker provided in yet another embodiment of the present application;

[0029] Figure 7 A schematic diagram of the structure of a device for determining wear of a positioning mark provided in one embodiment of the present application;

[0030] Figure 8 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application.

[0031] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0033] The embodiments of the present application can be applied to various production or transportation logistics scenarios, such as automated production in factories, loading or unloading processes at docks, and express delivery sorting processes. For example, Figure 1 A schematic diagram showing one of the application scenarios of the method for determining wear of a positioning marker provided in this application. Figure 1The logistics scene 10 includes a plurality of logistics areas 11, each of which includes at least one positioning marker 111. The logistics scene 10 includes a track S, along which a movable device 12 can move. The movable device 12 is used to perform functions in the logistics scene 10. The movable device 12 is equipped with a monocular camera or a binocular camera and can also take a picture of the positioning marker to obtain a marker image.

[0034] Normally, grid coordinate information is stored in a computing device, and the grid coordinate information includes: each fixed object in the logistics scene and its corresponding position information. Specifically, it may include: the setting position of the track, and the correspondence between the target information and the position information in the positioning mark, etc. Then, when the movable device moves through the track, the position information of the movable device in the grid coordinate information can be determined by positioning technology (GPS or satellite positioning technology), and then the movable device can be controlled to realize the corresponding production function. However, due to positioning errors in positioning technology, the position information of the determined movable device in the grid coordinate information has errors, which in turn leads to safety hazards when controlling the movable device to realize the corresponding production function.

[0035] To address this issue, a mobile device can capture an image of the positioning marker and then send the image to the electronic device 13. Based on the image, the electronic device 13 can calculate the corresponding estimated position of the mobile device. This estimated position information is then compared with the current position information of the mobile device obtained through positioning, thereby correcting the positioning error. However, if the positioning marker is worn, the estimated position information calculated using the marker information will be erroneous. Using this erroneous position information to correct the current position of the mobile device can pose a safety hazard in the logistics process.

[0036] Based on the above problems, an embodiment of the present application provides a method for determining the wear of a positioning marker, which can accurately determine whether the positioning marker is worn by determining the estimated position information and positioning position information of a movable device.

[0037] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0038] Figure 2 This is a flow chart of a method for determining wear of a positioning mark provided in an embodiment of the present application. This embodiment of the present application provides a method for determining wear of a positioning mark, which is applied to a device for determining wear of a positioning mark, and the device can be implemented in software and / or hardware. Optionally, Figure 1In the scenario shown, the wear determination device of the positioning mark can be integrated into a computing device, which is not limited to this.

[0039] like Figure 2 As shown, the method for determining the wear of the positioning mark includes the following steps:

[0040] S201: Acquire a positioning mark image collected by a movable device in a logistics scene.

[0041] The logistics scenario includes multiple logistics areas, each of which contains at least one location marker. Location markers include numbers, text, and QR codes. These can be obtained by printing numbers, text, or QR codes on a corresponding object and attaching the marker to the corresponding logistics area.

[0042] Furthermore, a monocular camera or a binocular camera is provided on the mobile device. Both the monocular camera and the binocular camera are RGB high-definition cameras. The monocular camera captures the image of one positioning marker at a time, while the binocular camera captures the images of two different positioning markers at a time.

[0043] In addition, the logo image includes not only the positioning logo but also other objects. Figure 3 , illustrating an identification image 30 , which includes an area corresponding to a positioning marker 31 and an area corresponding to other objects 32 .

[0044] In an embodiment of the present application, a mobile device moves along a preset trajectory (along a track) in a logistics scenario, and the mobile device can be set to capture a positioning marker image every time it moves a preset time or a preset distance. The captured positioning marker image is then sent to a computing device for processing.

[0045] S202: Determine estimated location information of the movable device according to the identification image.

[0046] The identification image contains target information, and the estimated position information of the movable device can be determined based on the position information corresponding to the target information. For example, if the target information in the identification image is ABC, the estimated position information of the movable device corresponding to target information ABC is determined to be position a. For another example, if the target information in the identification image is AB, the estimated position information of the movable device corresponding to target information AB is determined to be position b.

[0047] S203: Acquire the positioning information of the movable device.

[0048] In the embodiment of the present application, the positioning location information refers to the location information of the movable device obtained through positioning technology.

[0049] S204: If the first difference between the estimated position information and the positioning position information is greater than the first distance threshold, it is determined that the positioning marker is worn.

[0050] Among them, under normal circumstances, if the positioning marker is not worn, the estimated position information determined is the accurate position information of the movable device. If the positioning position information of the movable device obtained by the positioning technology is accurate, the first difference between the estimated position information and the positioning position information is 0. If there is an error in the positioning technology, the positioning position information of the movable device obtained by the positioning technology will have a small deviation. At this time, the first difference between the estimated position information and the positioning position information will also be very small, less than the first distance threshold. If the positioning marker is worn, the estimated position information determined will be very different from the accurate position information of the movable device, which will cause the first difference between the estimated position information and the positioning position information to be very large (greater than the first distance threshold), then it can be determined that the positioning marker is worn.

[0051] In addition, the first distance threshold may be determined according to a pre-existing experimental process or determined by other means and pre-stored in a data storage server, and the computing device may call the first distance threshold from the data storage server.

[0052] In an optional embodiment of the present application, if the estimated position information of the movable device cannot be determined based on the identification image, it can be determined that the positioning identification is worn.

[0053] The method for determining the wear of the positioning marker provided in the embodiment of the present application can obtain the estimated position information of the movable device through the marker image collected by the movable device, and compare the estimated position information with the positioning position information of the movable device, thereby accurately determining whether the positioning marker is worn, thereby improving the recognition efficiency and recognition accuracy of whether the positioning marker is worn.

[0054] Figure 4 This is a flow chart of a method for determining wear of a positioning marker provided in another embodiment of the present application. In this embodiment, the method for determining wear of a positioning marker may include:

[0055] S401: Acquire a logo image of a positioning logo collected by a movable device in a logistics scene.

[0056] The specific implementation process of this step is referred to S201 and will not be repeated here.

[0057] S402: Determine relative position information between the movable device and the positioning marker, and first position information corresponding to the positioning marker, based on the marker image.

[0058] Among them, according to the size, pixels and position of the positioning marker in the identification image, the relative position information between the movable device and the positioning marker can be determined, wherein the relative position information includes: the distance between the movable device and the positioning marker and the orientation information between the movable device and the identification image.

[0059] In addition, according to the positioning marker in the marker image, the first position information corresponding to the positioning marker can be determined in the corresponding grid positioning information.

[0060] Among them, an optional method is to determine the relative position information between the movable device and the positioning marker, and the first position information corresponding to the positioning marker based on the identification image, including: inputting the identification image into a preset first recognition model to obtain the relative position information between the movable device and the positioning marker and a local image in the identification image, the first recognition model is used to identify the distance between the positioning marker object in the identification image and the movable device that collects the identification image, and the local image, the local image including the positioning marker object; according to the preset grid coordinate information and the positioning marker object, determine the first position information corresponding to the positioning marker object.

[0061] In addition, based on the preset grid coordinate information and the positioning identification object, the first position information corresponding to the positioning identification object is determined, including: using optical character recognition or QR code scanning to determine the target information in the positioning identification object; based on the grid coordinate information and the target information, determining the first position information corresponding to the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0062] Specifically, the first recognition model is trained using a sample image, the distance between the positioning marker and the movable device during the acquisition of the sample image, and a partial image of the sample image that includes the positioning marker as training samples. When recognizing the marker image, the marker image is input into the first recognition model to obtain the relative position information between the movable device and the positioning marker, as well as the partial image of the marker image that includes the positioning marker object corresponding to the positioning marker.

[0063] Among them, the recognition principle of the first recognition model is to use the minimum detection frame method to identify multiple target objects in the identification image, obtain multiple sub-images and the confidence corresponding to each sub-image, select the sub-image with the largest confidence as the local image containing the positioning identification object, and then identify the relative position information between the positioning identification and the movable device in the local image.

[0064] Among them, the first recognition model can be based on a model of a neural network architecture such as CenterNet, Yolo, or Faster-RCNN.

[0065] For example, refer to Figure 5 , is correct Figure 3 The identification process of the logo image 30 shown in FIG. 3 yields multiple sub-images (41(a), 41(b), and 41(c)). The confidence level corresponding to sub-image 41(a) is the highest, so it can be determined that sub-image 41(a) is the local image 42. Figure 5 The two-dimensional detection frame used is a circle. In addition, the detection frame can also be other regular shapes such as a rectangle, a square, etc., which are not limited here.

[0066] In the embodiment of the present application, the first recognition model can be trained according to the logistics scenario of the specific application, and the specific training method of the first recognition model is not limited here.

[0067] Furthermore, after the first recognition model identifies a partial image, if the partial image contains numbers or text, optical character recognition can be used to identify the numbers or text in the partial image to obtain target information, which is a string of characters. If the partial image contains a QR code, QR code recognition technology can be used to determine the target information corresponding to the QR code.

[0068] In an embodiment of the present application, the grid coordinate information may be a map corresponding to a logistics scenario. The map includes horizontal and vertical coordinates, and each object in the logistics scenario has corresponding position information (horizontal and vertical coordinates) in the grid coordinate information. The grid coordinate information specifically includes: the correspondence between the target information and the first position information of the positioning identifier.

[0069] Exemplarily, referring to Table 1, each target information corresponds to first position information.

[0070] Table 1

[0071] Target Information First position information (x, y) ABCDEFG (1,2) ABCEFG (3,5) ABCDEF (2,4) ABDEF (3,6) AF (4,7)

[0072] In the embodiment of the present application, the local image is first identified, and then the target information in the local image is identified, which can improve the recognition accuracy of the target information corresponding to the positioning mark.

[0073] Among them, another optional method is to determine the relative position information between the movable device and the positioning marker, and the first position information corresponding to the positioning marker based on the identification image, including: inputting the identification image into a preset second recognition model to obtain the relative position information between the movable device and the positioning marker and the target information in the identification image, the second recognition model is used to identify the distance between the positioning marker object in the identification image and the movable device that collects the identification image, as well as the target information in the identification image; determine the first position information corresponding to the positioning marker object based on the grid coordinate information and the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0074] Specifically, the second recognition model can also be pre-trained. By inputting the marker image into the second recognition model, the relative position information between the movable device and the positioning marker and the target information in the marker image can be directly obtained without the need to recognize the partial image. This approach can improve the efficiency of target information recognition.

[0075] S403: Determine estimated position information according to the relative position information and the first position information.

[0076] Among them, since the relative position information includes the distance and direction information between the positioning marker and the movable device, and based on the determination of the first position information, the first position information can be moved according to the direction information by the distance between the positioning marker and the movable device to obtain the estimated position information.

[0077] S404: Acquire the positioning information of the movable device.

[0078] The specific implementation of this step is referred to S203 and will not be described again here.

[0079] S405: If the first difference between the estimated position information and the positioning position information is greater than the first distance threshold, it is determined that the positioning marker is worn.

[0080] The specific implementation of this step is referred to S204 and will not be described again here.

[0081] S406: Count the proportion of times the positioning mark is determined to be worn.

[0082] S407: If the number ratio is greater than the ratio threshold, a prompt message is displayed.

[0083] The prompt information includes a positioning identifier and positioning position information of the positioning identifier, and the positioning position information of the positioning identifier is determined according to the positioning position information and relative position information of the movable device.

[0084] In an embodiment of the present application, S402 to S405 can be executed multiple times (e.g., more than ten times) using different identification images collected by different mobile devices to calculate the ratio of the number of times the positioning marker is determined to be worn. If the ratio is less than a ratio threshold, such as 1 / 10, it can be considered that the number of times the positioning marker is determined to be worn may be affected by the environment and there is an erroneous determination. If the ratio is greater than the ratio threshold, such as greater than 1 / 2, it can be considered that the positioning marker is determined to be worn, and the positioning marker and the corresponding location information can be displayed to facilitate the maintenance of the positioning marker by the staff.

[0085] Specifically, the statistical ratio of times the positioning identifier is determined to be worn can be stored in a Redis data server to form a record table of the positioning identifier and the ratio of times it is determined to be worn. When determining whether to display the prompt information, the statistical ratio of times the positioning identifier is determined to be worn is obtained from the Redis data server.

[0086] Among them, if the wear ratio is higher, it can be determined that the positioning mark is more seriously worn. For positioning marks with a larger wear ratio, a corresponding prompt message is displayed to prompt the staff to maintain the positioning mark.

[0087] In the embodiment of the present application, by counting the proportion of times that the positioning mark is worn and establishing a record table, the tolerance for determining that the positioning mark is worn due to environmental factors can be improved.

[0088] Furthermore, a visualization system can be used to display prompt information. This prompt information can be displayed as "dots" on a map corresponding to the grid coordinate information, allowing users to intuitively identify the location of worn positioning markers. Each positioning marker in the record table is displayed, along with the distribution density of worn positioning markers in the logistics scenario.

[0089] In addition, if the positioning mark is maintained, S401 to S405 are executed again. If it is determined that the proportion of the number of times the positioning mark has not been worn is less than the proportion threshold, or the proportion is less than the proportion threshold, the relevant record table is updated and the positioning mark that has not been worn is deleted.

[0090] In the embodiment of the present application, the ratio of times the positioning mark is statistically worn can be determined to determine whether to prompt the staff to maintain the corresponding positioning mark, thereby improving the accuracy of identifying whether the positioning mark is worn.

[0091] Figure 6 A flowchart of a method for determining wear of a positioning marker provided in yet another embodiment of the present application is provided. In this embodiment, the method for determining wear of a positioning marker may include:

[0092] S601: Acquire a logo image of a positioning logo collected by a movable device in a logistics scene.

[0093] The specific implementation of this step is referred to S201 and will not be described again here.

[0094] S602: If two identification images are included, determine the second position information corresponding to each positioning identification according to the identification image.

[0095] Among them, the mobile device is equipped with a binocular camera, which is capable of collecting identification images corresponding to two different positioning identifications at one time, identifying the two identification images, and determining the second position information corresponding to the positioning identifications in the two identification images.

[0096] In the embodiment of the present application, the second position information corresponding to the identification image can be determined by referring to the above method embodiment, which is not limited here.

[0097] S603: If the second difference between each piece of second position information is greater than the second distance threshold, it is determined that each positioning marker is worn.

[0098] A second distance threshold may be preset. If the difference between the second position information corresponding to the two positioning marker images is greater than the second distance threshold, it is determined that the distance between the two positioning markers exceeds the preset distance, and wear of the two positioning markers can be initially determined. Subsequently, whether to display a prompt message can be determined according to S406 and S407. This will not be further described here.

[0099] In the embodiment of the present application, it is also possible to quickly determine whether the positioning mark is worn by setting a binocular camera on the movable device.

[0100] Figure 7 This is a schematic diagram of the structure of a positioning mark wear determination device provided by an embodiment of the present application. This embodiment of the present application provides a positioning mark wear determination device, which can be integrated into electronic devices such as computing devices. Figure 7 As shown, the wear determination device 70 for positioning markers includes: a first acquisition module 71, a first determination module 72, a second acquisition module 73 and a second determination module 74.

[0101] A first acquisition module 71 is configured to acquire an identification image of a positioning marker collected by a movable device in a logistics scene, wherein the logistics scene includes multiple logistics areas, and each logistics area includes at least one positioning marker;

[0102] A first determining module 72 is configured to determine estimated location information of the movable device based on the identification image;

[0103] The second acquisition module 73 is used to obtain the positioning position information of the movable device;

[0104] The second determining module 74 is configured to determine that the positioning marker is worn if a first difference between the estimated position information and the positioning position information is greater than a first distance threshold.

[0105] In a possible implementation, the first determining module 72 includes:

[0106] A first determining unit is configured to determine relative position information between the movable device and the positioning marker, and first position information corresponding to the positioning marker, based on the marker image;

[0107] The second determining unit is configured to determine estimated position information according to the relative position information and the first position information.

[0108] In one possible implementation, the first determination unit is specifically used to input the identification image into a preset first recognition model to obtain relative position information between the movable device and the positioning identification and a local image in the identification image. The first recognition model is used to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as the local image, which includes the positioning identification object; based on the preset grid coordinate information and the positioning identification object, the first position information corresponding to the positioning identification object is determined.

[0109] In one possible implementation, the second determination unit is specifically used to determine the target information in the positioning identification object using an optical character recognition method or a QR code scanning method; and determine the first position information corresponding to the target information based on the grid coordinate information and the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0110] In one possible implementation, the first determination module 72 is specifically configured to input the identification image into a preset second recognition model to obtain relative position information between the movable device and the positioning identification and target information in the identification image. The second recognition model is configured to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as target information in the identification image; and to determine the first position information corresponding to the positioning identification object based on the grid coordinate information and the target information, wherein the grid coordinate information stores the position information corresponding to each target information.

[0111] In a possible implementation, the positioning marker wear determination device 70 further includes:

[0112] a third determining module (not shown), configured to determine, if two identification images are included, the second position information corresponding to each positioning identifier based on the identification image;

[0113] The fourth determining module (not shown) is configured to determine that each positioning marker is worn if the second difference between each second position information is greater than a second distance threshold.

[0114] In a possible implementation, the positioning marker wear determination device 70 further includes:

[0115] A statistics module (not shown), configured to count the proportion of times the positioning mark is determined to be worn;

[0116] The display module (not shown) is used to display prompt information if the number ratio is greater than the ratio threshold. The prompt information includes a positioning identifier and the positioning position information of the positioning identifier. The positioning position information of the positioning identifier is determined according to the positioning position information and relative position information of the movable device.

[0117] The device provided in the embodiment of the present application can be used to perform Figures 2 to 6 The implementation principles and technical effects of the methods in the illustrated embodiments are similar and will not be described in detail here.

[0118] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element; or they can all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the processing module can be a separately established processing element, or it can be integrated into a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called by a processing element of the above device to perform the functions of the above processing module. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or by instructions in the form of software.

[0119] Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. Figure 8 As shown, the electronic device may include: a processor 81, a memory 82, a communication interface 83, and a system bus 84. The memory 82 and the communication interface 83 are connected to the processor 81 via the system bus 84 and communicate with each other. The memory 82 is used to store instructions, the communication interface 83 is used to communicate with other devices, and the processor 81 is used to call instructions in the memory to execute the solution of the embodiment of the method for determining wear of a positioning marker as described above.

[0120] Should Figure 8 The system bus 84 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The system bus 84 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.

[0121] The communication interface 83 is used to implement communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries).

[0122] The memory 82 may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0123] The processor 81 can be a general-purpose processor, including a central processing unit, 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, discrete hardware components.

[0124] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is run on an electronic device, the electronic device executes the method for determining the wear of a positioning marker as described in any of the above method embodiments.

[0125] An embodiment of the present application also provides a chip for running instructions, and the chip is used to execute the method for determining the wear of the positioning mark in any of the above method embodiments.

[0126] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, it can implement the method for determining the wear of the positioning mark of any of the above method embodiments.

[0127] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0128] It is understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the order of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining wear of a positioning mark, characterized in that: include: Acquire an identification image of a positioning identifier captured by a movable device in a logistics scene, wherein the logistics scene includes a plurality of logistics areas, and the logistics area includes at least one positioning identifier; determining estimated location information of the movable device according to the identification image; Obtaining the positioning information of the movable device; If a first difference between the estimated position information and the positioning position information is greater than a first distance threshold, determining that the positioning marker is worn; The determining, based on the identification image, the estimated location information of the movable device includes: Determine, based on the identification image, relative position information between the movable device and the positioning identifier, and first position information corresponding to the positioning identifier; determining the estimated position information based on the relative position information and the first position information; The determining, based on the identification image, the relative position information between the movable device and the positioning identification, and the first position information corresponding to the positioning identification, includes: Input the identification image into a preset first recognition model to obtain relative position information between the movable device and the positioning identification and a partial image in the identification image, wherein the first recognition model is used to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as the partial image, wherein the partial image includes the positioning identification object; use an optical character recognition method or a QR code scanning method to determine target information in the positioning identification object; determine first position information corresponding to the target information based on grid coordinate information and the target information, wherein the grid coordinate information stores position information corresponding to each target information; or The identification image is input into a preset second recognition model to obtain the relative position information between the movable device and the positioning identification and the target information in the identification image. The second recognition model is used to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as the target information in the identification image; based on the grid coordinate information and the target information, the first position information corresponding to the positioning identification object is determined, wherein the grid coordinate information stores the position information corresponding to each target information.

2. The method for determining wear of a positioning mark according to claim 1, characterized in that: Also includes: If two identification images are included, for each identification image, the identification image is input into a preset first recognition model to obtain relative position information between the movable device and the positioning identifier corresponding to the identification image, as well as a partial image in the identification image, wherein the partial image includes a positioning identifier object; optical character recognition or QR code scanning is used to determine target information in the positioning identifier object; and second position information corresponding to the target information is determined based on the grid coordinate information and the target information. or, For each identification image, input the identification image into a preset second recognition model to obtain relative position information between the movable device and the positioning marker corresponding to the identification image and target information in the identification image, and determine second position information corresponding to the positioning marker object based on the grid coordinate information and the target information; If the second difference between each piece of second position information is greater than a second distance threshold, it is determined that each of the positioning marks is worn.

3. The method for determining wear of a positioning mark according to claim 1 or 2, characterized in that: Also includes: Counting the proportion of times the positioning mark is determined to be worn; If the number ratio is greater than the ratio threshold, a prompt message is displayed, wherein the prompt message includes the positioning identifier and the positioning position information of the positioning identifier, and the positioning position information of the positioning identifier is determined according to the positioning position information of the movable device and the relative position information.

4. A device for determining wear of a positioning mark, characterized in that: include: A first acquisition module is configured to acquire an identification image of a positioning marker collected by a movable device in a logistics scene, wherein the logistics scene includes a plurality of logistics areas, and each logistics area includes at least one positioning marker; A first determining module, configured to determine estimated location information of the movable device based on the identification image; A second acquisition module is used to obtain the positioning position information of the movable device; a second determining module, configured to determine that the positioning marker is worn if a first difference between the estimated position information and the positioning position information is greater than a first distance threshold; The first determining module includes: A first determining unit is configured to determine relative position information between the movable device and the positioning marker, and first position information corresponding to the positioning marker, based on the marker image; a second determining unit, configured to determine estimated position information based on the relative position information and the first position information; The first determination unit is specifically configured to input the identification image into a preset first recognition model to obtain relative position information between the movable device and the positioning identification and a partial image in the identification image, wherein the first recognition model is configured to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as the partial image, wherein the partial image includes the positioning identification object; determine target information in the positioning identification object using an optical character recognition method or a QR code scanning method; determine first position information corresponding to the target information based on grid coordinate information and the target information, wherein the grid coordinate information stores position information corresponding to each target information; or The identification image is input into a preset second recognition model to obtain the relative position information between the movable device and the positioning identification and the target information in the identification image. The second recognition model is used to identify the distance between the positioning identification object in the identification image and the movable device that collects the identification image, as well as the target information in the identification image; based on the grid coordinate information and the target information, the first position information corresponding to the positioning identification object is determined, wherein the grid coordinate information stores the position information corresponding to each target information.

5. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 3 is implemented.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is run on an electronic device, the electronic device executes the method according to any one of claims 1 to 3.

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