Goods taking robot, goods taking method and computer readable storage medium

Abstract

The invention provides a goods taking robot, a goods taking method and a computer readable storage medium, and the method comprises the steps: firstly, obtaining a target image shot when a goods taking part runs to each slot position where goods are stored; then, when the current slot position is determined to be a target slot position for storing the to-be-taken goods based on the slot position identifier in the target image, screening a goods identifier from the target image; when the cargo identifier is obtained through screening, the position information of the to-be-taken cargo in the target slot position is determined based on the cargo identifier; and finally, extracting the goods to be taken from the target slot based on the position information. According to the technical scheme, the target slot position where the to-be-fetched goods are stored and the position information of the to-be-fetched goods in the target slot position can be accurately determined through the slot position identifier and the goods identifier, the to-be-fetched goods can be accurately fetched based on the determined position information, the goods fetching success rate is effectively increased, and the goods fetching efficiency is improved. And meanwhile, the logistics efficiency of the logistics industry can be improved.

Description

Technical Field

[0001] The present application relates to the fields of image processing and computer software, and in particular, to a picking robot, a picking method and a computer-readable storage medium. Background Art

[0002] With the online shopping, higher requirements are placed on the processing speed of the logistics industry. Taking out the required goods from the warehouse is a link in the logistics industry, and the manual picking of goods in this link is gradually replaced by robot picking.

[0003] During the operation of robot picking up goods, the robot needs to drive to the place where the goods are stored and be able to accurately retrieve the goods. However, due to positioning defects in existing technologies, the failure rate of picking up goods is high, which reduces the efficiency of picking up goods and the overall logistics efficiency of the logistics industry. Summary of the invention

[0004] In view of this, the present application provides at least a picking robot, a picking method and a computer-readable storage medium.

[0005] In a first aspect, the present application provides a picking robot, comprising: a camera, a processor, and a picking component; the processor comprises an image processing module and a position determination module;

[0006] The camera is configured to obtain a target image captured by the pickup component at each slot where the goods are stored; the target image includes a slot identifier corresponding to the current slot;

[0007] The image processing module is configured to filter the cargo identifier from the target image when the current slot is determined to be the target slot for storing the cargo to be picked up based on the slot identifier;

[0008] The location determination module is configured to determine the location information of the to-be-picked goods in the target slot based on the goods identifier when the goods identifier is obtained through screening;

[0009] The pickup component is configured to extract the to-be-picked goods from the target slot based on the location information.

[0010] In a possible implementation, the image processing module is further configured to:

[0011] Binarizing the target image, and extracting pixels with preset grayscale values ​​from the image obtained by the binarization process;

[0012] Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is obtained by fitting;

[0013] If the candidate positioning identifier meets the preset condition, determining the candidate positioning identifier as the target positioning identifier of the slot identifier;

[0014] Based on the target positioning identifier, position information of the slot identifier in the target image is determined.

[0015] In a possible implementation, the slot identifier is a QR code;

[0016] The image processing module is also configured to:

[0017] Based on the position information of the two-dimensional code in the target image, the two-dimensional code is decoded to obtain the identification information of the current slot corresponding to the two-dimensional code;

[0018] If the obtained identification information is the same as the identification information of the target slot where the goods to be picked up are stored, the current slot corresponding to the QR code is determined to be the target slot.

[0019] In a possible implementation manner, when the image processing module screens the cargo identifier from the target image, it is specifically configured to:

[0020] Taking the image area above the slot identifier in the target image as the region of interest;

[0021] Detecting whether the region of interest includes an identifier having a preset shape;

[0022] If the region of interest includes an identifier having a preset shape, the identifier is used as the cargo identifier.

[0023] In a possible implementation manner, when the location determination module determines the location information of the to-be-picked goods in the target slot based on the goods identifier, it is specifically configured as follows:

[0024] Determine the center position information of the cargo identifier in the target image;

[0025] Based on the central position information and the relative position information between the cargo identifier and the cargo to be picked up, the position information of the cargo to be picked up in the target slot is determined.

[0026] In a possible implementation, the image processing module is further configured to:

[0027] If the cargo identifier is not obtained through screening, it is determined that the cargo to be picked up does not exist in the target slot.

[0028] In a second aspect, the present application provides a method for picking up goods, comprising:

[0029] Acquire a target image captured by the pickup component when it runs to each slot where the goods are stored; the target image includes a slot identifier corresponding to the current slot;

[0030] If the current slot is determined to be a target slot for storing the goods to be picked up based on the slot identifier, filtering the goods identifier from the target image;

[0031] If the cargo identifier is obtained through screening, the location information of the cargo to be picked up in the target slot is determined based on the cargo identifier;

[0032] Based on the location information, the to-be-picked goods are extracted from the target slot.

[0033] In a possible implementation, after acquiring the target image, the picking method further includes:

[0034] Binarizing the target image, and extracting pixels with preset grayscale values ​​from the image obtained by the binarization process;

[0035] Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is obtained by fitting;

[0036] If the candidate positioning identifier meets the preset condition, determining the candidate positioning identifier as the target positioning identifier of the slot identifier;

[0037] Based on the target positioning identifier, position information of the slot identifier in the target image is determined.

[0038] In a possible implementation, the slot identifier is a QR code;

[0039] The method for picking up goods further comprises the step of determining whether the slot corresponding to the slot identifier is a target slot for storing the goods to be picked up:

[0040] Based on the position information of the two-dimensional code in the target image, the two-dimensional code is decoded to obtain the identification information of the current slot corresponding to the two-dimensional code;

[0041] If the obtained identification information is the same as the identification information of the target slot where the goods to be picked up are stored, the current slot corresponding to the QR code is determined to be the target slot.

[0042] In a possible implementation manner, determining the location information of the to-be-picked goods in the target slot based on the goods identifier includes:

[0043] Determine the center position information of the cargo identifier in the target image;

[0044] Based on the central position information and the relative position information between the cargo identifier and the cargo to be picked up, the position information of the cargo to be picked up in the target slot is determined.

[0045] In a third aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned pickup method are executed.

[0046] The present application provides a picking robot, a picking method and a computer-readable storage medium, wherein first, a target image captured by a picking component when it runs to each slot where the goods are stored is obtained; then, when the current slot is determined as a target slot for storing the goods to be picked up based on the slot identifier in the target image, the goods identifier is screened from the target image; and when the goods identifier is screened, the position information of the goods to be picked up in the target slot is determined based on the goods identifier; finally, the goods to be picked up are extracted from the target slot based on the above position information. The above technical solution can accurately determine the target slot where the goods to be picked up are stored, and the position information of the goods to be picked up in the target slot using the slot identifier and the goods identifier, and can accurately extract the goods to be picked up based on the determined position information, which effectively improves the success rate of picking up goods, and is conducive to improving the logistics efficiency of the logistics industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic structural diagram of a pickup robot provided in an embodiment of the present application is shown;

[0049] Figure 2 A schematic diagram showing a target image in an embodiment of the present application is shown;

[0050] Figure 3 A flow chart of a method for picking up goods provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0052] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0053] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0054] Currently, in the process of using robots to pick up goods from warehouses in the logistics industry, there is a low success rate in picking up goods due to defects in positioning. In response to this determination, the present application provides a picking robot, a picking method and a computer-readable storage medium. The present application uses a slot identifier and a cargo identifier to accurately determine the target slot where the to-be-picked goods are stored, as well as the position information of the to-be-picked goods in the target slot. Based on the determined position information, the to-be-picked goods can be accurately extracted, which effectively improves the success rate of picking up goods and is beneficial to improving the logistics efficiency of the logistics industry.

[0055] Specifically, the present application embodiment provides a picking robot, such as Figure 1 As shown, it includes: a camera 110, a processor 120, and a picking component 130; the processor 120 includes an image processing module 1201 and a position determination module 1202.

[0056] The camera 110 is configured to obtain a target image captured by the picking-up component 130 when it runs to each slot where the goods are stored; the target image includes a slot identifier corresponding to the current slot.

[0057] The image processing module 1201 is configured to filter the cargo identifier from the target image when determining that the current slot is a target slot for storing the cargo to be picked up based on the slot identifier.

[0058] The location determination module 1202 is configured to determine the location information of the to-be-picked goods in the target slot based on the goods identifier when the goods identifier is obtained through screening.

[0059] The picking component 130 is configured to pick up the to-be-picked goods from the target slot based on the location information.

[0060] The camera captures an image at every preset time interval. The target image is an image captured when the picking robot or the picking component of the picking robot runs to the slot where the goods are stored. The image includes a slot identifier corresponding to the slot.

[0061] The slots are used to store goods and can be set below each slot, such as a beam below the slot. The slot identifier is used to identify the corresponding slot, such as an ID number of the slot. In specific implementation, the slot identifier can be set to a QR code or the like.

[0062] After the camera 110 of the picking robot obtains the target image including the slot identifier, and before the image processing module 1201 filters the cargo identifier from the target image, the picking robot needs to use the image processing module 1201 to extract the slot identifier from the target image, and parse the extracted slot identifier to obtain the identification information of the slot. Afterwards, the image processing module 1201 needs to obtain the identification information of the target slot where the cargo to be picked up is stored, and determine whether the identification information of the target slot is the same as the identification information of the slot in the target image. If they are the same, it means that the slot in the target image is the target slot where the cargo to be picked up is stored. Otherwise, the slot in the target image is not the target slot where the cargo to be picked up is stored, and the robot needs to continue driving.

[0063] The step of screening the goods identifier from the target image is performed only when the image processing module 1201 of the picking robot determines that the slot in the target image is the target slot for storing the goods to be picked up.

[0064] The image processing module 1201 extracts the slot identifier from the target image, that is, the image processing module 1201 determines the position information of the slot identifier in the target image. In specific implementation, the image processing module 1201 can use the following steps to determine the position information of the slot identifier in the target image:

[0065] Step 1: binarize the target image, and extract pixel points with preset grayscale values ​​from the image obtained by the binarization process.

[0066] The image processing module 1201 performs binarization processing on the target image to obtain a binarized image.

[0067] After the binary image is obtained, pixels with preset grayscale values ​​are extracted from the binary image, that is, pixels of the positioning identifier used to locate the slot identifier are extracted. Figure 2 As shown, in a specific implementation, if the positioning identifier of the slot identifier is a black frame 21 with a certain width, then in this step, the image processing module 1201 extracts black pixels.

[0068] Step 2: Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is fitted.

[0069] After extracting the pixel points of the positioning identifier, the image processing module 1201 fits a straight line to obtain a black frame with a certain width. The black frame obtained in this step is a candidate positioning identifier, and further verification is required to determine whether the black frame is a target positioning identifier for locating the slot identifier. The intersection of the fitted straight line is the corner point of the positioning identifier.

[0070] Step three: If the candidate positioning identifier meets a preset condition, determine that the candidate positioning identifier is a target positioning identifier of the slot identifier.

[0071] After fitting the candidate positioning identifier, the image processing module 1201 uses preset conditions to verify whether the candidate positioning identifier is a target positioning identifier for locating the slot identifier, for example, verifying whether the line width of the candidate positioning identifier is a preset width, or verifying whether the candidate positioning identifier has a preset shape, etc.

[0072] When the candidate positioning identifier meets the preset condition, the candidate positioning identifier is determined to be the target positioning identifier for locating the slot identifier.

[0073] Step 4: Based on the target positioning identifier, determine the position information of the slot identifier in the target image.

[0074] After determining the target positioning identifier, the image processing module 1201 locates the slot identifier based on the preset relative position relationship between the target positioning identifier and the slot identifier, that is, determines the position information of the slot identifier in the target image.

[0075] Once the position information of the slot identifier in the target image is determined, the slot identifier can be parsed to determine whether the current slot in the target image is the target slot where the goods to be picked up are stored.

[0076] After determining that the front slot is the target slot for storing the goods to be picked up, the image processing module 1201 needs to filter the goods identifier from the target image to determine the position information of the goods to be picked up in the target slot based on the goods identifier.

[0077] In a specific implementation, the image processing module 1201 may use the following steps to filter the cargo identifier from the target image:

[0078] Step 1: taking the image area above the slot identifier in the target image as the region of interest.

[0079] In the specific implementation, the cargo identifier is set on the cargo to be picked up, and the cargo identifier is located higher than the slot identifier. Therefore, in this step, the image area above the slot identifier is used as the area of ​​interest to screen the cargo identifier. At the same time, the size can be obtained during the calculation of the slot identifier, and the size of the cargo identifier is determined according to the preset information.

[0080] Step 2: Detect whether the interest region includes an identifier having a preset shape.

[0081] In specific implementation, Figure 2 As shown, the cargo identifier may be an identifier 22 with a preset shape, so this step detects whether the region of interest includes an identifier with a preset shape. The preset shape may be circular, triangular, square, etc., and the present application does not limit the shape of the cargo identifier.

[0082] Of course, the cargo identifier may also be an identifier with a preset color, or a QR code, etc. The present application does not limit the specific form of the cargo identifier, and only needs to select the cargo identifier based on the actual specific form when selecting the cargo identifier.

[0083] Step 3: If the region of interest includes an identifier having a preset shape, the identifier is used as the cargo identifier.

[0084] When there is an identifier of a preset shape in the region of interest, the image processing module 1201 uses the identifier as the cargo identifier.

[0085] Since the cargo identifier is set on the cargo, if the image processing module 1201 fails to filter and obtain the cargo identifier, it indicates that the target slot does not store the cargo to be picked up, and the pickup fails.

[0086] After the image processing module 1201 screens the cargo identifier, the location determination module 1202 can determine the location information of the cargo to be picked up in the target slot by using the following steps:

[0087] Step 1: Determine the center position information of the cargo identifier in the target image.

[0088] The position determination module 1202 determines the position information of the center of the cargo identifier in the target image by using techniques such as image analysis.

[0089] Step 2: Based on the central position information and the relative position information between the cargo identifier and the cargo to be picked up, determine the position information of the cargo to be picked up in the target slot.

[0090] The cargo identifier is pre-set at a preset position on the cargo, so the relative position information between the cargo identifier and the cargo to be picked up is known. Based on the central position information of the cargo identifier in the target image and the relative position information between the cargo identifier and the cargo to be picked up, the position information of the cargo to be picked up in the target image can be determined, and then, based on the transformation relationship between the image coordinate system and the geographic coordinate system, the position information of the cargo to be picked up in the target slot can be determined.

[0091] In a specific implementation, the cargo identifier can also be set at any position of the cargo. In this case, the cargo identifier can be a QR code, which stores the relative position information between the cargo identifier and the cargo to be picked up. The position determination module 1202 can obtain the relative position information between the cargo identifier and the cargo to be picked up by decoding the cargo identifier.

[0092] After the position determination module 1202 determines the position information of the goods to be picked up in the target slot, the picking robot can use the picking component to extract the goods to be picked up from the target slot based on the position information.

[0093] The above-mentioned picking component 130 can be a telescopic fork arranged on the picking robot.

[0094] The above-mentioned embodiment utilizes the slot identifier and the cargo identifier to accurately determine the target slot where the cargo to be picked up is stored, as well as the position information of the cargo to be picked up in the target slot. Based on the determined position information, the cargo to be picked up can be accurately extracted, which effectively improves the success rate of picking up the cargo, and is also beneficial to improving the logistics efficiency of the logistics industry.

[0095] Corresponding to the above-mentioned picking-up robot, an embodiment of the present application also provides a picking-up method, which is applied to the above-mentioned picking-up robot and can achieve the same or similar beneficial effects, so the repeated parts will not be repeated.

[0096] Specifically, Figure 3 As shown, the pickup method of the present application may include the following steps:

[0097] S310, obtaining a target image captured by the pickup component when it runs to each slot where the goods are stored; the target image includes a slot identifier corresponding to the current slot;

[0098] S320, if the current slot is determined to be a target slot for storing the goods to be picked up based on the slot identifier, filtering the goods identifier from the target image;

[0099] S330: If the cargo identifier is obtained through screening, the location information of the cargo to be picked up in the target slot is determined based on the cargo identifier;

[0100] S340: extract the goods to be picked up from the target slot based on the location information.

[0101] In some embodiments, after acquiring the target image, the picking method further includes:

[0102] Binarizing the target image, and extracting pixels with preset grayscale values ​​from the image obtained by the binarization process;

[0103] Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is obtained by fitting;

[0104] If the candidate positioning identifier meets the preset condition, determining the candidate positioning identifier as the target positioning identifier of the slot identifier;

[0105] Based on the target positioning identifier, position information of the slot identifier in the target image is determined.

[0106] In some embodiments, the slot identifier is a QR code;

[0107] The method for picking up goods further comprises the step of determining whether the slot corresponding to the slot identifier is a target slot for storing the goods to be picked up:

[0108] Based on the position information of the two-dimensional code in the target image, the two-dimensional code is decoded to obtain the identification information of the current slot corresponding to the two-dimensional code;

[0109] If the obtained identification information is the same as the identification information of the target slot where the goods to be picked up are stored, the current slot corresponding to the QR code is determined to be the target slot.

[0110] In some embodiments, determining the location information of the to-be-picked goods in the target slot based on the goods identifier includes:

[0111] Determine the center position information of the cargo identifier in the target image;

[0112] Based on the central position information and the relative position information between the cargo identifier and the cargo to be picked up, the position information of the cargo to be picked up in the target slot is determined.

[0113] The embodiment of the present application also provides a computer program product corresponding to the above method, including a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0114] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0115] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0116] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0118] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0119] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A picking robot, characterized in that: include: Camera, processor, pickup component; the processor includes an image processing module and a location determination module; The camera is configured to obtain a target image captured by the pickup component at each slot where the goods are stored; the target image includes a slot identifier corresponding to the current slot; The image processing module is configured to, when determining that the current slot is a target slot for storing the goods to be picked up based on the slot identifier, filter the goods identifier from the target image; when filtering the goods identifier from the target image, the image processing module is specifically configured to: Detecting whether the region of interest in the target image includes an identifier having a preset shape; If the region of interest includes an identifier having a preset shape, using the identifier as the cargo identifier; The location determination module is configured to determine the location information of the to-be-picked goods in the target slot based on the goods identifier when the goods identifier is obtained through screening; When the location determination module determines the location information of the to-be-picked goods in the target slot based on the goods identifier, it is configured as follows: Determine the center position information of the cargo identifier in the target image; determine the position information of the cargo to be picked up in the target slot based on the center position information and the relative position information between the cargo identifier and the cargo to be picked up; The pickup component is configured to extract the to-be-picked goods from the target slot based on the location information.

2. The picking robot according to claim 1, characterized in that: The image processing module is further configured to: Binarizing the target image, and extracting pixels with preset grayscale values ​​from the image obtained by the binarization process; Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is obtained by fitting; If the candidate positioning identifier meets the preset condition, determining the candidate positioning identifier as the target positioning identifier of the slot identifier; Based on the target positioning identifier, position information of the slot identifier in the target image is determined.

3. The cargo picking robot according to claim 2, characterized in that: The slot identifier is a QR code; The image processing module is also configured to: Based on the position information of the two-dimensional code in the target image, the two-dimensional code is decoded to obtain the identification information of the current slot corresponding to the two-dimensional code; If the obtained identification information is the same as the identification information of the target slot where the goods to be picked up are stored, the current slot corresponding to the QR code is determined to be the target slot.

4. The picking robot according to claim 1, characterized in that: The image processing module is further configured to: If the cargo identifier is not obtained through screening, it is determined that the cargo to be picked up does not exist in the target slot.

5. A method for picking up goods, characterized in that: include: Obtain the target image captured by the picking component when it runs to each slot where the goods are stored; The target image includes a slot identifier corresponding to the current slot; If the current slot is determined to be a target slot for storing the goods to be picked up based on the slot identifier, filtering the goods identifier from the target image; The step of screening the cargo identifier from the target image comprises: Detecting whether the region of interest in the target image includes an identifier having a preset shape; If the region of interest includes an identifier having a preset shape, using the identifier as the cargo identifier; If the cargo identifier is obtained through screening, the location information of the cargo to be picked up in the target slot is determined based on the cargo identifier; Based on the location information, extract the to-be-collected goods from the target slot; The determining of the position information of the cargo to be picked up in the target slot based on the cargo identifier includes: determining the center position information of the cargo identifier in the target image; and determining the position information of the cargo to be picked up in the target slot based on the center position information and the relative position information between the cargo identifier and the cargo to be picked up.

6. The method for picking up goods according to claim 5, characterized in that: The slot identifier is used to identify the corresponding slot.

7. The method for picking up goods according to claim 5, characterized in that: After acquiring the target image, the picking method further includes: Binarizing the target image, and extracting pixels with preset grayscale values ​​from the image obtained by the binarization process; Based on the extracted pixel points, a candidate positioning identifier of the slot identifier is obtained by fitting; If the candidate positioning identifier meets the preset condition, determining the candidate positioning identifier as the target positioning identifier of the slot identifier; Based on the target positioning identifier, position information of the slot identifier in the target image is determined.

8. The method for picking up goods according to claim 7, characterized in that: The slot identifier is a QR code; The method for picking up goods further comprises the step of determining whether the slot corresponding to the slot identifier is a target slot for storing the goods to be picked up: Based on the position information of the two-dimensional code in the target image, the two-dimensional code is decoded to obtain the identification information of the current slot corresponding to the two-dimensional code; If the obtained identification information is the same as the identification information of the target slot where the goods to be picked up are stored, the current slot corresponding to the QR code is determined to be the target slot.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the pickup method according to any one of claims 5 to 7 is executed.

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