A method, apparatus, control device and storage medium for collecting items

Abstract

The application is suitable for the technical field of article collecting, and provides a method and device for collecting articles, a control equipment and a storage medium, the method comprising: when detecting a to-be-collected article by a camera provided on an article collecting device, obtaining a first image of the to-be-collected article, and controlling the article collecting device to move along a target direction pointing to the to-be-collected article; after the article collecting device moves, detecting a moving distance of the article collecting device, and obtaining a second image of the to-be-collected article; according to the first image, the second image and the moving distance, determining a first distance between the article collecting device and the to-be-collected article; and controlling the article collecting device to move along the target direction by the first distance to collect the to-be-collected article. Compared with the prior art, by using the method, the control equipment can control the article collecting device to move along the target direction by the first distance, so that the article collecting device collects the article, without manual intervention, thereby reducing the labor cost and expanding the application range.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of collecting articles, and particularly relates to a method and device for collecting articles, a control device and a storage medium. BACKGROUND

[0002] At present, the scene of collecting scattered articles is usually collected by manpower. For example, when a plurality of spherical objects roll on the ground, if the relevant personnel bend down to collect one by one, a large amount of time is consumed, and manpower is wasted. Therefore, an article collecting device emerges as the times require.

[0003] However, the prior art usually needs manpower to place the article collecting device at the position where the articles to be collected are located, so that the article collecting device can successfully collect the articles. It can be seen that the prior art has the problems of high labor cost and small applicable range. SUMMARY

[0004] The embodiments of the application provide a method and device for collecting articles, a control device and a storage medium, which reduce the labor cost in the article collecting process and expand the applicable range.

[0005] In a first aspect, the embodiments of the application provide a method for collecting articles, comprising:

[0006] When the article collecting device detects the article to be collected through the camera device arranged on the article collecting device, the camera device is controlled to capture a first image of the article to be collected, and the article collecting device is controlled to move along a target direction pointing to the article to be collected;

[0007] After the article collecting device moves, the moving distance of the article collecting device is detected, and the camera device is controlled to capture a second image of the article to be collected;

[0008] According to the first image, the second image and the moving distance, a first distance between the article collecting device and the article to be collected is determined;

[0009] The article collecting device is controlled to move along the target direction by the first distance, so that the article collecting device collects the article to be collected.

[0010] Optionally, the article collecting device is a roller-shaped device provided with two wheels, and the camera device is installed in the middle part of the article collecting device. When the article collecting device detects the article to be collected through the camera device arranged on the article collecting device, the camera device is controlled to capture a first image of the article to be collected, and the article collecting device is controlled to move along a direction pointing to the article to be collected, comprising:

[0011] When the to-be-collected object is detected by the camera device provided on the object collecting device, the two wheels are controlled to move at a target wheel speed difference;

[0012] During the process of controlling the two wheels to move at the target wheel speed difference, if it is detected that the to-be-collected object is in a middle region of a shooting range of the camera device, the first image is shot, and a direction in which the camera device points to the to-be-collected object is determined as the target direction;

[0013] The object collecting device is controlled to roll in the target direction.

[0014] Optionally, the object collecting device is provided with a motor for controlling wheel speeds of the two wheels, and before the controlling of the two wheels to move at the target wheel speed difference, the method further comprises:

[0015] detecting an included angle between a first straight line and a second straight line, wherein the first straight line is a line connecting a center point of the to-be-collected object and a center point of the camera device, and the second straight line is a line connecting center points of the two wheels;

[0016] According to the included angle, a steering angle between the two wheels is calculated;

[0017] According to the steering angle, a rotation speed of the motor, and a second distance between the two wheels, the target wheel speed difference is calculated.

[0018] Optionally, the two wheels are connected through a rigid shaft, and the camera device comprises a plurality of cameras distributed around the rigid shaft; each of the cameras rotates along with the rigid shaft; and if it is detected that the to-be-collected object is in a middle region of a shooting range of the camera device, the first image is shot.

[0019] If it is detected that the to-be-collected object is in a middle region of a shooting range of a first camera included in the camera device, the first camera is controlled to shoot the first image.

[0020] The controlling of the camera device to shoot the second image of the to-be-collected object comprises:

[0021] After the object collecting device moves, if it is detected that the to-be-collected object is in a middle region of a shooting range of a second camera included in the camera device, the second camera is controlled to shoot the second image; wherein the first camera and the second camera are any one of the cameras included in the camera device.

[0022] Optionally, the detecting of the moving distance of the object collecting device comprises:

[0023] counting a total rotation angle of the two wheels after the article collecting device moves;

[0024] calculating the moving distance according to diameters of the two wheels and the total rotation angle.

[0025] Optionally, the counting the total rotation angle of the two wheels after the article collecting device moves comprises:

[0026] if the article collecting device rolls less than one round, determining an angle from the first camera rotating to the second camera as the total rotation angle.

[0027] Optionally, the determining the first distance between the article collecting device and the article to be collected according to the first image, the second image and the moving distance comprises:

[0028] determining a first distribution size of the article to be collected in the first image, and determining a second distribution size of the article to be collected in the second image;

[0029] calculating a first difference value between the second distribution size and the first distribution size;

[0030] calculating a second difference value between a third distribution size and the second distribution size, wherein the third distribution size is a distribution size of the article to be collected in a third image, and the third image is an image containing the article to be collected and obtained by the camera device when the article to be collected is directly below the article collecting device;

[0031] dividing the second difference value by the first difference value to obtain a target multiple;

[0032] multiplying the moving distance by the target multiple to obtain the first distance.

[0033] In a second aspect, an embodiment of the present application provides a device for collecting articles, comprising:

[0034] a first control unit configured to control a camera device to obtain a first image of an article to be collected when the article to be collected is detected by the camera device, and control the article collecting device to move in a target direction pointing to the article to be collected;

[0035] a first detection unit configured to detect a moving distance of the article collecting device after the article collecting device moves, and control the camera device to obtain a second image of the article to be collected;

[0036] The first determining unit is configured to determine a first distance between the article collecting device and the article to be collected according to the first image, the second image, and the moving distance.

[0037] The second control unit is configured to control the article collecting device to move the first distance along the target direction, so that the article collecting device collects the article to be collected.

[0038] In a third aspect, an embodiment of the present application provides a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for collecting an article according to any one of the first aspect.

[0039] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the method for collecting an article according to any one of the first aspect.

[0040] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a control device, enables the control device to perform the method for collecting an article according to any one of the first aspect.

[0041] Compared with the prior art, the embodiment of the present application has the beneficial effects that:

[0042] The method for collecting an article provided by the embodiment of the present application, when the article to be collected is detected by the camera provided on the article collecting device, controls the camera to capture the first image of the article to be collected, and controls the article collecting device to move along the target direction pointing to the article to be collected; after the article collecting device moves, the moving distance of the article collecting device is detected, and the camera is controlled to capture the second image of the article to be collected; the first distance between the article collecting device and the article to be collected is determined according to the first image, the second image, and the moving distance; the article collecting device is controlled to move the first distance along the target direction, so that the article collecting device collects the article to be collected. Compared with the prior art that needs to manually place the article collecting device at the article to be collected so that the article collecting device can successfully collect the article, the control device of the embodiment of the present application can control the article collecting device to automatically search and move towards the position of the article to be collected, so as to successfully collect the article to be collected, and the whole process does not need manual intervention, which not only reduces the labor cost, but also expands the application range. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0044] Figure 1 is a structural schematic diagram of the article collecting device provided by an embodiment of the present application;

[0045] Figure 2 is an implementation flowchart of the method for collecting articles provided by an embodiment of the present application;

[0046] Figure 3 is an implementation flowchart of the method for collecting articles provided by another embodiment of the present application;

[0047] Figure 4 is an implementation flowchart of the method for collecting articles provided by still another embodiment of the present application;

[0048] Figure 5 is a steering schematic diagram of the article collecting device provided by an embodiment of the present application;

[0049] Figure 6 is an implementation flowchart of the method for collecting articles provided by yet another embodiment of the present application;

[0050] Figure 7 is an implementation flowchart of the method for collecting articles provided by yet another embodiment of the present application;

[0051] Figure 8 is a structural schematic diagram of the article collecting device provided by an embodiment of the present application;

[0052] Figure 9 is a structural schematic diagram of the control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0053] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0054] It should be understood that the terms "comprises" and / or "comprising," when used in this specification, including the following claims, can refer to features, integers, steps, operations, elements, and / or components that are included in a combination

[0055] It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and can be used interchangeably with the phrase "and / or".

[0056] As used in this specification and claims, the terms "if' and "when" can be interpreted to mean "upon determination" or "in response to a determination" or "in response to detecting," depending on the context. Similarly, the phrase "if determined" or "if detected [the described condition or event]" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]," depending on the context.

[0057] In addition, the terms "first," "second," "third," etc. as used in the description of the application and the appended claims are used only to distinguish different elements, and are not meant to imply or suggest relative importance.

[0058] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" or "in other embodiments" or "in still other embodiments," etc. in various places throughout this specification are not necessarily all referring to the same embodiment, unless otherwise specifically so stated. Furthermore, the term "comprising" or "including" or "containing" or "having" or variations thereof as used herein is meant to be open-ended and include both the stated features as well as other features, structures, or characteristics not recited.

[0059] Reference is made to Figure 1 , Figure 1 is a structural schematic diagram of an article collecting device provided by an embodiment of the application. As shown in Figure 1As shown, the article collecting device 1 is a drum-shaped device provided with two wheels, comprising a first wheel 11, a second wheel 12, a first motor 13, a second motor 14, a camera 15, a control device 16, a rigid shaft 17 and an elastic material 18. The first wheel 11 and the second wheel 12 are connected by the rigid shaft 17, the first motor 13, the second motor 14, the camera 15 and the control device 16 are all arranged on the rigid shaft 17, and the periphery of the first wheel 11 and the second wheel 12 are connected by the elastic material 18. The camera 15 is arranged at the middle part of the rigid shaft 17.

[0060] It should be noted that, in order to facilitate the collection of the to-be-collected articles and avoid the to-be-collected articles from falling out of the article collecting device 1, the distance between adjacent elastic materials is less than the diameter of the to-be-collected articles. The to-be-collected articles can be spherical articles such as table tennis balls.

[0061] The camera 15 is connected with the control device 16, and is used to detect whether there are to-be-collected articles in the area where the article collecting device 1 is located.

[0062] The control device 16 is connected with the first motor 13 and the second motor 14 respectively, and is used to send a first shooting instruction to the camera 15 and send a first rotating instruction to the first motor 13 and a second rotating instruction to the second motor 14 when detecting the to-be-collected articles.

[0063] The camera 15 is also used to receive the first shooting instruction, shoot the to-be-collected articles to obtain a first image, and send the first image to the control device 16.

[0064] The first motor 13 is connected with the first wheel 11, and is used to control the first wheel 11 to start rolling according to the first rotating instruction.

[0065] The second motor 14 is connected with the second wheel 12, and is used to control the second wheel 12 to start rolling according to the second rotating instruction.

[0066] The control device 16 is also used to detect the moving distance of the article collecting device 1 after detecting that the article collecting device 1 moves, and send a second shooting instruction to the camera 15.

[0067] The camera 15 is also used to receive the second shooting instruction, shoot the to-be-collected articles to obtain a second image, and send the second image to the control device 16.

[0068] The control device 16 is also used to determine a first distance between the article collecting device 1 and the to-be-collected articles according to the first image, the second image and the moving distance, send a third rotating instruction to the first motor 13 and a fourth rotating instruction to the second motor 14, so as to make the article collecting device 1 move the first distance.

[0069] The first motor 13 is further configured to control the first wheel 11 to roll according to the third rotating instruction.

[0070] The second motor 14 is further configured to control the second wheel 12 to roll according to the fourth rotating instruction.

[0071] Therefore, the article collecting device 1 can move to the position of the article to be collected, and the article collecting device 1 can collect the article to be collected into the article collecting device 1 by using the weight of the article collecting device 1 itself, the elasticity of the elastic material 18, and the friction between the elastic material 18 and the article to be collected.

[0072] As can be seen from the above, the article collecting device provided by the embodiments of the present application can automatically move to the position of the article to be collected, and then automatically collect the article to be collected into the article collecting device by using the weight of the article collecting device itself, the elasticity of the elastic material, and the friction between the elastic material and the article to be collected, without manual intervention, thereby reducing the labor cost and expanding the application range. Meanwhile, since the distance between the elastic materials is smaller than the diameter of the article to be collected, the article to be collected will not fall out, and the success rate of collecting the article is also improved.

[0073] In an embodiment of the present application, please refer to Figure 1 In order to obtain the image containing the article to be collected, the camera device 15 specifically includes a plurality of cameras 151 (6 are shown in the figure) distributed around the rigid shaft 17, and each camera 151 rotates with the rigid shaft 17.

[0074] It should be noted that the included angle between any adjacent cameras 151 is the same. For example, if the camera device 15 includes 6 cameras 151, the included angle between any adjacent cameras 151 is 60 degrees.

[0075] Please refer to Figure 2 , Figure 2 is an implementation flowchart of a method for collecting an article provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the method for collecting an article is a control device in an article collecting device.

[0076] As Figure 2 shown, the method for collecting an article provided by an embodiment of the present application can include S101-S104, which are described in detail as follows.

[0077] In S101, when the camera device provided on the article collecting device detects the article to be collected, the camera device is controlled to capture a first image of the article to be collected, and the article collecting device is controlled to move in a target direction pointing to the article to be collected.

[0078] In actual application, when there are multiple to-be-collected articles in a certain area, in order to avoid collecting the to-be-collected articles one by one manually, the relevant personnel can start the article collecting device.

[0079] In the embodiment of the present application, when the relevant personnel needs to start the article collecting device, the preset operation for the washing equipment can be triggered. The preset operation can be determined according to actual needs, which is not limited here. For example, the preset operation can be that the relevant personnel clicks the preset control (such as a switch key) in the article collecting device, that is, the control equipment considers that the preset operation for the article collecting device is detected if it detects that the relevant personnel clicks the preset control on the article collecting device. Of course, the preset operation can also be a time-triggered operation, in which case, if the article collecting device detects the trigger node associated with the article collecting, the operations of S101-S104 are performed to perform the collection operation on the to-be-collected articles.

[0080] After the control equipment detects that the article collecting device is started, the camera provided on the article collecting device can be controlled to take pictures of the area in real time to detect whether there is a to-be-collected article in the area.

[0081] In the embodiment of the present application, when the control equipment detects the to-be-collected article through the camera provided on the article collecting device, the camera can be controlled to take a first image of the to-be-collected article, and the article collecting device can be controlled to move along a target direction pointing to the to-be-collected article.

[0082] It should be noted that, in order to accurately determine the distance between the article collecting device and the to-be-collected article, the control equipment controls the article collecting device to move at a constant speed along the target direction pointing to the to-be-collected article.

[0083] The target direction refers to the direction in which the middle part of the article collecting device points to the to-be-collected article. In combination with Figure 1 , the middle part of the article collecting device refers to the middle part of the rigid shaft.

[0084] In an embodiment of the present application, in combination with Figure 1 When the article collecting device is a drum-shaped device provided with two wheels, and the camera is installed in the middle part of the article collecting device, in order to ensure that the moving direction of the article collecting device is the target direction, and to ensure that the camera is always in the same shooting direction (i.e. the target direction) to the to-be-collected article, thereby improving the collection success rate of the to-be-collected article, the camera control equipment can perform step S101 through S201-S203 as shown in Figure 3 , which is described in detail as follows:

[0085] In S201, when the to-be-collected article is detected through the camera provided on the article collecting device, the two wheels are controlled to move at a target wheel speed difference.

[0086] In the embodiment, when the to-be-collected object is detected by the camera provided on the object collecting device, in order to ensure that the subsequent object collecting device can successfully collect the to-be-collected object, that is, to further improve the collection success rate of the to-be-collected object, the control device can control the two wheels of the object collecting device to move at a target wheel speed difference, so as to adjust the moving direction of the object collecting device.

[0087] In an embodiment of the present application, the control device can determine the target wheel speed difference through S301-S303 as shown in the figure, which is described in detail as follows: Figure 4

[0088] In S301, the included angle between the first straight line and the second straight line is detected; wherein the first straight line is the line connecting the center point of the to-be-collected object and the center point of the camera, and the second straight line is the line connecting the center points of the two wheels.

[0089] In the embodiment, when the to-be-collected object is detected by the camera provided on the object collecting device, in order to determine the rotation direction of the object collecting device, so that the rolling direction of the object collecting device is successfully adjusted to the target direction pointing to the to-be-collected object, the control device can detect the included angle between the first straight line and the second straight line. Wherein the first straight line is the line connecting the center point of the to-be-collected object and the center point of the camera, and the second straight line is the line connecting the center points of the two wheels.

[0090] In S302, the steering angle between the two wheels is calculated according to the included angle.

[0091] It should be noted that in order to ensure that the object collecting device moves along the direction of the to-be-collected object, the first straight line needs to be perpendicular to the second straight line. Based on this, in the embodiment, the control device can calculate the steering angle between the two wheels according to the above-mentioned included angle. Wherein the steering angle refers to the angle formed between the third straight line connecting the center points of the two wheels when the object collecting device turns left or right, and the fourth straight line connecting the center points of the two wheels when the object collecting device does not deflect.

[0092] For example, please refer to Figure 5 , Figure 5 is a steering schematic diagram of the object collecting device provided in an embodiment of the present application. As shown in Figure 5 ​As shown, A is an item collection device, B is the item to be collected, L1 is the first straight line between the middle of the item collection device (i.e., the center point O1 of the camera device) and the center point O2 of the item to be collected B, L2 is the second straight line between the center points (A1 and A2) of the two wheels of the item collection device A, L3 is the dashed line formed by the center points of the two wheels after the item collection device A turns, the angle between L1 and L3 is a right angle, α is the angle between L1 and L2, and β is the turning angle between the two wheels, i.e., the angle between L2 and L3.

[0093] Based on this, β = α - 90.

[0094] In S303, the target wheel speed difference is calculated based on the steering angle, the motor speed, and the second distance between the two wheels.

[0095] In this embodiment, the control device can specifically calculate the target wheel speed difference according to the following formula:

[0096] v d = r·Dcos(β);

[0097] Among them, v d β represents the target wheel speed difference, D represents the steering angle between the two wheels, r represents the second distance, and r represents the motor speed.

[0098] In S202, during the process of controlling the two wheels to move at the target wheel speed difference, if the item to be collected is detected to be in the middle area of ​​the shooting range of the camera device, the first image is captured, and the direction pointed from the camera device to the item to be collected is determined as the target direction.

[0099] In this embodiment, during the process of controlling the two wheels of the item collection device to move at the target wheel speed difference, in order to ensure that all images of the items to be collected captured by the subsequent camera device are images captured by the item collection device in the same direction, the control device can control the camera device to record video in real time to detect whether the items to be collected are in the middle area of ​​the camera device's shooting range.

[0100] When the control device detects that the item to be collected is in the middle area of ​​the camera's shooting range, it can take a picture of the item to be collected to obtain a first image, and determine the direction from the camera to the item to be collected at this time as the target direction, that is, the direction from the center point of the camera to the center point of the item to be collected is the target direction.

[0101] In S203, the item collection device is controlled to roll along the target direction.

[0102] In this embodiment, after determining the target direction, the control device controls the article collecting device to roll along the target direction, so that the camera provided on the article collecting device can move to the top of the article to be collected, so that the article collecting device successfully collects the article to be collected.

[0103] In S102, after the article collecting device moves, the moving distance of the article collecting device is detected, and the camera is controlled to capture a second image of the article to be collected.

[0104] In this embodiment, after detecting that the article collecting device moves along the target direction, the control device can detect the moving distance of the article collecting device and control the camera to capture a second image of the article to be collected.

[0105] In one implementation manner of the embodiment, in order to accurately determine the first distance between the article collecting device and the article to be collected, and further improve the collection success rate of the article to be collected, the control device can first determine the position of the center point of the article to be collected in the first image within the shooting range of the camera, and when detecting that the article collecting device moves along the target direction, the control device can detect in real time whether the center point of the article to be collected is again in the position within the shooting range of the camera, if the center point of the article to be collected is again in the position within the shooting range of the camera, the moving distance of the article collecting device is detected, and the camera is controlled to capture the article to be collected at this time to capture a second image.

[0106] In S103, according to the first image, the second image and the moving distance, the first distance between the article collecting device and the article to be collected is determined.

[0107] In this embodiment, after obtaining the second image and the moving distance, the control device can determine the first distance between the article collecting device and the article to be collected according to the first image, the second image and the moving distance.

[0108] It should be noted that, since the article collecting device always moves along the target direction, that is, the proportion of the article to be collected in the shooting range of the camera gradually increases, therefore, the control device can calculate the first proportion of the article to be collected in the first image, and the second proportion of the article to be collected in the second image, and then the control device can calculate the first distance between the article collecting device and the article to be collected through the first proportion, the second proportion and the moving distance.

[0109] In one embodiment of the present application, the control device can calculate the first distance through S401-S405 as shown in Figure 6 The details are as follows:

[0110] In S401, a first distribution size of the to-be-collected object in the first image is determined, and a second distribution size of the to-be-collected object in the second image is determined.

[0111] In S402, a first difference value of the second distribution size and the first distribution size is calculated.

[0112] In S403, a second difference value of a third distribution size and the second distribution size is calculated; wherein the third distribution size is a distribution size of the to-be-collected object in a third image, and the third image is an image containing the to-be-collected object taken by the camera when the to-be-collected object is located directly below the object collecting device.

[0113] In S404, the second difference value is divided by the first difference value to obtain a target multiple.

[0114] In S405, the first distance is obtained by multiplying the moving distance by the target multiple.

[0115] In this embodiment, after obtaining the first image and the second image, the control device can calculate the size of the to-be-collected object in the first image, i.e., the first distribution size; can calculate the size of the to-be-collected object in the second image, i.e., the second distribution size, and then the control device can calculate the first difference value of the second distribution size and the first distribution size.

[0116] It should be noted that the control device has stored in advance a third image containing the to-be-collected object taken by the camera when the to-be-collected object is located directly below the object collecting device, and therefore the control device can calculate the size of the to-be-collected object in the third image, i.e., the third distribution size.

[0117] Since the object collecting device has moved by the moving distance at this time, in order to accurately obtain the first distance between the to-be-collected object and the object collecting device, the control device can calculate the second difference value of the third distribution size and the second distribution size.

[0118] In combination with S101, since the object collecting device has been moving at a constant speed along the target direction at this time, the control device can calculate the first distance between the object collecting device and the to-be-collected object according to the first difference value, the second difference value, and the moving distance.

[0119] Specifically, the control device can divide the second difference value by the first difference value to obtain a target multiple, and then multiply the moving distance by the target multiple to obtain the first distance.

[0120] In S104, the object collecting device is controlled to move along the target direction by the first distance, so that the object collecting device collects the to-be-collected object.

[0121] In the embodiment, the control device can control the article collecting device to move a first distance along the target direction, so that the article collecting device moves to directly above the article to be collected. At this time, the article collecting device can collect the article to be collected into the article collecting device by using its own weight, the elasticity of the elastic material, and the friction between the elastic material and the article to be collected.

[0122] As can be seen from the above, the method for collecting an article provided in the embodiment includes the following steps: when detecting an article to be collected through a camera device arranged on an article collecting device, controlling the camera device to capture a first image of the article to be collected, and controlling the article collecting device to move along a target direction pointing to the article to be collected; after the article collecting device moves, detecting a moving distance of the article collecting device, and controlling the camera to capture a second image of the article to be collected; determining a first distance between the article collecting device and the article to be collected according to the first image, the second image, and the moving distance; and controlling the article collecting device to move a first distance along the target direction, so that the article collecting device collects the article to be collected. Compared with the prior art, in which the article collecting device needs to be placed at the article to be collected by manual operation, so that the article collecting device can successfully collect the article, the control device in the embodiment can control the article collecting device to automatically search and move towards the position of the article to be collected, so that the article to be collected is successfully collected. The whole process does not need manual intervention, which not only reduces the labor cost, but also expands the application range.

[0123] Please refer to Figure 7 , Figure 7 is a method for collecting an article provided in another embodiment of the present application. Compared with Figure 3 In the corresponding embodiment, the two wheels of the article collecting device are connected through a rigid shaft, and the camera device includes a plurality of cameras distributed around the rigid shaft; each camera rotates with the rigid shaft. Therefore, in the embodiment, step S202 specifically includes S501, and step S103 specifically includes S502, which are described in detail as follows.

[0124] In S501, if it is detected that the article to be collected is in the middle region of the shooting range of the first camera included in the camera device, the first camera is controlled to capture the first image.

[0125] In this embodiment, after the control device detects the to-be-collected item through the camera device, i.e., the to-be-collected item appears in the shooting range of the camera device, in order to ensure that the center point of the to-be-collected item in the first image and the second image is at the same position, the control device can detect the actual area of the to-be-collected item in the shooting range of the first camera in real time while controlling the two wheels of the item collection device to move at the target wheel speed difference, and when it is detected that the to-be-collected item is in the middle area of the shooting range of the first camera, the control device controls the first camera to shoot the to-be-collected item to obtain the first image.

[0126] In S502, after the movement of the item collection device, if it is detected that the to-be-collected item is in the middle area of the shooting range of the second camera included in the camera device, the second camera is controlled to shoot to obtain the second image; wherein the first camera and the second camera are any one of the cameras included in the camera device.

[0127] In this embodiment, after the control device detects that the item collection device continues to move in the target direction, in order to ensure that the to-be-collected item in the first image and the second image is in the same area, the control device can detect the actual area of the to-be-collected item in the shooting range of the second camera in real time while controlling the two wheels of the item collection device to move in the target direction, and when it is detected that the to-be-collected item is in the middle area of the shooting range of the second camera, the control device controls the second camera to shoot the to-be-collected item to obtain the second image.

[0128] In an embodiment of the present application, in order to accurately determine the movement distance of the item collection device, the control device can specifically perform the following steps, which are described in detail as follows:

[0129] After the movement of the item collection device, the total rotation angle of the two wheels is counted;

[0130] According to the diameters of the two wheels and the total rotation angle, the movement distance is calculated.

[0131] In this embodiment, after the control device detects the movement of the item collection device, the control device can count the total rotation angle of the two wheels of the item collection device within the time period from the shooting of the first image by the first camera to the shooting of the second image by the second camera, and then the control device can calculate the movement distance of the item collection device according to the diameters of the two wheels and the total rotation angle.

[0132] In an implementation manner of this embodiment, when the rolling of the item collection device is less than one round, the control device can determine the angle from the rotation of the first camera to the rotation of the second camera as the total rotation angle.

[0133] In some possible embodiments, the second camera can be the first camera after the first camera.

[0134] As can be seen from the above, the method for collecting an article provided in this embodiment controls a first camera to capture a first image when it is detected that the article to be collected is in a middle region of a shooting range of the first camera included in a camera device; controls a second camera to capture a second image after the article collecting device moves and when it is detected that the article to be collected is in a middle region of a shooting range of the second camera included in the camera device; and the first camera and the second camera are any one of the cameras included in the camera device. The method provided in this embodiment ensures that the moving direction of the article collecting device does not change because the multiple cameras are distributed around the rigid shaft in the article collecting device and each camera rotates with the rigid shaft, thereby improving the accuracy of subsequent determination of the first distance and further improving the collection success rate of the article to be collected.

[0135] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0136] corresponding to the above embodiment, Figure 8 A structure diagram of an article collecting device provided in an embodiment of the present application is shown, and only parts related to the embodiments of the present application are shown for ease of illustration. Refer to Figure 8 The article collecting device 800 includes a first control unit 81, a first detection unit 82, a first determination unit 83, and a second control unit 84. Wherein:

[0137] The first control unit 81 is configured to control a camera device provided on an article collecting device to capture a first image of an article to be collected when the article to be collected is detected by the camera device, and control the article collecting device to move in a target direction pointing to the article to be collected.

[0138] The first detection unit 82 is configured to detect a moving distance of the article collecting device after the article collecting device moves, and control the camera device to capture a second image of the article to be collected.

[0139] The first determination unit 83 is configured to determine a first distance between the article collecting device and the article to be collected according to the first image, the second image, and the moving distance.

[0140] The second control unit 84 is configured to control the article collecting device to move in the target direction by the first distance, so that the article collecting device collects the article to be collected.

[0141] In one embodiment of the present application, the article collecting device is a drum-shaped device provided with two wheels, and the camera device is mounted at the middle of the article collecting device; the first control unit 81 specifically includes a third control unit, a first shooting unit and a fourth control unit. Wherein:

[0142] The third control unit is configured to control the two wheels to move at a target wheel speed difference when the article to be collected is detected by the camera device provided on the article collecting device.

[0143] The first shooting unit is configured to, during the control of the two wheels to move at the target wheel speed difference, if it is detected that the article to be collected is in the middle region of the shooting range of the camera device, capture the first image and determine the direction pointed by the camera device to the article to be collected as the target direction.

[0144] The fourth control unit is configured to control the article collecting device to roll in the target direction.

[0145] In one embodiment of the present application, the article collecting device is provided with a motor for controlling the wheel speed of the two wheels, and the article collecting device 800 further includes a second detection unit, a first calculation unit and a second calculation unit. Wherein:

[0146] The second detection unit is configured to detect the included angle between the first straight line and the second straight line; wherein the first straight line is the line connecting the center point of the article to be collected and the center point of the camera device, and the second straight line is the line connecting the center points of the two wheels.

[0147] The first calculation unit is configured to calculate the steering angle between the two wheels according to the included angle.

[0148] The second calculation unit is configured to calculate the target wheel speed difference according to the steering angle, the rotational speed of the motor and the second distance between the two wheels.

[0149] In one embodiment of the present application, the two wheels are connected by a rigid shaft, and the camera device includes a plurality of cameras distributed around the rigid shaft; each of the cameras follows the rotation of the rigid shaft; the first shooting unit specifically includes a second shooting unit; correspondingly, the first detection unit 82 specifically includes a third shooting unit. Wherein:

[0150] The second shooting unit is configured to, if it is detected that the article to be collected is in the middle region of the shooting range of the first camera included in the camera device, control the first camera to capture the first image.

[0151] The third shooting unit is configured to, after the article collecting device moves, if it is detected that the to-be-collected article is in a middle region of a shooting range of a second camera included in the camera device, control the second camera to shoot to obtain the second image; wherein the first camera and the second camera are any one of cameras included in the camera device.

[0152] In an embodiment of the present application, the first detection unit 82 specifically includes a statistical unit and a third calculation unit. Wherein:

[0153] The statistical unit is configured to, after the article collecting device moves, count a total rotation angle of the two wheels.

[0154] The third calculation unit is configured to calculate the moving distance according to the diameters of the two wheels and the total rotation angle.

[0155] In an embodiment of the present application, the counting specifically includes a second determination unit.

[0156] The second determination unit is configured to, if the article collecting device rolls less than one round, determine an angle from the first camera to the second camera as the total rotation angle.

[0157] In an embodiment of the present application, the first determination unit 83 specifically includes a third determination unit, a fourth calculation unit, a fifth calculation unit, a fourth determination unit and a fifth determination unit. Wherein:

[0158] The third determination unit is configured to determine a first distribution size of the to-be-collected article in the first image, and determine a second distribution size of the to-be-collected article in the second image.

[0159] The fourth calculation unit is configured to calculate a first difference value of the second distribution size and the first distribution size.

[0160] The fifth calculation unit is configured to calculate a second difference value of a third distribution size and the second distribution size; wherein the third distribution size is a distribution size of the to-be-collected article in a third image, and the third image is an image containing the to-be-collected article obtained by the camera device shooting when the to-be-collected article is directly below the article collecting device.

[0161] The fourth determination unit is configured to obtain a target multiple by using the second difference value divided by the first difference value.

[0162] The fifth determination unit is configured to obtain the first distance by using the moving distance multiplied by the target multiple.

[0163] It should be noted that the information interaction, execution process and the like between the above apparatuses / units are based on the same concept as the method embodiments of the present application, and the specific functions and brought technical effects can be referred to the method embodiments part, which will not be repeated here.

[0164] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above-described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0165] Figure 9 The structural schematic diagram of the control device provided by an embodiment of the present application is shown in FIG. 9. As shown in FIG. 9, the control device 9 of this embodiment includes at least one processor 90 (only one processor is shown in the figure), a memory 91, and a computer program 92 stored in the memory 91 and executable on the at least one processor 90, wherein the processor 90 implements the steps in any of the above-mentioned method embodiments for collecting articles when executing the computer program 92. Figure 9 Figure 9 The control device can include, but is not limited to, the processor 90 and the memory 91. Those skilled in the art can understand that, The control device 9 is only an example and does not constitute a limitation on the control device 9, and can include more or fewer components than shown, or combine certain components, or different components, for example, can also include input / output devices, network access devices, etc.

[0166] Figure 9

[0167] ​​The processor 90 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0168] The memory 91 can be an internal storage unit of the control device 9 in some embodiments, for example, a memory of the control device 9. The memory 91 can also be an external storage device of the control device 9 in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 91 can include both an internal storage unit and an external storage device of the control device 9. The memory 91 is used to store an operating system, an application program, a boot loader, data, and other programs, for example, program codes of the computer program, etc. The memory 91 can also be used to temporarily store data that has been output or will be output.

[0169] The embodiments of the present application further provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned various method embodiments.

[0170] The embodiments of the present application provide a computer program product. When the computer program product is run on a control device, the control device is enabled to implement the steps in the above-mentioned various method embodiments.

[0171] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the control device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0172] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0173] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of collecting articles, characterized by, The application comprises the following steps: When the object collecting device detects the object to be collected through the camera installed on the object collecting device, the camera is controlled to take a first image of the object to be collected, and the object collecting device is controlled to move in a target direction pointing to the object to be collected; After the movement of the object collecting device, the movement distance of the object collecting device is detected, and the camera is controlled to take a second image of the object to be collected; According to the first image, the second image and the movement distance, the first distance between the object collecting device and the object to be collected is determined; The object collecting device is controlled to move in the target direction by the first distance, so that the object collecting device collects the object to be collected; The step of detecting the movement distance of the object collecting device after the movement of the object collecting device and controlling the camera to take a second image of the object to be collected comprises the following steps: The position of the center point of the object to be collected in the first image is determined to be within the shooting range of the camera, and when the object collecting device is detected to move in the target direction, it is detected whether the center point of the object to be collected is again within the position of the shooting range of the camera; if the center point of the object to be collected is again within the position of the shooting range of the camera, the movement distance is detected, and the camera is controlled to take a picture of the object to be collected to take the second image; The step of determining the first distance between the object collecting device and the object to be collected according to the first image, the second image and the movement distance comprises the following steps: The first proportion of the object to be collected in the first image, the second proportion of the object to be collected in the second image are calculated, and the first distance is calculated according to the first proportion, the second proportion and the movement distance.

2. The method of collecting articles of claim 1, wherein, The object collecting device is a drum-shaped device provided with two wheels, and the camera is installed in the middle of the object collecting device; the step of controlling the camera to take a first image of the object to be collected when the object collecting device detects the object to be collected through the camera installed on the object collecting device, and controlling the object collecting device to move in a direction pointing to the object to be collected comprises the following steps: When the object collecting device detects the object to be collected through the camera installed on the object collecting device, the two wheels are controlled to move at a target wheel speed difference; During the control of the two wheels to move at a target wheel speed difference, if it is detected that the object to be collected is in the middle area of the shooting range of the camera, the first image is taken, and the direction pointed to the object to be collected by the camera is determined as the target direction; The object collecting device is controlled to roll in the target direction.

3. The method of collecting articles of claim 2, wherein, The object collecting device is provided with a motor for controlling the wheel speed of the two wheels, and before the control of the two wheels to move at a target wheel speed difference, the following steps are further included: detecting an included angle between a first straight line and a second straight line, wherein the first straight line is a line connecting a center point of the to-be-collected object and a center point of the camera device, and the second straight line is a line connecting center points of the two wheels; calculating a steering angle between the two wheels according to the included angle; calculating the target wheel speed difference according to the steering angle, a rotation speed of the motor, and a second distance between the two wheels.

4. The method of collecting articles of claim 2, wherein, The two wheels are connected through a rigid shaft, and the camera device comprises a plurality of cameras distributed around the rigid shaft; each of the cameras rotates with the rigid shaft; if it is detected that the to-be-collected object is in a middle region of a shooting range of the camera device, the first image is shot, comprising: If it is detected that the to-be-collected object is in a middle region of a shooting range of a first camera included in the camera device, the first camera is controlled to shoot the first image. The control of the camera device to shoot the second image of the to-be-collected object comprises: After the movement of the object collecting device, if it is detected that the to-be-collected object is in a middle region of a shooting range of a second camera included in the camera device, the second camera is controlled to shoot the second image; wherein the first camera and the second camera are any one of the cameras included in the camera device.

5. The method of collecting articles of claim 4, wherein, The detection of the movement distance of the object collecting device comprises: After the movement of the object collecting device, the total rotation angle of the two wheels is counted; The movement distance is calculated according to the diameters of the two wheels and the total rotation angle.

6. The method of collecting articles of claim 5, wherein, The counting of the total rotation angle of the two wheels after the movement of the object collecting device comprises: If the rolling of the object collecting device is not a full circle, the angle from the rotation of the first camera to the rotation of the second camera is determined as the total rotation angle.

7. A method of collecting articles as claimed in any one of claims 1 to 6, wherein, The determination of the first distance between the object collecting device and the to-be-collected object according to the first image, the second image, and the movement distance comprises: determining a first distribution size of the to-be-collected object in the first image, and determining a second distribution size of the to-be-collected object in the second image; calculating a first difference value of the second distribution size and the first distribution size; calculating a second difference value of a third distribution size and the second distribution size; wherein the third distribution size is a distribution size of the to-be-collected object in a third image, and the third image is an image of the to-be-collected object captured by the camera device when the to-be-collected object is directly below the object collecting device; using the second difference value divided by the first difference value to obtain a target multiple; using the movement distance multiplied by the target multiple to obtain the first distance.

8. An apparatus for collecting articles, characterized by The first control unit is configured to, when a to-be-collected object is detected by a camera device arranged on the object collecting device, control the camera device to shoot a first image of the to-be-collected object, and control the object collecting device to move in a target direction pointing to the to-be-collected object. ​ The first detection unit is configured to detect a moving distance of the article collecting device after the article collecting device moves. Correspondingly, the first control unit is further configured to control the camera to capture a second image of the article to be collected. The first determination unit is configured to determine a first distance between the article collecting device and the article to be collected according to the first image, the second image and the moving distance. The second control unit is configured to control the article collecting device to move the first distance along the target direction, so that the article collecting device collects the article to be collected. The first detection unit is specifically configured to determine a position where a center point of the article to be collected in the first image is located within a shooting range of the camera, and detect whether the center point of the article to be collected is again located within the position of the shooting range of the camera when detecting that the article collecting device moves along the target direction; if the center point of the article to be collected is again located within the position of the shooting range of the camera, the moving distance is detected. Correspondingly, the first control unit is further configured to control the camera to capture the article to be collected, so as to capture the second image. The first determination unit is specifically configured to calculate a first proportion of the article to be collected in the first image, a second proportion of the article to be collected in the second image, and calculate the first distance according to the first proportion, the second proportion and the moving distance.

9. A control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method for collecting articles according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the method for collecting articles according to any one of claims 1 to 7.

Images