A method and device for identifying shelf posture

Abstract

The present invention relates to the technical field of intelligent robots, and in particular to a method and device for identifying the position and posture of a shelf. The method is applied to a robot, wherein a laser radar is arranged on the robot for scanning a laser at a shelf to be identified, and a reflective strip is arranged in the middle of the shelf to obtain a laser point set image, which is an image formed by reflection after the laser radar scans the laser at the shelf; based on the laser point set image, the position of the reflective strip is determined; based on the position of the reflective strip, the laser point set image and the relative position relationship between the support leg of the shelf and the reflective strip, the position of the support leg of the shelf is determined; based on the position of the reflective strip and the position of the support leg, the position and posture of the shelf is determined, so as to improve the accuracy of the robot in identifying the position and posture of the shelf and improve the efficiency of the robot in assisting users to complete tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a method and device for identifying shelf positions and postures. Background Art

[0002] With the continuous advancement of technology, robots have gradually been used in various buildings, hotels, shopping malls, and banks. They can provide users with services such as delivering goods, assisting users in completing tasks, welcoming guests, selling goods, and guiding. When robots assist users in completing tasks, such as moving shelves, they need to identify the position of the shelves. Although the existing recognition solutions can locate the position of the shelves, they cannot insert the bottom of the shelves to lift the shelves based on the position of the shelves, resulting in the inability to assist users in completing tasks.

[0003] Therefore, how to accurately locate the position of the shelf so that the robot can assist users in completing tasks is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a method and device for identifying shelf posture that overcomes the above problems or at least partially solves the above problems.

[0005] In a first aspect, the present invention provides a method for identifying the position and posture of a shelf, which is applied to a robot, wherein a laser radar is provided on the robot for scanning a laser to a shelf to be identified, and a reflective strip is provided in the middle of the shelf, comprising:

[0006] Obtaining a laser point set image, wherein the laser point set image is an image formed by reflection after the laser radar scans the laser at the shelf;

[0007] Determining the position of the reflective strip based on the laser point set image;

[0008] Determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf;

[0009] The position and posture of the shelf are determined based on the position of the reflective strip and the position of the supporting legs.

[0010] Further, determining the position of the reflective strip based on the laser point set image includes:

[0011] Based on the laser point set image, acquiring a target laser point set in the laser point set image that exceeds a preset light intensity threshold;

[0012] Based on the target laser point set, the position of the reflective strip is determined.

[0013] Further, determining the position of the reflective strip based on the target laser point set includes:

[0014] Based on the target laser point set, segmenting the target laser point set according to a preset length;

[0015] The target laser point set of each segment is fitted by the least square method to obtain the line segment where the reflective strip is located;

[0016] The position of the reflective strip is determined based on the line segment where the reflective strip is located.

[0017] Further, the determining the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf includes:

[0018] Determining the contour of the shelf based on the position of the reflective strip;

[0019] Based on the outline of the shelf, determine the area of ​​the support leg, and the area of ​​the support leg and the shelf satisfy the relative position relationship between the support leg of the shelf and the shelf;

[0020] Based on the area of ​​the supporting leg, a position of the supporting leg is determined.

[0021] Further, the determining the position of the supporting leg based on the area of ​​the supporting leg includes:

[0022] Based on the area of ​​the supporting leg, determining a laser point set corresponding to the supporting leg;

[0023] The position of the supporting leg is determined based on the laser point set corresponding to the supporting leg.

[0024] Further, the determining the position and posture of the shelf based on the position of the reflective strip and the position of the supporting leg includes:

[0025] Extend the line segment where the reflective strip is located to obtain an extended line;

[0026] Draw perpendicular lines at the positions of the supporting legs on the extension lines to obtain two perpendicular feet;

[0027] Determine the position of the shelf based on the midpoint of the line connecting the two perpendicular feet;

[0028] Based on the line segment where the light bar is located and the position of the shelf, the direction of the shelf is determined, the direction is perpendicular to the line segment where the light bar is located, and the intersection of the direction and the line segment where the light bar is located is the position of the shelf.

[0029] Furthermore, after determining the position of the shelf based on the position of the reflective strip and the position of the supporting leg, the method further includes:

[0030] The robot is controlled to move toward the position of the shelf along the direction of the shelf.

[0031] In a second aspect, the present invention further provides a device for identifying the position and posture of a shelf, which is applied to a robot, wherein the robot is provided with a laser radar for scanning a laser to the shelf to be identified, and a reflective strip is provided in the middle of the shelf, comprising:

[0032] An acquisition module, used for acquiring a laser point set image, wherein the laser point set image is an image formed by reflection after the laser radar scans the laser at the shelf;

[0033] A first determination module, used to determine the position of the reflective strip based on the laser point set image;

[0034] A second determination module is used to determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf;

[0035] The third determination module is used to determine the position and posture of the shelf based on the position of the reflective strip and the position of the supporting legs.

[0036] In a third aspect, the present invention further provides a robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method steps when executing the program.

[0037] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above steps when executed by a processor.

[0038] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0039] The present invention provides a method for identifying the posture of a shelf, which is applied to a robot. The robot is provided with a laser radar for scanning a laser at a shelf to be identified. A reflective strip is provided in the middle of the shelf to obtain a laser point set image, which is an image formed by reflection after the laser radar scans the laser at the shelf. Based on the laser point set image, the position of the reflective strip is determined. Based on the position of the reflective strip, the laser point set image and the relative position relationship between the supporting legs of the shelf and the shelf, the position of the supporting legs of the shelf is determined. Based on the position of the reflective strip and the position of the supporting legs, the posture of the shelf is determined. The reflective strip is scanned by the laser radar, and at the same time, the position and orientation of the shelf, that is, the posture, are determined with the help of the laser signal reflected by the position of the supporting legs of the shelf, so as to improve the accuracy of recognizing the posture of the shelf and improve the efficiency of the robot in assisting users to complete tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the accompanying drawings, the same reference figures are used to represent the same components. In the drawings:

[0041] Figure 1 A schematic diagram of the structure of a shelf in an embodiment of the present invention is shown;

[0042] Figure 2 A schematic diagram of the steps of identifying the position and posture of a shelf in an embodiment of the present invention is shown;

[0043] Figure 3 A schematic diagram of a laser point set image in an embodiment of the present invention is shown;

[0044] Figure 4 A schematic diagram of framing a target laser point set in an embodiment of the present invention is shown;

[0045] Figure 5 A schematic diagram showing a support leg area in an embodiment of the present invention is shown;

[0046] Figure 6 A schematic diagram showing the determination of the position and orientation of a shelf in an embodiment of the present invention is shown;

[0047] Figure 7 A schematic diagram showing the structure of a device for identifying shelf posture in an embodiment of the present invention is shown;

[0048] Figure 8 A schematic diagram of the structure of a robot in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0050] Embodiment 1

[0051] An embodiment of the present invention provides a method for identifying the position and posture of a shelf, which is applied to a robot. The robot is provided with a laser radar for scanning a laser at a shelf to be identified, and a reflective strip is provided in the middle of the shelf.

[0052] like Figure 1 The figure shows a schematic diagram of a shelf, wherein the shelf includes four storage boxes for storing goods, and a reflective strip L is provided on the support platform at the bottom of the storage box located at the bottom layer, and the length of the reflective strip L is about 20 cm. The shelf also includes support legs Z1 and Z2 on the left and right sides, and the support legs Z1 and Z2 are located at the left rear and right front of the support platform.

[0053] The characteristic of the reflective strip is to retain the intensity of laser reflection at more than 90% of the emission intensity, while when the laser is emitted to other objects, such as a storage box or a supporting leg of a shelf, the intensity of its reflection is relatively small.

[0054] In a specific embodiment, the laser radar is arranged at the right rear of the robot, and the angle of emitting laser light is within 270°. By scanning the laser light within the range of 270°, the reflection bar can be quickly scanned, and the efficiency of receiving the reflected laser light can be improved.

[0055] According to the above settings, Figure 2 As shown, the method includes:

[0056] S201, obtaining a laser point set image, where the laser point set image is an image formed by reflection after a laser radar scans a laser onto a shelf;

[0057] S202, determining the position of the reflective strip based on the laser point set image;

[0058] S203, determining the position of the support legs of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support legs of the shelf and the reflective strip;

[0059] S204: Determine the position of the shelf based on the position of the reflective strip and the position of the supporting legs.

[0060] like Figure 3The laser point set image is shown in FIG. 1 . In the laser point set image, the laser radar receives not only the laser reflected by the shelf but also the laser reflected by the surrounding objects during the scanning process, and the laser with the strongest intensity should be the laser reflected by the reflective strip.

[0061] Next, step S102 is executed to determine the position of the reflective strip based on the laser point set image.

[0062] Specifically, based on the laser point set image, a target laser point set exceeding a preset light intensity threshold in the laser point set image is obtained. Then, based on the target laser point set, the position of the reflective strip is determined.

[0063] In an optional embodiment, the selected preset light intensity threshold is slightly lower than the conventional threshold, so as to avoid the problem of reduced intensity of the laser reflected by the reflective strip due to interference from other conditions.

[0064] Moreover, the above-mentioned method of emitting and receiving lasers can avoid misidentification caused by simply using the intensity characteristics of the reflective strip, improve recognition accuracy and have a wider recognition angle.

[0065] After filtering the laser point set in the laser point set image by a preset light intensity threshold, the target laser point set is obtained. Figure 4 The laser point set enclosed by a frame is the target laser point set, that is, the laser point set reflected by the reflective strip. In actual use, the intensity of the laser point set is distinguished by color.

[0066] Thus, the area where the target laser point set is located is determined to be the position of the reflective strip.

[0067] Since the distribution of the laser point set is irregular, in order to obtain the accurate position of the reflective strip, positioning is performed in the following manner.

[0068] Based on the target laser point set, the target laser point set is segmented according to a preset length; the least square method is used to fit each segmented target laser point set to obtain the line segment where the reflective strip is located; based on the line segment where the reflective strip is located, the position of the reflective strip is determined.

[0069] Since the laser radar scans the laser within a range of 270°, the target laser point set obtained is in the form of a strip. The strip-shaped target laser point set is segmented at intervals of 5 cm. Of course, it can also be shorter intervals, which are not limited here. The point set of each segment is fitted using the least square method to determine the line segment where the entire target laser point set is located. Therefore, the position of the reflective strip is on the line segment.

[0070] After the position of the reflective strip is obtained, S104 is executed to determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf.

[0071] Specifically, based on the position of the reflective strip, the outline of the shelf is determined, which is the top view outline of the shelf storage cabinet, enclosing the reflective strip.

[0072] The area of ​​the supporting legs is determined on the outline of the shelf, and the area of ​​the supporting legs satisfies the relative position relationship with the position of the shelf. The relative position relationship refers to the relative position relationship between the supporting legs and the shelf. Figure 1 As shown, the relative position relationship is that one support leg is located at the left front of the shelf, and the other support leg is located at the right rear of the shelf. And the support legs are located on both sides of the storage cabinet. Of course, it can also be equivalent to the relative position relationship between the support legs and the reflective strips.

[0073] Based on the area of ​​the supporting leg, determine the position of the supporting leg. Figure 5 As shown, specifically, based on the region B of the supporting leg, the laser point set corresponding to the supporting leg is determined;

[0074] The position of the supporting leg is determined based on the laser point set corresponding to the supporting leg.

[0075] When determining the laser point set corresponding to the supporting leg, in the frame diagram of the supporting leg area B, it is determined whether there is a laser point set that meets the preset number and the preset intensity. The laser point set of the preset intensity is the laser point set reflected by the surface of the supporting leg. Its light intensity is weaker than the laser reflected by the reflective strip. In actual use, it is determined that it belongs to the laser reflected by the same material according to the laser point set of the same color. If there is, the position of the laser point set is determined to be the position of the supporting leg.

[0076] By demarcating the area, redundant interfering laser point sets are filtered out so that the laser point set reflected by the surface of the supporting leg can be quickly determined. Moreover, the demarcated area B of the supporting leg can be demarcated not only by a rectangle, but also by a circle or other graphics, which is not limited here.

[0077] After the positions of the supporting legs are determined, step S105 is executed to determine the position and posture of the shelf based on the positions of the reflective strips and the supporting legs.

[0078] Here, the shelf posture specifically refers to the location and orientation of the shelf. Figure 5 Draw auxiliary lines in the picture to determine the position of the shelf.

[0079] Specifically, the line segment where the reflective strip is located is extended to obtain an extended line;

[0080] Draw perpendicular lines on the extension lines of the supporting legs to obtain two perpendicular feet;

[0081] Determine the position of the shelf based on the midpoint of the line connecting the two perpendicular feet.

[0082] like Figure 6 As shown, extending the line segment of the reflective strip means extending both ends of the line segment, and drawing perpendicular lines on the positions of the supporting legs on the extension lines to obtain two perpendicular feet Q1 and Q2. Based on the two perpendicular feet Q1 and Q2, the midpoint Q0 is obtained, and the position of the shelf is point Q0.

[0083] The position of the Q0 point in the coordinate system is the coordinate position of the shelf obtained by the robot.

[0084] After the position of the shelf is obtained, the direction of the shelf is determined based on the line segment where the light bar is located and the position of the shelf. The direction is perpendicular to the line segment where the light bar is located, and the intersection with the line segment where the light bar is located is the position of the shelf.

[0085] In a specific embodiment, the light strip is arranged on the support platform of the shelf. Therefore, the vertical line of the light strip is the direction of the shelf, and the foot of the vertical line is the position Q0 point of the shelf. Figure 6 The direction of the shears in the center belt indicates this orientation.

[0086] After determining the posture of the shelf (including position and orientation), the robot is controlled to move toward the position of the shelf along the orientation of the shelf, so that the robot can drill into the bottom of the shelf without hitting the supporting legs. Then, the robot can lift the shelf and assist the user in completing the task smoothly.

[0087] One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:

[0088] The present invention provides a method for identifying the posture of a shelf, which is used in a robot. The robot is provided with a laser radar for scanning a laser at a shelf to be identified. A reflective strip is provided in the middle of the shelf to obtain a laser point set image, which is an image formed by reflection after the laser radar scans the laser at the shelf. Based on the laser point set image, the position of the reflective strip is determined; based on the position of the reflective strip, the laser point set image and the relative position relationship between the supporting legs of the shelf and the shelf, the position of the supporting legs of the shelf is determined; based on the position of the reflective strip and the position of the supporting legs, the posture of the shelf is determined, the reflective strip is scanned by the laser radar, and at the same time, the position and orientation of the shelf, that is, the posture, is determined with the help of the laser signal reflected by the position of the supporting legs of the shelf, thereby improving the accuracy of recognizing the posture of the shelf and improving the efficiency of the robot in assisting users to complete tasks.

[0089] Embodiment 2

[0090] Based on the same inventive concept, the present invention also provides a device for identifying the position of a shelf, which is applied to a robot. The robot is provided with a laser radar for scanning a laser to the shelf to be identified. A reflective strip is provided in the middle of the shelf, such as Figure 7 As shown, including:

[0091] An acquisition module 701 is used to acquire a laser point set image, where the laser point set image is an image formed by reflection after the laser radar scans the laser at the shelf;

[0092] A first determination module 702, configured to determine the position of the reflective strip based on the laser point set image;

[0093] A second determination module 703 is used to determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf;

[0094] The third determination module 704 is used to determine the position and posture of the shelf based on the position of the reflective strip and the position of the supporting legs.

[0095] In an optional implementation, the first determining module 702 includes:

[0096] An acquisition unit, configured to acquire, based on the laser point set image, a target laser point set exceeding a preset light intensity threshold in the laser point set image;

[0097] The first determining unit is used to determine the position of the reflective strip based on the target laser point set.

[0098] In an optional implementation manner, the determining unit is configured to:

[0099] Based on the target laser point set, segmenting the target laser point set according to a preset length;

[0100] The target laser point set of each segment is fitted by the least square method to obtain the line segment where the reflective strip is located;

[0101] The position of the reflective strip is determined based on the line segment where the reflective strip is located.

[0102] In an optional implementation, the second determining module 703 includes:

[0103] A second determining unit, configured to determine a contour of the shelf based on a position of the reflective strip;

[0104] A third determining unit is used to determine the area of ​​the supporting legs based on the outline of the shelf, where the area of ​​the supporting legs and the shelf satisfy the relative position relationship between the supporting legs of the shelf and the shelf;

[0105] The fourth determining unit is used to determine the position of the supporting leg based on the area of ​​the supporting leg.

[0106] In an optional implementation, the fourth determining unit is used to:

[0107] Based on the area of ​​the supporting leg, determining a laser point set corresponding to the supporting leg;

[0108] The position of the supporting leg is determined based on the laser point set corresponding to the supporting leg.

[0109] In an optional implementation manner, the third determining unit 704 is configured to:

[0110] Extend the line segment where the reflective strip is located to obtain an extended line;

[0111] Draw perpendicular lines at the positions of the supporting legs on the extension lines to obtain two perpendicular feet;

[0112] Determine the position of the shelf based on the midpoint of the line connecting the two perpendicular feet;

[0113] Based on the line segment where the light bar is located and the position of the shelf, the direction of the shelf is determined, the direction is perpendicular to the line segment where the light bar is located, and the intersection of the direction and the line segment where the light bar is located is the position of the shelf.

[0114] In an optional implementation, the system further includes a control module, configured to:

[0115] The robot is controlled to move toward the position of the shelf along the direction of the shelf.

[0116] Embodiment 3

[0117] Based on the same inventive concept, an embodiment of the present invention provides a robot, such as Figure 8 As shown, it includes a memory 804, a processor 802, and a computer program stored in the memory 804 and executable on the processor 802. When the processor 802 executes the program, the steps of the above-mentioned method for identifying the shelf posture are implemented.

[0118] Among them, Figure 8In the embodiment of the present invention, a bus architecture (represented by bus 800) is shown, which may include any number of interconnected buses and bridges, and bus 800 links various circuits including one or more processors represented by processor 802 and memory represented by memory 804. Bus 800 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 806 provides an interface between bus 800 and receiver 801 and transmitter 803. Receiver 801 and transmitter 803 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 802 is responsible for managing bus 800 and general processing, while memory 804 may be used to store data used by processor 802 when performing operations.

[0119] Embodiment 4

[0120] Based on the same inventive concept, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the above-mentioned method for identifying the position and posture of a shelf are implemented.

[0121] The algorithm and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the description of the above specific languages ​​is for disclosing the best mode of the present invention.

[0122] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0123] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0124] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0125] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims below, any one of the claimed embodiments may be used in any combination.

[0126] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) may be used in practice to implement the device of the robot recovery mechanism according to an embodiment of the present invention, some or all functions of some or all components in the robot. The present invention may also be implemented as a device or apparatus program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0127] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A method for identifying the position and posture of a shelf, applied to a robot, wherein the robot is provided with a laser radar for scanning a laser to the shelf to be identified, and a reflective strip is provided in the middle of the shelf, characterized in that: include: Obtaining a laser point set image, wherein the laser point set image is an image formed by reflection after the laser radar scans the laser at the shelf; Determining the position of the reflective strip based on the laser point set image; Determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf; Determining the position of the shelf based on the position of the reflective strip and the position of the supporting legs; The determining the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf includes: Determining the contour of the shelf based on the position of the reflective strip; Based on the outline of the shelf, determine the area of ​​the support leg, and the area of ​​the support leg and the shelf satisfy the relative position relationship between the support leg of the shelf and the shelf; Based on the area of ​​the supporting leg, determining a laser point set corresponding to the supporting leg; Based on the laser point set corresponding to the supporting leg, it is determined whether there is a laser point set that meets a preset number and a preset intensity. If so, the position of the laser point set is determined to be the position of the supporting leg.

2. The method according to claim 1, characterized in that The step of determining the position of the reflective strip based on the laser point set image comprises: Based on the laser point set image, acquiring a target laser point set in the laser point set image that exceeds a preset light intensity threshold; Based on the target laser point set, the position of the reflective strip is determined.

3. The method according to claim 2, characterized in that The step of determining the position of the reflective strip based on the target laser point set includes: Based on the target laser point set, segmenting the target laser point set according to a preset length; The target laser point set of each segment is fitted by the least square method to obtain the line segment where the reflective strip is located; The position of the reflective strip is determined based on the line segment where the reflective strip is located.

4. The method according to claim 3, characterized in that The determining the position of the shelf based on the position of the reflective strip and the position of the supporting leg comprises: Extend the line segment where the reflective strip is located to obtain an extended line; Draw perpendicular lines at the positions of the supporting legs on the extension lines to obtain two perpendicular feet; Determine the position of the shelf based on the midpoint of the line connecting the two perpendicular feet; Based on the line segment where the reflective strip is located and the position of the shelf, the direction of the shelf is determined, and the direction is perpendicular to the line segment where the reflective strip is located, and the intersection with the line segment where the reflective strip is located is the position of the shelf.

5. The method according to claim 1, characterized in that After determining the position of the shelf based on the position of the reflective strip and the position of the supporting leg, the method further includes: The robot is controlled to move toward the position of the shelf along the direction of the shelf.

6. A device for identifying the position of a shelf, applied to a robot, wherein the robot is provided with a laser radar for scanning a laser at the shelf to be identified, and a reflective strip is provided in the middle of the shelf, characterized in that: include: An acquisition module, used for acquiring a laser point set image, wherein the laser point set image is an image formed by reflection after the laser radar scans the laser at the shelf; A first determination module, used to determine the position of the reflective strip based on the laser point set image; A second determination module is used to determine the position of the support leg of the shelf based on the position of the reflective strip, the laser point set image, and the relative position relationship between the support leg of the shelf and the shelf; The second determining module further includes: A second determining unit, configured to determine a contour of the shelf based on a position of the reflective strip; A third determining unit is used to determine the area of ​​the supporting legs based on the outline of the shelf, where the area of ​​the supporting legs and the shelf satisfy the relative position relationship between the supporting legs of the shelf and the shelf; A fourth determining unit, based on the area of ​​the supporting leg, determines a laser point set corresponding to the supporting leg; Based on the laser point set corresponding to the supporting leg, determining whether there is a laser point set that meets a preset number and a preset intensity, and if so, determining the position of the laser point set as the position of the supporting leg; The third determination module is used to determine the position and posture of the shelf based on the position of the reflective strip and the position of the supporting legs.

7. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method steps according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method steps described in any one of claims 1 to 5 are implemented.

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