Robot warehouse loading identification method and device, electronic equipment and medium

Abstract

The invention relates to the technical field of intelligent robots, and provides a robot bin-loading identification method and device, electronic equipment and a medium. The method includes judging the size of an upper bin; short laser sections are screened for a small-sized warehouse loading robot; determining the center P and the distance from the center P to the nearest point; establishing a point set S; carrying out segmentation; traversing each laser section, judging whether the distance of each laser section is similar to d or not, and if so, judging whether the distance from the center P to s1 and the distance from the center P to the laser section are equal or not; if so, identifying an upper bin; obtaining a pose; the method comprises the following steps of: segmenting laser for a large-scale warehouse-loading robot to obtain a segment set; traversing the set, performing recursive straight line fitting to obtain a straight line, and merging the straight line; traversing the set, judging whether the lengths of li, li + 1 and li + 2 are equal to L1, L2 and L3 respectively and li is parallel to li + 2, and if yes, identifying an upper bin; and obtaining a pose. The method is wide in application range; the accuracy of an identification result is improved; manpower and material resources are saved, and the accuracy of the result is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a method, device, electronic equipment and medium for robot warehouse identification. Background Art

[0002] In the field of intelligent robots, robots with a separate upper compartment and chassis are very popular in the market. For robots with a separate upper compartment and chassis, the prerequisite for the chassis to dock with the upper compartment is to accurately identify the position of the upper compartment relative to the robot chassis. Therefore, studying the position of the upper compartment relative to the chassis has become an important topic in this field.

[0003] The existing technology generally uses a camera to recognize a QR code pasted on the upper warehouse, and then infers the position of the upper warehouse through the QR code.

[0004] The above method of inferring the position of the upper warehouse through the QR code not only requires fill lighting according to the lighting conditions, but also requires the camera to calibrate the internal and external parameters. The process is complicated and consumes manpower and material resources. Since the position of the upper warehouse is obtained by inference, the result has low accuracy. Summary of the invention

[0005] The present disclosure provides a robot upper warehouse identification method, device, electronic device and medium, including: judging the size of the robot upper warehouse according to a preset volume threshold: when the volume of the robot upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot; when the volume of the robot upper warehouse is greater than the preset volume threshold, the robot is a large upper warehouse robot; for the small upper warehouse robot, segmenting the distances of each laser around the laser according to a first preset distance threshold, and screening out short laser segments; determining the laser segment whose length is less than the first preset length threshold in the short laser segment as the center P, and determining the distance from the center P to the nearest point D; the nearest point is the laser segment whose light intensity is greater than the preset intensity threshold; establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers; segment the point set S to obtain the laser segment set {s1, s2, ... sn}; traverse each laser segment in s1 and {s2, ... sn} to determine whether the distance of each laser segment is similar to d; if similar, then determine whether the distance from the center P to s1 and P to the laser segment is equal; if equal, identify the upper warehouse; perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, make a perpendicular line to L1 through the center P, and obtain the position of the upper warehouse relative to the chassis; for large upper warehouse robots, segment the distances of the lasers around the laser according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}; traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm}; merge L into the final set HL{l1,l2,...la} of all the intermediates; traverse the set HL{l1,l2,...la} to determine whether the lengths of li,li+1,li+2 are respectively consistent with L1, L2, L3 Etc., and li is parallel to li+2. If so, the upper warehouse is identified; taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, the posture of the upper warehouse relative to the chassis is obtained. Compared with the prior art, the present invention can not only identify the posture of a small upper warehouse, but also identify the posture of a large upper warehouse, and has a wide range of applications; for a small upper warehouse robot, the present invention combines the distance and light intensity of the laser reading to greatly improve the accuracy of the recognition result; for a large upper warehouse robot, the present invention designs a U-shaped laser feature, which is simple in design, saves manpower and material resources, and also ensures the accuracy of the results.

[0006] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0007] A first aspect of the present disclosure provides a robot warehouse identification method, comprising:

[0008] According to the preset volume threshold, determine the size of the robot's upper warehouse:

[0009] When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot.

[0010] When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot.

[0011] For the small warehouse loading robot, the distances of the lasers around the laser are segmented according to the first preset distance threshold, and short laser segments are screened out.

[0012] The laser segment whose length in the short laser segment is less than a first preset length threshold is determined as the center P, and the distance D from the center P to the nearest point is determined; the nearest point is the laser segment whose light intensity is greater than a preset intensity threshold.

[0013] A point set S is established whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers.

[0014] The point set S is segmented to obtain a laser segment set {s1, s2, ...sn}.

[0015] Traverse each laser segment in s1 and {s2,...sn} to determine whether the distance of each laser segment is similar to d. If so, determine whether the distance from the center P to s1 and from P to the laser segment is equal; if so, identify the upper warehouse.

[0016] S1 is fitted with all points of the laser segment to obtain a straight line L1, which is perpendicular to L1 through the center P to obtain the position of the upper warehouse relative to the chassis.

[0017] For the large warehouse loading robot, the distances of the lasers around the laser are segmented according to the second preset distance threshold to obtain a segment set H{h1, h2, ...hn}.

[0018] Traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm};

[0019] Merge said L into the final set of all between HL{l1,l2,...la}.

[0020] Traverse the set HL{l1,l2,...la}, and determine whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and whether li is parallel to li+2. If so, the upper warehouse is identified.

[0021] Taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, the position of the upper warehouse relative to the chassis is obtained.

[0022] Furthermore, the robot loading warehouse identification method, for the small loading warehouse robot, divides the distances of the lasers around the laser into segments according to a first preset distance threshold, and screens out short laser segments, including:

[0023] For the small warehouse robot, the distances of the lasers within the third preset distance around the laser are segmented according to the first preset distance threshold, and short laser segments are screened out.

[0024] Furthermore, in the robot warehouse identification method, the third preset distance includes:

[0025] The third preset distance is 2 meters.

[0026] Furthermore, in the robot warehouse identification method, the first preset length threshold comprises:

[0027] The first preset length threshold is 3 centimeters.

[0028] Furthermore, the robot loading warehouse identification method, for the large loading warehouse robot, segments the distances of the lasers around the laser according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}, including:

[0029] For the large warehouse loading robot, the distance of each laser within the fourth preset distance around the laser is segmented according to the second preset distance threshold to obtain a segment set H{h1, h2, ...hn}.

[0030] Furthermore, in the robot warehouse identification method, the fourth preset distance includes:

[0031] The fourth preset distance is 3 meters.

[0032] Furthermore, the robot warehouse identification method traverses the set H, performs recursive straight line fitting, and obtains a straight line L{l1,l2,...lm} by fitting, including:

[0033] The set H is traversed, the laser segments whose lengths are less than a second length threshold are discarded, and the laser segments whose lengths are greater than the second length threshold are recursively fitted to obtain a straight line L{l1,l2,...lm}.

[0034] Furthermore, in the robot warehouse identification method, the second length threshold comprises:

[0035] The second length threshold is 3 cm.

[0036] Furthermore, in the robot warehouse identification method, the preset volume threshold includes:

[0037] The preset volume threshold is 2 cubic meters.

[0038] Furthermore, in the robot warehouse identification method, the first preset distance threshold comprises:

[0039] The first preset distance threshold is 1 meter.

[0040] Furthermore, in the robot warehouse identification method, the preset strength threshold comprises:

[0041] The preset intensity threshold is 200 candela.

[0042] Furthermore, in the robot warehouse identification method, the second preset distance threshold comprises:

[0043] The second preset distance threshold is 1 meter.

[0044] A second aspect of the present disclosure provides a robot loading identification device, comprising:

[0045] The first judgment unit is used to judge the size of the robot upper warehouse according to a preset volume threshold:

[0046] When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot.

[0047] When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot.

[0048] The screening unit is used for segmenting the distances of the lasers around the laser according to a first preset distance threshold value for the small warehouse robot, and screening out short laser segments.

[0049] A determination unit is used to determine the laser segment whose length in the short laser segment is less than a first preset length threshold as the center P, and determine the distance D from the center P to the nearest point; the nearest point is the laser segment whose light intensity is greater than a preset intensity threshold.

[0050] An establishing unit is used to establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers.

[0051] The first segmentation unit is used to segment the point set S to obtain a laser segment set {s1, s2, ...sn}.

[0052] The second judgment unit is used to traverse each laser segment in s1 and {s2,...sn} to determine whether the distance of each laser segment is similar to d. If similar, then determine whether the distance from the center P to s1 and P to the laser segment is equal; if equal, the upper warehouse is identified.

[0053] The first straight line fitting unit is used to perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, and a perpendicular line through the center P to L1 to obtain the position of the upper warehouse relative to the chassis.

[0054] The second segmentation unit is used to segment the distances of each laser around the laser according to a second preset distance threshold for the large warehouse robot to obtain a segmentation set H{h1, h2, ...hn}.

[0055] The second straight line fitting unit is used to traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm} by fitting.

[0056] A merging unit is used to merge the L into the final set of all intervals HL{l1,l2,...la}.

[0057] The third judgment unit is used to traverse the set HL{l1,l2,...la}, and judge whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and li is parallel to li+2. If so, the upper warehouse is identified.

[0058] The obtaining unit is used to obtain the position of the upper warehouse relative to the chassis with the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation.

[0059] A third aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0060] A fourth aspect of the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program implements the steps of the above method when executed by a processor.

[0061] The present disclosure provides a robot upper warehouse identification method, device, electronic device and medium, including: judging the size of the robot upper warehouse according to a preset volume threshold: when the volume of the robot upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot; when the volume of the robot upper warehouse is greater than the preset volume threshold, the robot is a large upper warehouse robot; for the small upper warehouse robot, segmenting the distances of each laser around the laser according to a first preset distance threshold, and screening out short laser segments; determining the laser segment whose length is less than the first preset length threshold in the short laser segment as the center P, and determining the distance from the center P to the nearest point D; the nearest point is the laser segment whose light intensity is greater than the preset intensity threshold; establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers; segment the point set S to obtain the laser segment set {s1, s2, ... sn}; traverse each laser segment in s1 and {s2, ... sn} to determine whether the distance of each laser segment is similar to d; if similar, then determine whether the distance from the center P to s1 and P to the laser segment is equal; if equal, identify the upper warehouse; perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, make a perpendicular line to L1 through the center P, and obtain the position of the upper warehouse relative to the chassis; for large upper warehouse robots, segment the distances of the lasers around the laser according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}; traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm}; merge L into the final set HL{l1,l2,...la} of all the intermediates; traverse the set HL{l1,l2,...la} to determine whether the lengths of li,li+1,li+2 are respectively consistent with L1, L2, L3 Etc., and li is parallel to li+2. If so, the upper warehouse is identified; taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, the posture of the upper warehouse relative to the chassis is obtained. Compared with the prior art, the present invention can not only identify the posture of a small upper warehouse, but also identify the posture of a large upper warehouse, and has a wide range of applications; for a small upper warehouse robot, the present invention combines the distance and light intensity of the laser reading to greatly improve the accuracy of the recognition result; for a large upper warehouse robot, the present invention designs a U-shaped laser feature, which is simple in design, saves manpower and material resources, and also ensures the accuracy of the results. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0063] Figure 1This is a schematic diagram of a process flow of a robot warehouse identification method in an embodiment of the present disclosure;

[0064] Figure 2 This is a flow chart of another robot warehouse identification method in an embodiment of the present disclosure;

[0065] Figure 3 This is a schematic diagram of the structure of a robot loading warehouse identification device in an embodiment of the present disclosure;

[0066] Figure 4 It is a schematic diagram of the structure of a robot upper warehouse identification electronic device in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0068] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meanings as those commonly understood by technicians in the field of the present disclosure; the terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings, and are intended to cover non-exclusive inclusions.

[0069] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0070] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0071] In the description of the embodiments of the present disclosure, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0072] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present disclosure.

[0073] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0074] Example 1

[0075] The present disclosure provides a robot warehouse identification method, such as Figure 1 As shown, including:

[0076] 101. Determine the size of the robot's upper warehouse based on the preset volume threshold:

[0077] Among them, the preset volume threshold is used to distinguish the size of the robot's upper warehouse, and its value can be determined according to actual conditions, for example: 2 cubic meters, and this embodiment does not impose specific restrictions on this.

[0078] Robot: refers to an intelligent robot that can automatically plan a route to a target location and can automatically move along the route. Specifically, the robot also has the function of transporting goods. For example, the robot is provided with an upper warehouse transfer mechanism. When the robot transfers the upper warehouse, the upper warehouse transfer mechanism is controlled to be connected to the upper warehouse so that the upper warehouse moves with the robot to achieve the transfer; and when the upper warehouse is transferred to the target location, the upper warehouse transfer mechanism is controlled to separate from the upper warehouse to complete the transfer of the upper warehouse.

[0079] Upper warehouse: It is used to store the goods selected by users at the commodity vending cabinet. Specifically, the upper warehouse is provided with at least one storage compartment to store the goods selected by one user, or to store the goods selected by multiple users at the same time. When the number of robots remains unchanged, the number of storage compartments in the upper warehouse can be increased to store more goods selected by users at the same time, which can effectively improve the delivery efficiency of the selected goods.

[0080] 1011. When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot.

[0081] 1012. When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot.

[0082] 102. For the small warehouse robot, the distances of the lasers around the laser are segmented according to a first preset distance threshold, and short laser segments are screened out.

[0083] Laser: The theoretical basis of laser originated from the great physicist 'Einstein'. In 1916, Einstein proposed a new technical theory of 'interaction between light and matter'. This theory states that in the atoms that make up matter, there are different numbers of particles (electrons) distributed at different energy levels. When particles at high energy levels are stimulated by certain photons, they will jump (transition) from high energy levels to low energy levels. At this time, they will radiate light of the same nature as the light that stimulated them, and under certain conditions, a weak light can stimulate a strong light. This is called "light amplification by stimulated emission of radiation", or laser for short.

[0084] 103. Determine the laser segment whose length in the short laser segment is less than a first preset length threshold as the center P, and determine the distance D from the center P to the nearest point; the nearest point is the laser segment whose light intensity is greater than a preset intensity threshold.

[0085] 104. Establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers.

[0086] Reflective sticker: As the name suggests, it is reflective paper. It is a sticker with a special structure that uses optical principles to reflect light back to the light source.

[0087] 105. Segment the point set S to obtain a laser segment set {s1, s2, ...sn}.

[0088] 106. Traverse each laser segment in s1 and {s2, ...sn} to determine whether the distance of each laser segment is similar to d. If so, determine whether the distance from the center P to s1 and from P to the laser segment are equal. If they are equal, identify the upper warehouse.

[0089] 107. Perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, and make a perpendicular line through the center P to L1 to obtain the position of the upper warehouse relative to the chassis.

[0090] Line fitting: refers to the use of continuous curves to approximate or compare the functional relationship between coordinates represented by a discrete point group on a plane. More broadly speaking, the corresponding problems in space or high-dimensional space also fall into this category. In numerical analysis, line fitting is to approximate discrete data with analytical expressions, that is, the formulation of discrete data. Line fitting is a commonly used statistical method in mathematics. It can be used to describe the trend of a set of data and the changing trend of the data. Its basic principle is to find a best fitting straight line based on given data points so that the sum of the distances between this straight line and all data points is small. The method of line fitting can also be used to study complex data sets. For example, multivariate linear regression can be used to study the relationship between multiple variables, or polynomial fitting can be used to study non-linear data sets. In addition, line fitting can also be used for a large amount of experimental data to find out the rules and better understand the characteristics of the data.

[0091] 108. For the large warehouse loading robot, the distances of the lasers around the laser are segmented according to a second preset distance threshold to obtain a segment set H{h1, h2, ...hn}.

[0092] 109. Traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm}.

[0093] 110. Merge the L into the final set of all between HL{l1,l2,...la}.

[0094] 111. Traverse the set HL{l1,l2,...la}, determine whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and whether li is parallel to li+2. If so, identify the upper warehouse.

[0095] 112. Taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, obtain the position of the upper compartment relative to the chassis.

[0096] It should be noted here that this embodiment does not limit the specific values ​​of the preset volume threshold, the first preset length threshold, the preset intensity threshold, the second preset distance threshold, etc. In some embodiments, the implementer can select according to the actual situation. The present disclosure provides examples in other embodiments, which can be used for corresponding reference.

[0097] The present invention can not only identify the position and posture of a small warehouse, but also identify the position and posture of a large warehouse, and has a wide range of applications; for a small warehouse robot, the present invention combines the distance and light intensity of the laser reading, which greatly improves the accuracy of the recognition result; for a large warehouse robot, the present invention designs a U-shaped laser feature, which has a simple design, saves manpower and material resources, and also ensures the accuracy of the results.

[0098] Example 2

[0099] The present disclosure provides a robot warehouse identification method, such as Figure 2 As shown, including:

[0100] 201. Based on the volume of the robot's upper warehouse, which is 2 cubic meters, determine the size of the robot's upper warehouse:

[0101] 2011. When the volume of the robot's upper warehouse is less than or equal to 2 cubic meters, the robot is a small upper warehouse robot.

[0102] 2012. When the volume of the robot's upper warehouse is greater than 2 cubic meters, the robot is a large-scale upper warehouse robot.

[0103] 202. For the small warehouse robot, the distances of the lasers within 2 meters around the laser are divided into 1-meter segments to screen out short laser segments.

[0104] 203. Determine the laser segment with a length less than 3 cm in the short laser segment as the center P, and determine the distance D from the center P to the nearest point; the nearest point is the laser segment with a light intensity greater than a preset 200 candela.

[0105] 204. Establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than 200 candelas; wherein d is the distance between the reflective stickers.

[0106] 205. Segment the point set S to obtain a laser segment set {s1, s2, ...sn}.

[0107] 206. Traverse each laser segment in s1 and {s2, ...sn} to determine whether the distance of each laser segment is similar to d. If so, determine whether the distance from the center P to s1 and from P to the laser segment are equal. If they are equal, identify the upper warehouse.

[0108] 207. Perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, and make a perpendicular line through the center P to obtain the position of the upper warehouse relative to the chassis.

[0109] 208. For the large warehouse robot, the distance of each laser within 3 meters around the laser is divided into 1-meter segments to obtain a segment set H{h1, h2, ...hn}.

[0110] 209. Traverse the set H, discard the laser segments whose length is less than 3 cm, and perform recursive straight line fitting on the laser segments whose length is greater than 3 cm to obtain a straight line L{l1,l2,...lm}.

[0111] The recursive straight line fitting includes: suppose segment h{p1,p2,...pn}, connect the first and last points p1 and pn to obtain segment p1n; find the point px with the largest distance from the remaining point {p2,...pn-1} to segment p1n, and its distance is dx; if dx is greater than D, split segment h into two segments: h1{p1,p2,...px}, h2{px+1,...pn}; recursively repeat the above process for h1 and h2 respectively until dx is less than D, and obtain the segment sequence hn{p1,p2,...pm}; traverse hn, perform straight line fitting on each segment, and obtain the straight line set L{l1,l2,...ll}.

[0112] 210. Merge the L into the final set of all between HL{l1,l2,...la}.

[0113] 211. Traverse the set HL{l1,l2,...la}, determine whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and whether li is parallel to li+2. If so, identify the upper warehouse.

[0114] 212. Taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, obtain the position of the upper compartment relative to the chassis.

[0115] The present invention can not only identify the position and posture of a small warehouse, but also identify the position and posture of a large warehouse, and has a wide range of applications; for a small warehouse robot, the present invention combines the distance and light intensity of the laser reading, which greatly improves the accuracy of the recognition result; for a large warehouse robot, the present invention designs a U-shaped laser feature, which has a simple design, saves manpower and material resources, and also ensures the accuracy of the results.

[0116] Example 3

[0117] The present disclosure provides a robot warehouse identification device, such as Figure 3 As shown, including:

[0118] The first judgment unit 301 is used to judge the size of the robot upper warehouse according to a preset volume threshold:

[0119] When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot.

[0120] When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot.

[0121] The screening unit 302, for the small warehouse loading robot, divides the distance of each laser within a third preset distance around the laser into segments according to the first preset distance threshold, and screens out short laser segments.

[0122] The determination unit 303 is used to determine the laser segment whose length in the short laser segment is less than the first preset length threshold as the center P, and determine the distance D from the center P to the nearest point; the nearest point is the laser segment whose light intensity is greater than the preset intensity threshold.

[0123] The establishing unit 304 is used to establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers.

[0124] The first segmentation unit 305 is used to segment the point set S to obtain a laser segment set {s1, s2, ...sn}.

[0125] The second judgment unit 306 is used to traverse each laser segment in s1 and {s2,...sn} to determine whether the distance of each laser segment is similar to d. If similar, then determine whether the distance from the center P to s1 and P to the laser segment is equal; if equal, the upper warehouse is identified.

[0126] The first straight line fitting unit 307 is used to perform straight line fitting on s1 and all points of the laser segment to obtain a straight line L1, and a perpendicular line through the center P to L1 to obtain the position of the upper compartment relative to the chassis.

[0127] The second segmentation unit 308, for the large warehouse robot, segments the distance of each laser within a fourth preset distance around the laser according to a second preset distance threshold to obtain a segmentation set H{h1, h2, ...hn}.

[0128] The second straight line fitting unit 309 traverses the set H, discards the laser segments whose lengths are less than a second length threshold, and performs recursive straight line fitting on the laser segments whose lengths are greater than the second length threshold to obtain a straight line L{l1, l2, ...lm}.

[0129] The merging unit 310 is used to merge the L into the final set of all intervals HL{l1,l2,...la}.

[0130] The third judgment unit 311 is used to traverse the set HL{l1,l2,...la}, and judge whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and li is parallel to li+2. If so, the upper warehouse is identified.

[0131] The obtaining unit 312 is used to obtain the position of the upper warehouse relative to the chassis with the intersection of L1, L2, and L3 as the center and the average direction of L1 and L3 as the direction.

[0132] It should be noted here that the detailed description of each component of this embodiment can refer to other embodiments and will not be repeated here.

[0133] The embodiments of the present disclosure can not only identify the position and posture of a small warehouse, but also identify the position and posture of a large warehouse, and has a wide range of applications; for a small warehouse robot, the present disclosure combines the distance and light intensity of the laser reading, which greatly improves the accuracy of the recognition result; for a large warehouse robot, the present disclosure designs a U-shaped laser feature, which has a simple design, saves manpower and material resources, and also ensures the accuracy of the results.

[0134] Example 4

[0135] The present disclosure provides a robot upper warehouse identification electronic device, such as Figure 4 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned robot upper warehouse identification steps are implemented.

[0136] A processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401 can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403. Various programs and data required for the operation of the electronic device are also stored in the RAM 403. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0137] Typically, the following devices may be connected to the I / O interface 405: input devices 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 408 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 409. The communication devices 409 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 4 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0138] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0139] The embodiments of the present disclosure can not only identify the position and posture of a small warehouse, but also identify the position and posture of a large warehouse, and has a wide range of applications; for a small warehouse robot, the present disclosure combines the distance and light intensity of the laser reading, which greatly improves the accuracy of the recognition result; for a large warehouse robot, the present disclosure designs a U-shaped laser feature, which has a simple design, saves manpower and material resources, and also ensures the accuracy of the results.

[0140] Example 5

[0141] An embodiment of the present disclosure provides a computer-readable storage medium for robot warehouse identification, wherein a computer program is stored on the computer-readable storage medium. When the computer program is executed by one or more processors, the above-mentioned robot warehouse identification method is implemented.

[0142] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0143] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0144] The computer-readable medium may be included in the device, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: determines the size of the robot's upper warehouse according to a preset volume threshold: when the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot; when the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large upper warehouse robot; for the small upper warehouse robot, the distances of the lasers around the laser are segmented according to the first preset distance threshold, and short laser segments are screened out; the laser segment with a length less than the first preset length threshold in the short laser segment is determined as the center P, and the distance D from the center P to the nearest point is determined; the nearest point is the laser segment with a light intensity greater than the preset intensity threshold; establish a point set S with a distance from the center P of (D, D+d) and a light intensity greater than the preset intensity threshold; wherein d is the distance between the reflective stickers; segment the point set S to obtain the laser segment set {s1, s2, ...sn}; traverse each laser segment in s1 and {s2, ...sn} , determine whether the distance of each laser segment is similar to d, if similar, then determine whether the distance from the center P to s1 and P to the laser segment is equal; if equal, identify the upper warehouse; s1 and all points of the laser segment are fitted with a straight line to obtain a straight line L1, which passes through the center P to make a perpendicular line to the L1, and obtain the position of the upper warehouse relative to the chassis; for large upper warehouse robots, the distance of each laser around the laser is segmented according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}; traverse the set H, and do iterative Return to straight line fitting and get the straight line L{l1,l2,...lm}; merge L into the final set of all between HL{l1,l2,...la}; traverse the set HL{l1,l2,...la} to determine whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and li is parallel to li+2. If so, the upper warehouse is identified; take the intersection of L1, L2, L3 as the center and the average orientation of L1 and L3 as the orientation to obtain the position of the upper warehouse relative to the chassis.

[0145] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0146] The embodiments of the present disclosure can not only identify the position and posture of a small warehouse, but also identify the position and posture of a large warehouse, and has a wide range of applications; for a small warehouse robot, the present disclosure combines the distance and light intensity of the laser reading, which greatly improves the accuracy of the recognition result; for a large warehouse robot, the present disclosure designs a U-shaped laser feature, which has a simple design, saves manpower and material resources, and also ensures the accuracy of the results.

[0147] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0148] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes a receiving unit, an information acquisition unit, a target determination unit, and a distribution unit. The names of these units do not constitute limitations on the units themselves in some cases.

[0149] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0150] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

[0151] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A robot warehouse identification method, characterized in that: include: Determine the size of the robot's upper warehouse based on the preset volume threshold: When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot; When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot; For the small warehouse loading robot, the distances of the lasers around the laser are segmented according to a first preset distance threshold, and short laser segments are screened out; Determine the laser segment whose length is less than a first preset length threshold in the short laser segment as the center P, and determine the distance D from the center P to the nearest point; the nearest point is the laser segment whose light intensity is greater than a preset intensity threshold; Establishing a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers; Segment the point set S to obtain a laser segment set {s1, s2, ...sn}; Traverse each laser segment in s1 and {s2,...sn} to determine whether the distance of each laser segment is similar to d. If so, determine whether the distance from the center P to s1 and from P to the laser segment is equal. If so, identify the upper warehouse. s1 is fitted with all points of the laser segment to obtain a straight line L1, which passes through the center P and is perpendicular to L1 to obtain the position of the upper compartment relative to the chassis; For the large warehouse loading robot, the distances of the lasers around the laser are segmented according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}; Traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm}; Merge the L into the final set of all between HL{l1,l2,...la}; Traverse the set HL{l1,l2,...la}, determine whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and li is parallel to li+2. If so, identify the upper warehouse; Taking the intersection of L1, L2, and L3 as the center and the average orientation of L1 and L3 as the orientation, the position of the upper warehouse relative to the chassis is obtained.

2. The robot warehouse identification method according to claim 1, characterized in that: For the small warehouse loading robot, the distances of the lasers around the laser are segmented according to the first preset distance threshold, and short laser segments are screened out, including: For the small warehouse robot, the distances of the lasers within the third preset distance around the laser are segmented according to the first preset distance threshold, and short laser segments are screened out.

3. The robot warehouse identification method according to claim 2, characterized in that: The third preset distance includes: The third preset distance is 2 meters.

4. The robot warehouse identification method according to claim 1, characterized in that: The first preset length threshold includes: The first preset length threshold is 3 centimeters.

5. The robot warehouse identification method according to claim 1, characterized in that: For the large warehouse loading robot, the distances of the lasers around the laser are segmented according to the second preset distance threshold to obtain a segment set H{h1,h2,...hn}, including: For the large warehouse loading robot, the distance of each laser within the fourth preset distance around the laser is segmented according to the second preset distance threshold to obtain a segment set H{h1, h2, ...hn}.

6. The robot warehouse identification method according to claim 5, characterized in that: The fourth preset distance includes: The fourth preset distance is 3 meters.

7. The robot warehouse identification method according to claim 1, characterized in that: Traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm}, including: The set H is traversed, the laser segments whose lengths are less than a second length threshold are discarded, and the laser segments whose lengths are greater than the second length threshold are recursively fitted to obtain a straight line L{l1,l2,...lm}.

8. The robot warehouse identification method according to claim 7, characterized in that: The second length threshold comprises: The second length threshold is 3 cm.

9. The robot warehouse identification method according to claim 1, characterized in that: The preset volume threshold includes: The preset volume threshold is 2 cubic meters.

10. The robot warehouse identification method according to claim 1, characterized in that: The first preset distance threshold includes: The first preset distance threshold is 1 meter.

11. The robot warehouse identification method according to claim 1, characterized in that: The preset intensity threshold includes: The preset intensity threshold is 200 candela.

12. The robot warehouse identification method according to claim 1, characterized in that: The second preset distance threshold includes: The second preset distance threshold is 1 meter.

13. A robot warehouse identification device, characterized in that: include: The first judgment unit is used to judge the size of the robot upper warehouse according to a preset volume threshold: When the volume of the robot's upper warehouse is less than or equal to the preset volume threshold, the robot is a small upper warehouse robot; When the volume of the robot's upper warehouse is greater than the preset volume threshold, the robot is a large-scale upper warehouse robot; A screening unit, configured to segment the distances of the lasers around the laser according to a first preset distance threshold value for the small warehouse loading robot, and screen out short laser segments; A determination unit, configured to determine the laser segment whose length in the short laser segment is less than a first preset length threshold as the center P, and determine a distance D from the center P to a nearest point; the nearest point is the laser segment whose light intensity is greater than a preset intensity threshold; An establishing unit, used to establish a point set S whose distance from the center P is (D, D+d) and whose light intensity is greater than the preset intensity threshold; wherein d is the distance between the reflective stickers; A first segmentation unit, used for segmenting the point set S to obtain a laser segment set {s1, s2, ...sn}; The second judgment unit is used to traverse each laser segment in s1 and {s2,...sn} to judge whether the distance of each laser segment is similar to d. If so, it is judged whether the distance from the center P to s1 and from P to the laser segment is equal; if so, the upper warehouse is identified; A first straight line fitting unit is used to perform straight line fitting between s1 and all points of the laser segment to obtain a straight line L1, and a perpendicular line through the center P to L1 to obtain the position of the upper compartment relative to the chassis; A second segmentation unit is used for segmenting the distances of each laser around the laser according to a second preset distance threshold for the large warehouse loading robot to obtain a segmentation set H{h1, h2, ...hn}; A second straight line fitting unit is used to traverse the set H, perform recursive straight line fitting, and obtain a straight line L{l1,l2,...lm} by fitting; A merging unit, used for merging the L into a final set of all intervals HL{l1,l2,...la}; A third judgment unit is used to traverse the set HL{l1,l2,...la}, and judge whether the lengths of li,li+1,li+2 are equal to L1, L2, L3 respectively, and li is parallel to li+2. If so, the upper warehouse is identified; The obtaining unit is used to obtain the position of the upper warehouse relative to the chassis with the intersection of L1, L2, and L3 as the center and the average direction of L1 and L3 as the direction.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

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