Storage location calibration method, device, system, electronic device and storage medium

Abstract

The present application relates to a method, device, system, electronic device and storage medium for calibrating a warehouse location, wherein the method for calibrating a warehouse location includes: obtaining the actual location information of the warehouse location to be calibrated, generating path planning information of a positioning device based on the actual location information; instructing the positioning device to move to a specified positioning posture based on the path planning information, and obtaining the observation position information of a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark matches the warehouse location to be calibrated; and calculating the target calibration result of the warehouse location to be calibrated according to the specified positioning posture and the observation position information. Through the present application, the problem of low accuracy of warehouse location calibration is solved, and an accurate and efficient warehouse location calibration method is realized.

Description

Technical Field

[0001] The present application relates to the field of logistics technology, and in particular to a storage location calibration method, device, system, electronic device and storage medium. Background Art

[0002] At present, warehouse robot systems are increasingly inclined to small-granularity and high-storage scenarios to improve warehouse utilization efficiency; as a result, cargo boxes are getting smaller and smaller, and the requirements for the accuracy of warehouse location calibration are getting higher and higher during the robot's unloading process, and the accuracy of warehouse location calibration directly affects the efficiency of warehousing. In related technologies, since most storage locations in warehouses have fixed positions, manual measurement is usually used to calibrate warehouse locations, and the tools used are simple measuring tools such as tape measures and rulers; that is, its fixed position can be defined as a set of coordinates based on surveying and mapping. However, as different people use different measurement methods, the errors are also different, and the maximum difference can reach several centimeters, resulting in low accuracy in warehouse location calibration.

[0003] Currently, no effective solution has been proposed for the problem of low accuracy of warehouse location calibration in related technologies. Summary of the invention

[0004] The embodiments of the present application provide a method, device, system, electronic device and storage medium for warehouse location calibration, so as to at least solve the problem of low accuracy of warehouse location calibration in the related art.

[0005] In a first aspect, an embodiment of the present application provides a method for calibrating a storage location, the method comprising:

[0006] Acquire actual location information of the storage location to be calibrated, and generate path planning information for the positioning device to reach the storage location to be calibrated based on the actual location information;

[0007] Control the positioning device to move to a specified positioning posture according to the path planning information, and obtain observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated;

[0008] The target calibration result of the storage location to be calibrated is calculated according to the specified positioning posture and the observation position information.

[0009] In some embodiments, the positioning device is equipped with an image acquisition module; the step of obtaining the observation position information for the preset observation mark acquired by the positioning device in the specified positioning posture includes:

[0010] When the positioning device is located at the specified positioning posture, acquiring initial position information of the preset observation mark in the image coordinate system through the image acquisition module of the positioning device;

[0011] A coordinate transformation relationship between the image coordinate system and the global coordinate system is obtained, and the initial position information is transformed into the global coordinate system according to the coordinate transformation relationship to obtain the observed position information.

[0012] In some embodiments, the target calibration result of the storage location to be calibrated is calculated according to the specified positioning posture and the observed position information, including:

[0013] Acquiring position deviation information between the positioning device and the image acquisition module;

[0014] The target calibration result is calculated based on the specified positioning posture, the observation position information and the position deviation information.

[0015] In some embodiments, the specified positioning posture includes positioning coordinates in the direction of a first coordinate axis, and the observed position information includes first observation coordinates in the direction of the first coordinate axis and second observation coordinates in the direction of a second coordinate axis;

[0016] The target calibration result is calculated according to the specified positioning posture, the observation position information and the position deviation information, including:

[0017] Calculate the first storage location coordinates of the storage location to be calibrated in the direction of the first coordinate axis according to the positioning coordinates, the first observation coordinates and the position deviation information;

[0018] Acquire the height information of the image acquisition module, and calculate the second storage location coordinates of the storage location to be calibrated in the direction of the second coordinate axis according to the height information and the second observation coordinates;

[0019] The target calibration result is obtained according to the first storage location coordinates and the second storage location coordinates.

[0020] In some embodiments, applied to a server, before generating path planning information for a positioning device to reach the to-be-calibrated storage location based on the actual location information, the method further includes:

[0021] Get the preset connection mode;

[0022] When the connection mode is a directional connection mode, receiving first address information sent by an interactive device, and connecting with a corresponding positioning device according to the first address information;

[0023] When the connection mode is the search connection mode and the server is connected to a local area network, the second address information in the local area network is searched, and a connection is made with a corresponding positioning device according to the second address information.

[0024] In some embodiments, when there are at least two storage locations to be calibrated, generating path planning information for a positioning device to reach the storage locations to be calibrated based on the actual position information includes:

[0025] Generate path planning information for the positioning device to reach all the storage locations to be calibrated based on the actual location information of all the storage locations to be calibrated; or,

[0026] In the case where there are at least two positioning devices, current positioning postures corresponding to all the positioning devices are obtained, and matching results between the positioning devices and the storage locations to be calibrated are obtained according to the current positioning postures;

[0027] Based on the matching result and all the actual location information, path planning information for the positioning device to reach the matching storage location to be calibrated is generated.

[0028] In a second aspect, an embodiment of the present application provides a storage location calibration device, the device comprising: an acquisition module, an observation module and a calibration module;

[0029] The acquisition module is used to acquire the actual position information of the storage location to be calibrated, and generate path planning information for the positioning device to reach the storage location to be calibrated based on the actual position information;

[0030] The observation module is used to control the positioning device to move to a specified positioning posture according to the path planning information, and obtain the observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated;

[0031] The calibration module is used to calculate the target calibration result of the to-be-calibrated storage location according to the specified positioning posture and the observation position information.

[0032] In a third aspect, an embodiment of the present application provides a storage location calibration system, the system comprising: a positioning device and a control device; wherein the control device is connected to the positioning device;

[0033] The control device is used to execute the storage location calibration method as described in the first aspect above.

[0034] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the storage location calibration method as described in the first aspect above is implemented.

[0035] In a fifth aspect, an embodiment of the present application provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the storage location calibration method described in the first aspect above is implemented.

[0036] Compared with the related art, the warehouse location calibration method, device, system, electronic device and storage medium provided in the embodiments of the present application obtain the actual position information of the warehouse location to be calibrated, and generate path planning information of the positioning device based on the actual position information; based on the path planning information, the positioning device is instructed to move to a specified positioning posture, and the observation position information for a preset observation mark collected by the positioning device under the specified positioning posture is obtained; wherein the preset observation mark matches the warehouse location to be calibrated; the target calibration result of the warehouse location to be calibrated is calculated according to the specified positioning posture and the observation position information, thereby solving the problem of low accuracy of warehouse location calibration and realizing an accurate and efficient warehouse location calibration method.

[0037] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0039] Figure 1 is an application environment diagram of a storage location calibration method according to an embodiment of the present application;

[0040] Figure 2 is a flow chart of a storage location calibration method according to an embodiment of the present application;

[0041] Figure 3 is a schematic diagram of a QR code placement site according to an embodiment of the present application;

[0042] Figure 4 is a schematic diagram of a configuration interface for connecting a positioning device according to an embodiment of the present application;

[0043] Figure 5 is a schematic diagram of a configuration interface for issuing a calibration task according to an embodiment of the present application;

[0044] Figure 6is a structural block diagram of a storage location calibration device according to an embodiment of the present application;

[0045] Figure 7 is a structural block diagram of a storage location calibration system according to an embodiment of the present application;

[0046] Figure 8 It is a structural diagram of the inside of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0048] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0049] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0050] The storage location calibration method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the server 102 communicates with one or more positioning devices 104 through the network. The data storage system can store the data that the server 102 needs to process. The data storage system can be integrated on the server 102, or it can be placed on the cloud or other network servers. Specifically, the server 102 obtains the actual position information of the warehouse to be calibrated, generates the path planning information of the positioning device 104 to reach the warehouse to be calibrated based on the actual position information, controls the positioning device 104 to move to the specified positioning posture according to the path planning information, and obtains the observation position information for the preset observation mark collected by the positioning device 104 under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the warehouse to be calibrated; the server 102 calculates the target calibration result of the warehouse to be calibrated according to the specified positioning posture and the observation position information. Among them, the server 102 can be implemented by an independent server or a server cluster composed of multiple servers. The positioning device 104 can be, but is not limited to, various mobile robots, vehicles or other devices for locating the precise position of the warehouse.

[0051] This embodiment provides a storage location calibration method. Figure 2 is a flow chart of a method for calibrating a storage location according to an embodiment of the present application. Figure 2 As shown, the process includes the following steps:

[0052] Step S220, obtaining the actual position information of the storage location to be calibrated, and generating path planning information for the positioning device to reach the storage location to be calibrated based on the actual position information.

[0053] The above-mentioned actual location information refers to the rough actual geographical location of the above-mentioned warehouse location to be calibrated, and the actual location information can be obtained by the user in advance by manual measurement or mapping, and can be pre-stored in the storage space of the above-mentioned control device such as the server. For example, the user can use the warehouse management system deployed on the server to set parameters to create warehouse locations, including setting the location type, location ID and actual location information of the warehouse location to be calibrated. Before the warehouse location is calibrated, the path planning information of the above-mentioned positioning device moving from the current position to the warehouse location to be calibrated can be generated by using the Simultaneous Localization and Mapping (SLAM) algorithm, QR code positioning, reflective column positioning or other positioning algorithms based on the actual location information corresponding to the warehouse location to be calibrated, so that the positioning device can reach the actual location or vicinity of the location of the warehouse location to be calibrated by self-driving.

[0054] Step S240, based on the path planning information, instructs the positioning device to move to a specified positioning posture, and obtains observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated.

[0055] It should be noted that the above-mentioned preset observation mark can be placed by the user in advance at the actual location of the warehouse to be calibrated. The preset observation mark can be a QR code, a bar code, a calibration plate or other mark used for positioning equipment to track and locate the warehouse to be calibrated. Taking the preset observation mark using a QR code as an example, Figure 3 is a schematic diagram of a QR code placement site according to an embodiment of the present application, such as Figure 3 As shown in the figure, two different QR code signs are fixedly posted at a height that can be observed by the camera directly below the warehouse to be calibrated, and the QR code signs are intact and can be clearly identified by the camera. The QR code signs are used for subsequent accurate calibration of the warehouse to be calibrated. It can be understood that compared to using one QR code sign, Figure 3 The method shown in FIG. 1 is to locate the storage location to be calibrated by using two QR code marks on the left and right, which is more accurate and is conducive to improving the accuracy of storage location calibration.

[0056] Specifically, after obtaining the above-mentioned path planning information through the above-mentioned step S220, the above-mentioned control device can control the above-mentioned positioning device to move to the specified positioning posture according to the path planning information, and the specified positioning posture is used to indicate the position and posture that the positioning device needs to reach in the end, so that the positioning device can reach the actual position or the vicinity of the position of the warehouse to be calibrated. Then, the positioning device can collect image information containing preset observation marks associated with the actual position of the warehouse to be calibrated in the specified positioning posture, so as to calculate and generate the observation position information of the preset observation mark based on the image information through algorithms such as target recognition.

[0057] Step S260, calculating the target calibration result of the storage location to be calibrated according to the specified positioning posture and the observation position information.

[0058] Among them, according to the coordinate information of the above-mentioned specified positioning posture and the coordinate information included in the above-mentioned observed position information, the precise target calibration result of the above-mentioned warehouse location to be calibrated can be finally calculated, thereby realizing the correction of the actual position of the warehouse location to be calibrated obtained by manual measurement and other methods. It can be understood that after obtaining the above-mentioned target calibration result, the target calibration result, that is, the precise coordinates of the warehouse location to be calibrated, can be saved so that the precise coordinates are associated with the warehouse location to be calibrated; then, when the subsequent positioning device performs the task of picking up and unloading goods for the warehouse location to be calibrated, the precise coordinates can be used as navigation coordinates for automatic driving, and the goods in the warehouse location to be calibrated can be accurately picked up and unloaded, which is conducive to improving the accuracy of automated picking up and unloading.

[0059] Through the above steps S220 to S260, the path planning information of the positioning device is obtained by associating the storage location to be calibrated, and the positioning device is controlled to move to the specified positioning posture based on the path planning information, and the observation position information of the preset observation mark is collected under the specified positioning posture, and finally the target calibration result of the storage location to be calibrated is generated based on the specified positioning posture and the observation position information, so that the storage location can be accurately operated according to the precise storage location calibration result during picking and unloading, so that the storage location can be accurately calibrated based on the preset observation mark, thereby solving the problem of low accuracy of storage location calibration and realizing an accurate and efficient storage location calibration method.

[0060] In some embodiments, the positioning device is equipped with an image acquisition module; the image acquisition module can be a binocular camera, an industrial camera, a video recording device or other module for acquiring images mounted on the positioning device. The above-mentioned acquisition of the observation position information for the preset observation mark collected by the positioning device in the specified positioning posture also includes the following steps:

[0061] Step S241, when the positioning device is located at the specified positioning posture, the initial position information of the preset observation mark in the image coordinate system is obtained through the image acquisition module of the positioning device.

[0062] After the positioning device moves to the designated positioning posture according to the path planning information, it can obtain at least one frame of image information containing the preset observation mark collected by the image acquisition module carried by it, and send the collected image information to the control device. The control device can process the image information using algorithms such as target detection to detect the preset observation mark in the image information, and calculate the coordinate matrix of the preset observation mark in the image coordinate system, and the coordinate matrix in the image coordinate system is the initial position information.

[0063] Step S242, obtaining a coordinate transformation relationship between the image coordinate system and the global coordinate system, transforming the initial position information into the global coordinate system according to the coordinate transformation relationship and obtaining the observed position information.

[0064] Among them, the coordinate conversion relationship between the image coordinate system and the global coordinate system can be obtained by pre-calibrating the camera of the above-mentioned image acquisition module, and the coordinate conversion relationship can be represented by the conversion matrix R. Then the above-mentioned initial coordinate information and the coordinate conversion relationship can be subjected to matrix multiplication and other processing, and finally the coordinate matrix in the global coordinate system after the coordinate conversion is obtained, and the coordinate matrix in the global coordinate system is the above-mentioned observation position information. It can be understood that the coordinate information can be unified to the global coordinate system through the above-mentioned steps, and there is no need to perform complex intermediate steps such as conversion or mapping in the subsequent loading and unloading process, and there is no high requirement for the personal technical level of the implementer, which is conducive to further improving the accuracy of automated loading and unloading.

[0065] Through the above steps S241 to S242, the initial position information in the image coordinate system is converted to the global coordinate system through the coordinate conversion relationship between the image coordinate system and the global coordinate system to obtain the observed position information in the global coordinate system, thereby achieving coordinate unification, which can effectively improve the accuracy and efficiency of warehouse location calibration.

[0066] In some of the embodiments, the target calibration result of the storage location to be calibrated is calculated based on the specified positioning posture and the observation position information, and also includes the following steps: obtaining the position deviation information between the positioning device and the image acquisition module; and calculating the target calibration result based on the specified positioning posture, the observation position information and the position deviation information.

[0067] In some embodiments, the above-mentioned specified positioning posture includes positioning coordinates in the direction of a first coordinate axis, and the above-mentioned observation position information includes a first observation coordinate in the direction of the first coordinate axis, and a second observation coordinate in the direction of a second coordinate axis; the above-mentioned target calibration result calculated according to the specified positioning posture, the observation position information and the position deviation information also includes the following steps:

[0068] Step S261, calculating the first storage location coordinates of the storage location to be calibrated in the direction of the first coordinate axis according to the positioning coordinates, the first observation coordinates and the position deviation information.

[0069] The first coordinate axis may be the X-axis in the global coordinate system. The calculation formula for the first storage location coordinate in the X-axis direction is shown in Formula 1:

[0070] X=X1+X2+X3 Formula 1

[0071] In the above formula 1, X1 is used to represent the positioning coordinates in the X-axis direction; X2 is used to represent the deviation of the first observation coordinates in the image information of the image acquisition module along the X-axis direction; X3 is used to represent the coordinate value of the position deviation information in the X-axis direction. Since the position deviation information refers to the physical deviation value between the positioning device and the image acquisition module, it can be obtained and stored in advance through manual measurement or factory configuration, and the value of X3 can be positive or negative.

[0072] Step S261, obtaining the height information of the image acquisition module, and calculating the second storage location coordinates of the storage location to be calibrated in the direction of the second coordinate axis according to the height information and the second observation coordinates.

[0073] The second coordinate axis may be the Y axis in the global coordinate system. The calculation formula for the second storage location coordinate in the Y axis direction may be as shown in Formula 2:

[0074] Y=Y1+Y2+△Y Formula 2

[0075] In the above formula 2, Y1 is used to represent the above height information, which is used to characterize the physical height value of the image acquisition module mounted on the positioning device, and can be obtained and stored in advance through manual measurement or factory configuration. Y2 is used to represent the above second observation coordinate, that is, the coordinate value of the preset observation mark in the Y-axis direction. △Y is used to represent the deviation value in the Y direction between the preset observation mark and the actual position of the warehouse location to be calibrated. The deviation value can be calculated based on the second observation coordinate and the above actual position information, and the value of △Y can be positive or negative.

[0076] Step S263, obtaining the target calibration result according to the first storage location coordinates and the second storage location coordinates, wherein the X coordinate and Y coordinate calculated by the above formula 1 and formula 2 are the precise global coordinates of the calibration storage location, that is, the above target calibration result.

[0077] Through the above steps S261 to S263, the coordinates of the to-be-calibrated storage location in the first coordinate axis direction and the second coordinate axis direction are calculated respectively by the positioning coordinates, the first observation coordinates, and the second observation coordinates. In some embodiments, the above storage location calibration method is applied to a server; before the above path planning information for the positioning device to reach the to-be-calibrated storage location is generated based on the actual position information, the above storage location calibration method further includes the following steps:

[0078] Step S211, obtaining a preset connection mode.

[0079] The connection mode can be set by the user; the connection mode can be set by the user through a configuration interface, or by interacting with an interactive device connected to the server and inputting an instruction for indicating a connection mode. Alternatively, the connection mode can also be a pre-set default mode. It is understood that the connection mode can include a directional connection mode or a search connection mode, etc.

[0080] Step S212, when the connection mode is a directional connection mode, receiving the first address information sent by the interactive device, and connecting with the corresponding positioning device according to the first address information; wherein the interactive device is connected to the server.

[0081] Wherein, when the server detects that the current connection mode is determined to be a directional connection mode, the user can interact through the configuration interface displayed by the interactive device to output the first address information corresponding to the positioning device to be connected, and the server receives the first address information input by the user and sent by the interactive device, so as to connect to the corresponding positioning device according to the first address information. Specifically, Figure 4 is a schematic diagram of a configuration interface for connecting a positioning device according to an embodiment of the present application, such as Figure 4As shown, the first line of the configuration interface displays the corresponding icon and prompt words of the connected vehicle, and the right side of the first line also includes a close button. The second line of the configuration interface displays the connection status detected by the system, and the current connection status is not connected; the third line displays the Dynamic Host Configuration Protocol (DHCP) service, and the DHCP configuration file stored locally can be read for configuration through the DHCP acquisition button on the right; the fourth line displays the prompt words of the main body reading, that is, the user can read the device configuration file of multiple pre-configured positioning device IP addresses stored locally by clicking the local acquisition button on the right side of the line; the fifth line displays the prompt words of "connection mode" and "select vehicle", and the user can select the directional connection mode through the drop-down box on the right side of "connection mode", and select the IP address of the required connection positioning device obtained by reading the device configuration file through the drop-down box on the right side of "select vehicle". The final user can complete the connection configuration process in the directional connection mode by clicking the OK button directly below the configuration interface, thereby realizing the connection between the warehouse management system deployed on the server and the specified positioning device.

[0082] Step S213, when the connection mode is the search connection mode and the server is connected to the local area network, search for the second address information in the local area network, and connect with the corresponding positioning device according to the second address information.

[0083] Wherein, when the server detects that the current connection mode is determined to be the search connection mode, the server may search for the second address information corresponding to the positioning device waiting to be connected in the local area network to which it is connected. For example, the server may broadcast the search information in the local area network in a unicast or multicast manner, and the positioning device waiting to be connected sends its corresponding second address information to the server in response to the search information, and finally the server connects to the corresponding positioning device according to the second address information.

[0084] Through the above steps S211 to S213, the communication connection with the positioning device is achieved through different connection modes such as the directional connection mode and the search connection mode, and a positioning device connection method suitable for different application scenarios is realized, which is conducive to improving the flexibility and efficiency of the warehouse location calibration method.

[0085] In some embodiments, when there are at least two storage locations to be calibrated, the step of generating path planning information for the positioning device to reach the storage locations to be calibrated based on the actual position information further includes the following steps:

[0086] Step S221, obtaining the unique identification information of the storage location to be calibrated.

[0087] The unique identification information corresponding to the warehouse location to be calibrated may be a warehouse location ID pre-encoded by the user and other information used to represent the warehouse location to be calibrated. It should be noted that before executing the warehouse location calibration process, the user may issue a continuous calibration task through the warehouse management system to achieve calibration for multiple warehouse locations. For example, Figure 5 is a schematic diagram of a configuration interface for issuing a calibration task according to an embodiment of the present application, such as Figure 5 As shown, the configuration interface displays the task operation list, task status and task cycle times. The current task cycle times are 1. When the set number is greater than 1, the control device can perform multiple cycle calibrations for the designated storage location to be calibrated based on the set times to improve the accuracy of calibration. The configuration interface also displays operation buttons for adding, starting, pausing, resuming and ending to control the calibration process. In addition, please refer to Figure 5 , currently, a calibration task has been added for the warehouse location to be calibrated with warehouse location ID 1, and the user can continue to add calibration tasks for the warehouse location to be calibrated with warehouse location ID 2 in the task configuration dialog box displayed in the configuration interface, and so on, until all calibration tasks are added. It can be understood that by pre-setting the unique identification information such as the above-mentioned warehouse location ID, it is possible to facilitate the management of multiple warehouse locations to be calibrated, avoid calibration errors caused by confusion in calibration result matching in large-scale warehouse location calibration, and help improve the accuracy of warehouse location calibration.

[0088] Step S222: Based on the actual location information of all the storage locations to be calibrated and the corresponding unique identification information, path planning information for the positioning device to reach all the storage locations to be calibrated is generated.

[0089] Specifically, when only one positioning device is connected in the current application scenario, the optimized path planning information can be generated according to the current positioning posture of the positioning device and the actual position information of all the above-mentioned warehouses to be calibrated, for example, in order from near to far, so that the positioning device can move to each warehouse to be calibrated in sequence according to the path planning information. Finally, the positioning device collects the observation position information of the preset observation mark associated with each warehouse to be calibrated in each specified positioning posture in turn, and the above-mentioned control device completes the accurate calibration of all warehouses to be calibrated through the above-mentioned calibration steps according to each specified positioning posture and observation position information, and matches the generated target calibration result with the warehouse to be calibrated based on the above-mentioned unique identification information.

[0090] Step S223, when there are at least two positioning devices, obtain the current positioning postures corresponding to all the positioning devices, and obtain the matching result between the positioning device and the storage location to be calibrated according to the current positioning posture; based on the matching result, all the actual location information and the unique identification information, generate the path planning information for the positioning device to reach the matching storage location to be calibrated.

[0091] Among them, when multiple positioning devices are connected in the current application scenario, all the warehouses to be calibrated can be divided according to the current positioning posture corresponding to each positioning device and the distance between the actual position of each warehouse to be calibrated and other information. For example, the warehouses to be calibrated within a range of 10 meters from positioning device 1 can be divided into one category and matched, and the warehouses to be calibrated within a range of 10 meters from positioning device 2 can be divided into one category and matched, thereby generating the above-mentioned matching results; it can be understood that after the above-mentioned matching is completed, all warehouses to be calibrated have matched positioning devices. Then the control device can generate the path planning information based on the matching result; for example, the control device can generate the path planning information of the positioning device 1 according to the actual position of the warehouse to be calibrated that matches the positioning device 1 and the corresponding unique identification information, so that the positioning device 1 can automatically move to each warehouse to be calibrated within a range of 10 meters from it according to the corresponding path planning information, and generate the path planning information of the positioning device 2 according to the actual position of the warehouse to be calibrated that matches the positioning device 2 and the corresponding unique identification information, so that the positioning device 2 can automatically move to each warehouse to be calibrated within a range of 10 meters from it according to the corresponding path planning information. Finally, the control device realizes the accurate calibration of multiple warehouses based on the observed position information collected by multiple positioning devices, which is conducive to improving the implementation efficiency of the warehouse calibration method when a large number of warehouses need to be calibrated.

[0092] Through the above steps S221 to S223, the path planning information for the positioning device to reach all the storage locations to be calibrated is generated by acquiring the actual position information of multiple storage locations to be calibrated. The operation is simple and batch operation can be implemented as needed, thereby realizing a method for calibrating storage locations in large quantities without excessive human intervention, further improving the efficiency of the storage location calibration method.

[0093] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0094] This embodiment also provides a storage location calibration device, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated here. As used below, the terms "module", "unit", "subunit", etc. can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0095] Figure 6 is a structural block diagram of a storage location calibration device according to an embodiment of the present application, such as Figure 6 As shown, the device includes: an acquisition module 62, an observation module 64 and a calibration module 66; the acquisition module 62 is used to acquire the actual position information of the storage location to be calibrated, and generate path planning information for the positioning device to reach the storage location to be calibrated based on the actual position information; the observation module 64 is used to control the positioning device to move to a specified positioning posture according to the path planning information, and acquire the observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated; the calibration module 66 is used to calculate the target calibration result of the storage location to be calibrated according to the specified positioning posture and the observation position information.

[0096] Through the above embodiment, the acquisition module 62 acquires the path planning information of the positioning device by associating the storage location to be calibrated, the observation module 64 controls the positioning device to move to the specified positioning posture based on the path planning information, and collects the observation position information of the preset observation mark under the specified positioning posture. Finally, the calibration module 66 generates the target calibration result of the storage location to be calibrated based on the specified positioning posture and the observation position information, so that the storage location can be accurately operated according to the precise storage location calibration result during picking and unloading, thereby realizing accurate calibration of the storage location based on the preset observation mark, solving the problem of low accuracy of storage location calibration, and realizing an accurate and efficient storage location calibration device.

[0097] In some of the embodiments, the positioning device is equipped with an image acquisition module; the observation module 64 is also used to obtain the initial position information of the preset observation mark in the image coordinate system through the image acquisition module of the positioning device when the positioning device is located in the specified positioning posture; the observation module 64 obtains the coordinate transformation relationship between the image coordinate system and the global coordinate system, transforms the initial position information to the global coordinate system according to the coordinate transformation relationship and obtains the observation position information.

[0098] In some embodiments, the calibration module 66 is also used to obtain position deviation information between the positioning device and the image acquisition module; the calibration module 66 calculates the target calibration result according to the specified positioning posture, the observation position information and the position deviation information.

[0099] In some embodiments, the specified positioning posture includes positioning coordinates in the direction of a first coordinate axis, and the observation position information includes a first observation coordinate in the direction of the first coordinate axis, and a second observation coordinate in the direction of a second coordinate axis; the calibration module 66 is also used to calculate the first storage location coordinates of the storage location to be calibrated in the direction of the first coordinate axis based on the positioning coordinates, the first observation coordinates and the position deviation information; the calibration module 66 obtains the height information of the image acquisition module, and calculates the second storage location coordinates of the storage location to be calibrated in the direction of the second coordinate axis based on the height information and the second observation coordinates; the calibration module 66 obtains the target calibration result based on the first storage location coordinates and the second storage location coordinates.

[0100] In some embodiments, the above-mentioned storage location calibration device is applied to a server; the storage location calibration module also includes a connection module; the connection module is used to obtain a preset connection mode; when the connection mode is a directional connection mode, the connection module receives the first address information sent by the interactive device, and connects with the corresponding positioning device according to the first address information; wherein the interactive device is connected to the server; when the connection mode is a search connection mode and the server is connected to a local area network, the connection module searches for the second address information in the local area network, and connects with the corresponding positioning device according to the second address information.

[0101] In some of the embodiments, when there are at least two storage locations to be calibrated, the acquisition module 62 is also used to obtain unique identification information of the storage locations to be calibrated; the acquisition module 62 generates a path planning information for the positioning device to reach all the storage locations to be calibrated based on the actual location information of all the storage locations to be calibrated and the corresponding unique identification information; or, when there are at least two positioning devices, the acquisition module 62 obtains the current positioning postures corresponding to all the positioning devices, and obtains the matching result between the positioning device and the storage locations to be calibrated according to the current positioning posture; the acquisition module generates the path planning information for the positioning device to reach the matching storage locations to be calibrated based on the matching result, all the actual location information and the unique identification information.

[0102] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0103] This embodiment also provides a storage location calibration system. Figure 7is a structural block diagram of a storage location calibration system according to an embodiment of the present application, such as Figure 7 As shown, the system includes a positioning device 104 and a control device 72; wherein the control device 72 is connected to the positioning device 104. Further, data can be transmitted between the positioning device 104 and the control device 72 through a transmission device. The transmission device is used to receive or send data via a network. The above-mentioned network includes a wireless network provided by the communication provider of the platform. In one embodiment, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one embodiment, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly. The control device 72 is used to execute the steps in any of the above method embodiments. The control device 72 can be a main control chip, a computer device, a server or other device used to control the warehouse location calibration process.

[0104] Through the above embodiment, the control device 72 obtains the path planning information of the positioning device 104 by associating the storage location to be calibrated, and controls the positioning device 104 to move to the specified positioning posture based on the path planning information, and collects the observation position information of the preset observation mark under the specified positioning posture, and finally generates the target calibration result of the storage location to be calibrated based on the specified positioning posture and the observation position information, so that the storage location can be accurately operated according to the precise storage location calibration result during picking and unloading, so that the storage location can be accurately calibrated based on the preset observation mark, thereby solving the problem of low accuracy of storage location calibration and realizing an accurate and efficient storage location calibration system.

[0105] This embodiment also provides a computer device, which may be a server. Figure 8 is a structural diagram of the inside of a computer device according to an embodiment of the present application, such as Figure 8 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store target calibration results. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a storage location calibration method is implemented.

[0106] Those skilled in the art will understand that Figure 8The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0107] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0108] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0109] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0110] S1, obtaining the actual position information of the storage location to be calibrated, and generating path planning information for the positioning device to reach the storage location to be calibrated based on the actual position information.

[0111] S2, controlling the positioning device to move to a specified positioning posture according to the path planning information, and obtaining observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated.

[0112] S3, calculating the target calibration result of the storage location to be calibrated according to the specified positioning posture and the observation position information.

[0113] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0114] In addition, in combination with the storage location calibration method in the above embodiment, the embodiment of the present application can provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the storage location calibration methods in the above embodiment is implemented.

[0115] Those skilled in the art should understand that the various technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for calibrating a storage location, characterized in that: The method comprises: Get the preset connection mode; In the case where the connection mode is a directional connection mode, receiving first address information sent by an interactive device, and connecting with a corresponding positioning device according to the first address information; wherein the interactive device is connected to a server; When the connection mode is the search connection mode and the server is connected to a local area network, searching for second address information in the local area network, and connecting with a corresponding positioning device according to the second address information; Acquire actual location information of the storage location to be calibrated, and generate path planning information for the positioning device to reach the storage location to be calibrated based on the actual location information; Controlling the positioning device to move to a specified positioning posture according to the path planning information, and obtaining observation position information for a preset observation mark collected by the positioning device in the specified positioning posture, including: When the positioning device is located at the specified positioning posture, obtaining the initial position information of the preset observation mark in the image coordinate system through the image acquisition module of the positioning device; Acquire a coordinate transformation relationship between the image coordinate system and the global coordinate system, transform the initial position information into the global coordinate system according to the coordinate transformation relationship and obtain the observed position information; Wherein, the preset observation mark is associated with the actual position of the storage location to be calibrated; The target calibration result of the storage location to be calibrated is calculated according to the specified positioning posture and the observation position information.

2. The method for calibrating storage locations according to claim 1, characterized in that: The target calibration result of the storage location to be calibrated is calculated according to the specified positioning posture and the observation position information, comprising: Acquiring position deviation information between the positioning device and the image acquisition module; The target calibration result is calculated based on the specified positioning posture, the observation position information and the position deviation information.

3. The method for calibrating storage locations according to claim 2, characterized in that: The specified positioning posture includes positioning coordinates in the direction of a first coordinate axis, and the observation position information includes first observation coordinates in the direction of the first coordinate axis and second observation coordinates in the direction of a second coordinate axis; The target calibration result is calculated according to the specified positioning posture, the observation position information and the position deviation information, including: Calculate the first storage location coordinates of the storage location to be calibrated in the direction of the first coordinate axis according to the positioning coordinates, the first observation coordinates and the position deviation information; Acquire the height information of the image acquisition module, and calculate the second storage location coordinates of the storage location to be calibrated in the direction of the second coordinate axis according to the height information and the second observation coordinates; The target calibration result is obtained according to the first storage location coordinates and the second storage location coordinates.

4. The method for calibrating storage locations according to any one of claims 1 to 3, characterized in that: In the case that there are at least two storage locations to be calibrated, generating path planning information for the positioning device to reach the storage locations to be calibrated based on the actual position information includes: Obtaining unique identification information of the storage location to be calibrated; Generate path planning information for the positioning device to reach all the storage locations to be calibrated based on the actual location information of all the storage locations to be calibrated and the corresponding unique identification information; or, In the case where there are at least two positioning devices, current positioning postures corresponding to all the positioning devices are obtained, and matching results between the positioning devices and the storage locations to be calibrated are obtained according to the current positioning postures; Based on the matching result, all the actual location information and the unique identification information, path planning information for the positioning device to reach the matching storage location to be calibrated is generated.

5. A storage location calibration device, characterized in that: The storage location calibration device is applied to a server, and the device comprises: a connection module, an acquisition module, an observation module and a calibration module; The connection module is used to obtain a preset connection mode; The connection module is further used to receive first address information sent by the interactive device when the connection mode is a directional connection mode, and connect with the corresponding positioning device according to the first address information; wherein the interactive device is connected to the server; The connection module is further configured to search for second address information in the local area network when the connection mode is a search connection mode and the server is connected to the local area network, and connect to the corresponding positioning device according to the second address information; The acquisition module is also used to acquire the actual position information of the storage location to be calibrated, and generate path planning information for the positioning device to reach the storage location to be calibrated based on the actual position information; The observation module is used to control the positioning device to move to a specified positioning posture according to the path planning information, and obtain the observation position information for a preset observation mark collected by the positioning device under the specified positioning posture; wherein the preset observation mark is associated with the actual position of the storage location to be calibrated; The observation module is also used to obtain the initial position information of the preset observation mark in the image coordinate system through the image acquisition module of the positioning device when the positioning device is located at the specified positioning posture; The observation module is further used to obtain a coordinate transformation relationship between the image coordinate system and the global coordinate system, and transform the initial position information into the global coordinate system according to the coordinate transformation relationship to obtain the observation position information; The calibration module is used to calculate the target calibration result of the to-be-calibrated storage location according to the specified positioning posture and the observation position information.

6. A storage location calibration system, characterized in that: include: A positioning device and a control device; wherein the control device is connected to the positioning device; The control device is used to execute the storage location calibration method according to any one of claims 1 to 4.

7. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the storage location calibration method according to any one of claims 1 to 4.

8. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the storage location calibration method according to any one of claims 1 to 4 when running.

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