Information scanning method, scanning device and scanning system

Abstract

The invention provides an information scanning method, device and system, and relates to the technical field of information scanning, and the method comprises the steps: receiving a scanning instruction which indicates a plurality of target channels needing to be scanned in a plurality of channels of a scanning region, and setting a plurality of marks in the scanning region, comprising a first mark for indicating a parking point and a second mark for indicating each of two end points of each channel, and the first mark is different from the second mark; in response to the scanning instruction, determining a parking point where the scanning equipment is currently located according to a first mark in an image acquired by a visual sensor installed on the scanning equipment; planning a target path according to the current parking point and the two end points of each target channel; and controlling the scanning equipment to start from the current parking point, and controlling the scanning equipment to drive according to the target path according to the second mark in the image in the driving process, so that the scanning equipment scans information of goods stored in each target channel.

Description

Technical Field

[0001] The present disclosure relates to the technical field of information scanning, and in particular to an information scanning method, a scanning device and a scanning system. Background Art

[0002] Currently, the goods placed in the yard need to be scanned to obtain the information of the goods. Summary of the invention

[0003] In the related art, when there are goods in multiple channels, the scanning device can only automatically scan the goods in one channel. After scanning the goods in one channel, if it is necessary to scan the goods in another channel, the scanning device needs to be manually moved to another channel so that the scanning device can scan the goods in another channel. In this way, the efficiency of scanning goods is low.

[0004] In order to solve the above problems, the embodiments of the present disclosure propose the following solutions.

[0005] According to one aspect of an embodiment of the present disclosure, there is provided a method for scanning information, comprising: receiving a scanning instruction, the scanning instruction indicating a plurality of target channels that a scanning device needs to scan among a plurality of channels in a scanning area, wherein a plurality of marks are arranged in the scanning area, the plurality of marks including a first mark indicating a parking point, and a second mark indicating each of two endpoints of each of the plurality of channels, the first mark being different from the second mark; in response to the scanning instruction, determining a parking point at which the scanning device is currently located according to the first mark in an image acquired by a visual sensor installed on the scanning device; planning a target path according to the parking point at which the scanning device is currently located and the two endpoints of each target channel; and controlling the scanning device to depart from the current parking point, and controlling the scanning device to travel along the target path according to the second mark in the image during the driving of the scanning device, so that the scanning device scans information of goods stored in each target channel.

[0006] In some embodiments, the controlling of the scanning device to start from the current parking point and control the scanning device to travel along the target path according to the second mark in the image during the driving of the scanning device, so that the scanning device scans the information of the goods stored in each target channel includes: controlling the scanning device to travel in a first direction from the current parking point; in the process of the scanning device traveling along the first direction, if the second mark of one end point of the first target channel appears in the image, controlling the scanning device to turn to travel in a second direction extending from the first target channel, so that the scanning device scans the information of the goods stored in the first target channel, the first target channel being any one target channel; in the process of the scanning device traveling along the second direction, if the second mark of the other end point of the first target channel appears in the image, controlling the scanning device to turn to travel in the first direction.

[0007] In some embodiments, determining the current parking spot of the scanning device based on the first mark in the image acquired by the visual sensor installed on the scanning device includes: extracting features from the image to obtain a first feature image of the first mark in the image; matching the first feature image with a feature image sequence to determine the number of the first mark in the image, wherein the feature image sequence includes a feature image of each of the multiple marks, and each mark has a corresponding number; determining the current parking spot of the scanning device in a topological map based on the number of the first mark in the image, wherein the topological map includes multiple nodes corresponding to the multiple marks, and each node is the number of the corresponding mark.

[0008] In some embodiments, planning the target path according to the parking point where the scanning device is currently located and the two endpoints of each target channel includes: converting the topological map into an adjacency matrix; and generating the target path according to the adjacency matrix.

[0009] In some embodiments, the second flags of two endpoints of each channel are the same, and the second flags of any two channels among the multiple channels are different.

[0010] In some embodiments, the plurality of target channels include all channels in the scanning area.

[0011] In some embodiments, the cargo includes a box, and the cargo information includes at least one of an identification of the box and information of items in the box.

[0012] According to another aspect of an embodiment of the present disclosure, there is provided an information scanning device, comprising a module configured to execute the method described in any one of the above embodiments.

[0013] According to another aspect of an embodiment of the present disclosure, there is provided an information scanning device, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the method described in any one of the above embodiments based on instructions stored in the memory.

[0014] According to another aspect of the embodiments of the present disclosure, there is provided an information scanning system, comprising: an information scanning device as described in any one of the above embodiments, wherein the scanning device comprises a first vehicle body, a second vehicle body, and an arm connecting the first vehicle body and the second vehicle body; and the visual sensor comprises a first sensor and a second sensor, the first sensor being arranged on a front side of one of the first vehicle body and the second vehicle body, and the second sensor being arranged on a rear side of the one vehicle body.

[0015] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, comprising computer program instructions, wherein when the computer program instructions are executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0016] According to another aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0017] In the embodiment of the present disclosure, the target path of the scanning device is planned by receiving a scanning instruction indicating multiple target channels that the scanning device needs to scan, and based on the image acquired by the visual sensor installed on the scanning device, combining the first mark of the parking point in the scanning area and the second marks of the two end points of each channel in the scanning area.

[0018] In this way, the scanning device can start from the current parking point and automatically drive along the pre-planned target path according to the second mark of the end point of the target channel in the image. Then, the scanning device can continuously and automatically scan the information of the goods stored in multiple target channels that are expected to be scanned, thereby improving the efficiency of scanning goods.

[0019] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, 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.

[0021] Figure 1 It is a flowchart of a method for scanning information according to some embodiments of the present disclosure.

[0022] Figure 2 is a schematic diagram of a scanning area according to some embodiments of the present disclosure.

[0023] Figure 3 is a schematic diagram of a topological map according to some embodiments of the present disclosure.

[0024] Figure 4 is a schematic diagram of a guide wire according to some embodiments of the present disclosure.

[0025] Figure 5 It is a schematic diagram of the structure of an information scanning device according to some embodiments of the present disclosure.

[0026] Figure 6 It is a schematic diagram of the structure of an information scanning device according to other embodiments of the present disclosure.

[0027] Fig. 7A is a schematic diagram of an arrangement of visual sensors according to some embodiments of the present disclosure.

[0028] Figure 7B is a schematic diagram of the arrangement of visual sensors according to other embodiments of the present disclosure. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0030] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0031] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship.

[0032] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0033] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0034] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0035] In addition, in the description of the present disclosure, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance and order. Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or requiring that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing can be advantageous.

[0036] Figure 1 It is a flowchart of a method for scanning information according to some embodiments of the present disclosure.

[0037] In step 102, a scanning instruction is received. Here, the scanning instruction indicates a plurality of target channels that the scanning device needs to scan among a plurality of channels in the scanning area. For example, the scanning instruction may be sent by a user, that is, the scanning instruction indicates a plurality of target channels that the user desires to scan.

[0038] As some embodiments, the scanning area is a storage yard. The multiple target channels may be part of the channels or all of the channels in the scanning area.

[0039] As some embodiments, the scanning device is a movable robot.

[0040] Here, a plurality of marks are provided in the scanning area, the plurality of marks include a first mark indicating a parking point, and a second mark indicating each of two end points of each of the plurality of channels, and the first mark is different from the second mark.

[0041] By distinguishing whether the mark is the first mark or the second mark, it can be distinguished whether the current position of the scanning device is a parking spot or an end point of a passage. The first mark and the second mark can each include at least one of a number and a letter. As some embodiments, the first mark can be a number, and the second mark can be a letter.

[0042] Next, combine Figure 2Describes the layout of the scan area. Figure 2 is a schematic diagram of a scanning area 200 according to some embodiments of the present disclosure.

[0043] In some embodiments, Figure 2 As shown, there are three channels schematically shown in the scanning area 200, which are channel 202, channel 203 and channel 204. Here, each channel is filled with cargo 205. The cargo 205 includes, for example, a container and / or a vehicle, and the container can be carried on the vehicle.

[0044] It should be understood that the number of the multiple channels in the scanning area 200 is not limited thereto, and whether there is cargo 205 placed in each channel depends on actual conditions.

[0045] As some embodiments, a parking point is set in the scanning area 200. For example, any one of the four parking points, parking point 2001a, parking point 2002a, parking point 2003a, and parking point 2004a, is set in the scanning area 200. The four parking points can be set at the periphery of the plurality of channels. For example, the four parking points can form a rectangle, that is, the four parking points are the four endpoints of the rectangle.

[0046] For example, the first sign 2001b indicating the parking point 2001a may be represented by the number "1". Similarly, the first sign 2002b indicating the parking point 2002a may be represented by the number "2", the first sign 2003b indicating the parking point 2003a may be represented by the number "3", and the first sign 2004b indicating the parking point 2004a may be represented by the number "4".

[0047] As some implementations, a plurality of parking spots may be set in the scanning area 200. For example, any two, any three, or all of the parking spots 2001a, 2002a, 2003a, and 2004a may be set.

[0048] The scanning area 200 is also provided with a second mark 2021b indicating the end point 2021a of the channel 202, and a second mark 2022b indicating the end point 2022a of the channel 202. For example, the second mark 2021b and the second mark 2022b are both represented by the letter "A".

[0049] Similarly, the scanning area 200 is also provided with a second mark 2031b indicating the endpoint 2031a of the channel 203, a second mark 2032b indicating the endpoint 2032a of the channel 203, a second mark 2041b indicating the endpoint 2041a of the channel 204, and a second mark 2042b indicating the endpoint 2042a of the channel 204.

[0050] For example, the second mark 2031b and the second mark 2032b are both represented by the letter "B"; for another example, the second mark 2041b and the second mark 2042b are both represented by the letter "C".

[0051] In some embodiments, the first mark 2001b, the second mark 2022b, the second mark 2032b, the second mark 2042b and the first mark 2002b are located on the same straight line, and the first mark 2004b, the second mark 2021b, the second mark 2031b, the second mark 2041b and the first mark 2003b are located on the same straight line.

[0052] In step 104, in response to the scanning instruction, the parking point where the scanning device is currently located is determined according to the first mark in the image acquired by the visual sensor installed on the scanning device. In the case where multiple parking points are set in the scanning area 200, the parking point where the scanning device is currently located can be determined according to which first mark is the first mark in the image acquired by the visual sensor.

[0053] In some embodiments, the scanning device is parked at a parking spot. In this way, the first mark can be present in the image just acquired by the visual sensor installed on the scanning device, thereby quickly determining the parking spot where the scanning device is currently located.

[0054] Next, combine Figure 2 Briefly describe the situation where the scanning device is parked at the parking spot.

[0055] As some embodiments, Figure 2 As shown, in response to the scanning instruction, the parking point where the scanning device 201 is currently located can be determined as the parking point 2004a according to the first mark 2004b in the image acquired by the visual sensor installed on the scanning device 201.

[0056] In some embodiments, the scanning device 201 does not stop at the parking spot. In this case, in response to the scanning instruction, the scanning device 201 can be controlled to move until a first mark appears in the image acquired by the visual sensor. In this way, the parking spot where the scanning device 201 is currently located can be determined, which helps to realize the subsequent planning of the target path based on the parking spot where the scanning device 201 is currently located.

[0057] In step 106, a target path is planned according to the parking spot where the scanning device 201 is currently located and the two end points of each target channel.

[0058] It should be understood that the starting point of the target path is the parking point where the scanning device 201 is currently located, and the target path starts from the starting point and passes through each target channel in sequence.

[0059] As some implementations, when there are multiple paths that allow the scanning device 201 to pass through each target channel, the target path is the shortest path among the multiple paths.

[0060] As some embodiments, Figure 2 As shown, a target path may be planned based on parking point 2004a, endpoint 2021a, endpoint 2031a, endpoint 2041a, endpoint 2022a, endpoint 2032a, and endpoint 2042a.

[0061] For example, when the scanning instruction indicates that the multiple target channels to be scanned are channel 202 and channel 203, the target path may include parking point 2004a, endpoint 2021a, endpoint 2022a, endpoint 2032a, and endpoint 2031a in sequence.

[0062] In step 108, the scanning device 201 is controlled to start from the current parking point, and during the driving process of the scanning device 201, according to the second mark in the image obtained by the visual sensor installed on the scanning device 201, the scanning device 201 is controlled to drive along the target path, so that the scanning device 201 scans the information of the goods stored in each target channel.

[0063] As some embodiments, Figure 2 As shown, in the case where the multiple target channels that need to be scanned as indicated by the scanning instruction are channel 202 and channel 203, if the mark in the image acquired by the visual sensor after the scanning device 201 sets out from the parking point 2004a is the second mark 2021b, the scanning device 201 is controlled to pass through channel 202; then, if the mark in the image acquired by the visual sensor during the driving of the scanning device 201 is the second mark 2022b, the scanning device 201 is controlled to drive to the end point 2032a of channel 203, and so on.

[0064] In some embodiments, when the cargo includes a vehicle, the cargo information includes the vehicle identification. For example, the vehicle license plate number. As some embodiments, when the cargo includes a box, the cargo information includes the box identification. For example, if the box is a container, the box identification is the container number. In this way, the cargo information can be scanned, which helps to understand the cargo and facilitates the management of the cargo.

[0065] In some embodiments, the scanning includes X-ray scanning, and the cargo information also includes the information of the items in the box. In this way, not only the information on the surface of the cargo can be scanned, but also the information inside the cargo can be obtained, which helps to understand the situation of the cargo more comprehensively and check the safety risks of the cargo.

[0066] In the above embodiment, the target path of the scanning device 201 is planned by receiving a scanning instruction indicating multiple target channels that the scanning device 201 needs to scan, and based on the image acquired by the visual sensor installed on the scanning device 201, combined with the first mark of the parking point in the scanning area 200 and the second marks of the two end points of each channel in the scanning area 200.

[0067] In this way, the scanning device 201 can start from the current parking point and automatically drive along the pre-planned target path according to the second mark of the end point of the target channel in the image. Then, the scanning device 201 can continuously and automatically scan the information of the goods stored in multiple target channels that are expected to be scanned, thereby improving the efficiency of scanning goods.

[0068] In some embodiments, the multiple target channels include all channels in the scanning area 200. For example, after receiving the scanning instruction, the multiple target channels to be scanned may be assumed to be all channels in the scanning area 200. In this way, the scanning device 201 may start from the current parking point and automatically drive along the pre-planned target path according to the second mark of the end point of each channel in the image, so that the scanning device 201 can continuously scan the information of the goods stored in all channels, thereby improving the efficiency of scanning the goods.

[0069] In some embodiments, the scanning device is controlled to travel in a first direction from a current parking spot.

[0070] Here, when the scanning device is moving along the first direction, if a second mark of an end point of the first target channel appears in the image acquired by the visual sensor, the scanning device is controlled to turn to the second direction in which the first target channel extends, so that the scanning device scans the information of the goods stored in the first target channel. Here, the first target channel is any target channel.

[0071] As some embodiments, when the scanning device turns to travel in the second direction extending from the first target channel, the wheels of the scanning device may turn to a preset angle to travel in the second direction. For example, the second direction is perpendicular to the first direction, and the preset angle is, for example, 90 degrees.

[0072] When the scanning device is moving in the second direction, if a second mark of another end point of the first target channel appears in the image acquired by the visual sensor, the scanning device is controlled to turn to the first direction.

[0073] As some embodiments, when the scanning device turns from the second direction to the first direction, the wheels of the scanning device may turn to a preset angle in the opposite direction to the direction when turning to the second direction to resume traveling in the first direction.

[0074] It should be understood that the first direction includes two sub-directions facing opposite directions, and the second direction includes two sub-directions facing opposite directions.

[0075] Next, combine Figure 2 The specific process of the scanning device traveling along the target path is introduced. Here, the first direction X includes a sub-direction X1 and a sub-direction X2, and the second direction Y includes a sub-direction Y1 and a sub-direction Y2.

[0076] As some embodiments, when the current parking point of the scanning device 201 is parking point 2004a, and the multiple target channels to be scanned are channel 202 and channel 203, the first target channels are channel 202 and channel 203 respectively, and the scanning device 201 travels along sub-direction X1 from the current parking point 2004a.

[0077] When the scanning device 201 is moving along the sub-direction X1, if the second mark 2021b of the endpoint 2021a of the channel 202 appears in the image acquired by the visual sensor, the scanning device 201 is controlled to turn to the sub-direction Y1 so that the scanning device can scan the information of the goods stored in the channel 202.

[0078] When the scanning device 201 is moving along the sub-direction Y1, if the second mark 2022b of the other end point 2022a of the channel 202 appears in the image acquired by the visual sensor, the scanning device is controlled to turn to move in the sub-direction X1.

[0079] When the scanning device 201 is moving along the sub-direction X1, if the second mark 2032b of the endpoint 2032a of the channel 203 appears in the image acquired by the visual sensor, the scanning device 201 is controlled to turn to the sub-direction Y2 so that the scanning device can scan the information of the goods stored in the channel 203.

[0080] As some other embodiments, when the current parking point of the scanning device 201 is parking point 2002a and the multiple target channels that need to be scanned as indicated by the scanning instruction are channel 203 and channel 204, the first target channels are channel 204 and channel 203 respectively, and the scanning device 201 travels from the current parking point 2002a along the sub-direction X2.

[0081] When the scanning device 201 is moving along the sub-direction X2, if the second mark 2042b of the endpoint 2042a of the channel 204 appears in the image acquired by the visual sensor, the scanning device 201 is controlled to turn to the sub-direction Y2 so that the scanning device can scan the information of the goods stored in the channel 204.

[0082] When the scanning device 201 is moving along the sub-direction Y2, if the second mark 2041b of the other end point 2041a of the channel 204 appears in the image acquired by the visual sensor, the scanning device is controlled to turn to move in the sub-direction X2.

[0083] When the scanning device 201 moves along the sub-direction X2, if the second mark 2031b of the endpoint 2031a of the channel 203 appears in the image acquired by the visual sensor, the scanning device 201 is controlled to turn to the sub-direction Y1 so that the scanning device can scan the information of the goods stored in the channel 203.

[0084] In the above embodiment, according to the second mark of the target channel in the image obtained by the visual sensor installed on the scanning device, the scanning device is cyclically controlled to move in the corresponding direction, so that the scanning device automatically moves along the target path planned in advance, so that the scanning device can scan the information of the goods stored in all the target channels that are expected to be scanned, thereby improving the efficiency of scanning the goods.

[0085] The end point and the starting point of the target path may be the same or different. This will be described below in conjunction with different embodiments.

[0086] In some embodiments, the end point of the target path is the starting point of the target path. That is, after the scanning device has scanned all target channels, it can return to the parking point where the scanning device was initially located.

[0087] In this way, when the next scanning instruction is received, the image initially acquired by the visual sensor can contain the first mark, so that the current parking point of the scanning device can be determined more quickly, thereby helping to improve the efficiency of scanning goods.

[0088] In other embodiments, when multiple parking points are set in the scanning area 200, the end point of the target path is another parking point different from the parking point corresponding to the starting point. For example, the end point of the target path is the parking point closest to the scanning device when the scanning device has scanned all target channels.

[0089] As some embodiments, Figure 2 As shown, the starting point of the target path is parking point 2004a, and the scanning area 200 is also provided with parking point 2003a.

[0090] When the scanning instruction indicates that the multiple target channels to be scanned are channel 202 and channel 204, the scanning device 201 can start from parking point 2004a, pass through endpoint 2021a, endpoint 2022a, endpoint 2042a, endpoint 2041a in sequence, and finally arrive at parking point 2003a.

[0091] In this way, on the one hand, when the next scanning instruction is received, the image initially acquired by the visual sensor may include the first mark indicating the parking point, thereby more quickly determining the current parking point of the scanning device, which helps to improve the efficiency of scanning goods; on the other hand, after the scanning device has scanned all target channels, the length of the path traveled by the scanning device can be shortened, thereby parking the scanning device more quickly, which helps to reduce the operating loss of the scanning device.

[0092] In some embodiments, the parking spot where the scanning device is currently located may be determined as follows.

[0093] First, feature extraction is performed on an image acquired by a visual sensor installed on a scanning device to obtain a feature image of a first mark in the image (hereinafter referred to as a first feature image).

[0094] Then, the first feature image is matched with the feature image sequence to determine the number of the first mark in the image acquired by the visual sensor. Here, the feature image sequence includes the feature image of each mark in the plurality of marks set in the scanning area 200, and each mark has a corresponding number.

[0095] As some implementation methods, before the scanning device works, images containing multiple marks set in the scanning area 200 can be collected, and features of each mark image can be extracted to obtain a feature image sequence including a feature image of each mark. It should be understood that the method of extracting features from the image is not limited here, as long as the feature image of each mark can be extracted.

[0096] Afterwards, the parking spot where the scanning device is currently located is determined in the topological map according to the number of the first mark in the image acquired by the visual sensor.

[0097] Here, the topology map includes a plurality of nodes corresponding to a plurality of marks set in the scanning area 200, and each node is the number of the corresponding mark. It should be understood that one node corresponds to one mark, and different marks have different numbers.

[0098] Next, combine Figure 2 and Figure 3 Describes how to determine the parking spot where the scanning device is currently located.

[0099] Figure 3 is a schematic diagram of a topological map according to some embodiments of the present disclosure. Here, Figure 3 The topological map shown is Figure 2 The topological map of the scanning area 200 is shown. The topological map is, for example, an undirected topological map.

[0100] In some embodiments, Figure 3As shown, the topology map includes nodes numbered V0 to V9. Hereinafter, the node numbered V0 is referred to as node V0, and the remaining nodes are treated similarly.

[0101] Here, node V0 corresponds to Figure 2 The first mark 2001b in the node V4 corresponds to the first mark 2002b, the node V5 corresponds to the first mark 2003b, and the node V9 corresponds to the first mark 2004b.

[0102] Similarly, node V1 corresponds to the second mark 2022b, node V2 corresponds to the second mark 2032b, node V3 corresponds to the second mark 2042b, node V6 corresponds to the second mark 2041b, node V7 corresponds to the second mark 2031b, and node V8 corresponds to the second mark 2021b.

[0103] The line between the node V1 and the node V8 represents the channel 202 , the line between the node V2 and the node V7 represents the channel 203 , and the line between the node V3 and the node V6 represents the channel 204 .

[0104] As some embodiments, feature extraction is performed on an image acquired by a visual sensor installed on the scanning device 201, and the extracted first feature image is matched with a feature image sequence. When the extracted first feature image is identical to a feature image of the first mark 2004b in the feature image sequence, it is determined that the first mark in the image acquired by the visual sensor is the first mark 2004b numbered V9.

[0105] According to the number V9 of the first mark 2004b, it is determined in the topological map that the node corresponding to the parking point where the scanning device 201 is currently located is the node V9, that is, the current parking point is the parking point 2004a.

[0106] In the above embodiment, the first mark in the image acquired by the visual sensor is feature extracted to obtain the first feature image, and the number of the first mark in the image acquired by the visual sensor is determined according to the matching relationship between the first feature image and the feature image sequence, and then the current parking point of the scanning device in the scanning area 200 is mapped to the node of the topological map using the corresponding relationship of the number. In this way, the current parking point of the scanning device can be accurately determined in the topological map, which helps to accurately plan the target path later, thereby improving the efficiency of scanning goods by the scanning device.

[0107] In some embodiments, the topological map is converted into an adjacency matrix, and the target path is generated according to the adjacency matrix. As some implementation methods, the topological map can be converted into an adjacency matrix using computer graph theory.

[0108] Next, combine Figure 3An adjacency matrix according to some embodiments of the present disclosure is introduced.

[0109] As some embodiments, Figure 3 , the weight of the connection between two adjacent nodes between node V0 and node V4 is 1, the weight of the connection between two adjacent nodes between node V9 and node V5 is 3, the weight of the connection between node V1 and node V8 is 2, the weight of the connection between node V2 and node V7 is 2, and the weight of the connection between node V3 and node V6 is 2.

[0110] Combined with the weight of the connection, Figure 3 The interconnection relationship between the nodes in the network is converted into an adjacency matrix. The adjacency matrix is ​​shown below.

[0111]

[0112] Here, the first row of the adjacency matrix represents the interconnection relationship between node V0 and each node, the second row represents the interconnection relationship between node V1 and each node, the third row represents the interconnection relationship between node V2 and each node, and so on.

[0113] The first column of the adjacency matrix represents the interconnection relationship between node V0 and each node, the second column represents the interconnection relationship between node V1 and each node, the third column represents the interconnection relationship between node V2 and each node, and so on.

[0114] For example, the number “0” corresponding to the first row and the first column of the adjacency matrix indicates that there is no interconnection between node V0 and node V0.

[0115] For another example, the number “1” corresponding to the first row and the second column of the adjacency matrix indicates that there is an interconnection relationship with a weight of 1 between the node V0 and the node V1.

[0116] As some implementation methods, the adjacency matrix may be generated using a path planning algorithm, such as the Dijkstra algorithm.

[0117] In the above embodiment, describing the interconnection relationship between nodes in the topological map in a programming language such as an adjacency matrix helps to quickly generate a target path using a program algorithm, thereby further improving the efficiency of scanning goods by the scanning device.

[0118] In some embodiments, feature extraction can be performed on an image acquired by a visual sensor installed on a scanning device to obtain a second feature image of a second mark in the image, and the second feature image can be matched with a feature image sequence to determine the number of the second mark in the image acquired by the visual sensor.

[0119] According to the number of the second mark in the image acquired by the visual sensor and the number of the second mark of any one of the multiple target channels that the scanning device needs to scan, it is determined in the topological map whether the channel corresponding to the second mark in the image acquired by the visual sensor is the target channel.

[0120] As some embodiments, Figure 2 As shown, it is assumed that the plurality of target channels include channel 202 .

[0121] In this case, feature extraction is performed on the image acquired by the visual sensor installed on the scanning device 201, and the extracted second feature image is matched with the feature image sequence. When the extracted second feature image is identical to the feature image of the second mark 2021b in the feature image sequence, the channel corresponding to the second mark in the image acquired by the visual sensor is determined to be the channel 202 corresponding to the second mark 2021b, that is, the target channel.

[0122] In the above embodiment, it is possible to accurately determine in the topological map whether the channel corresponding to the second mark in the image acquired by the visual sensor is the target channel, which helps to accurately make the scanning device 201 travel along the target path subsequently, thereby improving the efficiency of scanning goods by the scanning device.

[0123] In some embodiments, the second marks of the two end points of each channel are different, and the second marks of any two channels among the multiple channels in the scanning area 200 are different.

[0124] In this way, not only can the topological map accurately determine whether the channel corresponding to the second mark in the image acquired by the visual sensor is the target channel, but the node where the scanning device is currently located can also be determined in the topological map, which helps to achieve the positioning of the scanning device.

[0125] In other embodiments, the second marks of the two end points of each channel are the same, and the second marks of any two channels among the multiple channels in the scanning area 200 are different.

[0126] As some embodiments, Figure 2 As shown, the second mark 2021b of the indicating endpoint 2021a of the channel 202 and the second mark 2022b of the indicating endpoint 2022a of the channel 202 are both represented by the letter "A", the second mark 2031b of the indicating endpoint 2031a of the channel 203 and the second mark 2032b of the indicating endpoint 2032a of the channel 203 are both represented by the letter "B", and the second mark 2041b of the indicating endpoint 2041a of the channel 204 and the second mark 2042b of the indicating endpoint 2042a of the channel 204 are both represented by the letter "C".

[0127] In this way, the number of feature images in the feature image sequence can be reduced, and the matching speed of the second feature image can be accelerated, so as to quickly determine whether the channel corresponding to the second mark in the image acquired by the visual sensor is the target channel, which helps to quickly make the scanning device 201 travel along the target path and further improve the efficiency of the scanning device in scanning goods.

[0128] In some embodiments, the image acquired by the visual sensor comes from the first sensor and the second sensor. It should be understood that the first sensor and the second sensor are both visual sensors. Here, the first sensor acquires an image in a sub-direction of the second direction, and the second sensor acquires an image in another sub-direction opposite to the sub-direction. There is a preset distance between each second mark and the channel corresponding to the second mark to accommodate the passage of the scanning device.

[0129] It should be understood that the image acquired by the first sensor and the image acquired by the second sensor will not contain the second mark at the same time.

[0130] As some embodiments, Figure 2 As shown, the first sensor acquires an image in the sub-direction Y2, and the second sensor acquires an image in the sub-direction Y1.

[0131] In the case where the multiple target channels include channel 202, the scanning device 201 moves along the sub-direction X1. If a second mark represented by the letter "A" appears in the image of the first sensor, the scanning device 201 is controlled to turn to move in the sub-direction Y1.

[0132] When the scanning device 201 is moving along the sub-direction Y1 , if a second mark represented by the letter “A” appears in the image of the second sensor, the scanning device 201 is controlled to turn to move in the sub-direction X1 .

[0133] In this way, the travel distance of the scanning device between the two end points of each target channel can be shortened, so that the scanning device can scan the next target channel more quickly after scanning one target channel, which helps to improve the efficiency of the scanning device in scanning goods.

[0134] In some embodiments, the endpoint where the scanning device is currently located can be determined by determining the number of the second mark in the image acquired by the first sensor or the number of the second mark in the image acquired by the second sensor.

[0135] As some embodiments, when multiple target channels include channel 202, the scanning device 201 travels along sub-direction X1, performs feature extraction on the image acquired by the first sensor to obtain a second feature image of the second mark in the image, and matches the second feature image with the feature image sequence to determine the number of the second mark in the image acquired by the first sensor.

[0136] Here, since the first sensor acquires an image in the sub-direction Y2, it can be determined that the second mark in the image acquired by the first sensor is the second mark 2021b in the sub-direction Y2, and then the number of the second mark in the image acquired by the first sensor is determined to be V8.

[0137] In this way, not only can the number of feature images in the feature image sequence be reduced and the matching speed of the second feature image be accelerated, but also the node where the scanning device is currently located can be determined in the topological map, which is helpful for positioning the scanning device.

[0138] In some embodiments, guide lines for guiding the scanning device to travel along the first direction and the second direction are also provided in the scanning area 200, and the scanning device can travel along the guide lines in the image acquired by the visual sensor.

[0139] Next, combine Figure 4 Describes how the scanning device follows the guidance lines.

[0140] Figure 4 is a schematic diagram of a guide wire according to some embodiments of the present disclosure. Figure 4 As shown, the yellow line is the guide line.

[0141] As some embodiments, the slope and intercept of the guide line in the image acquired by the visual sensor in the corresponding coordinate system can be determined, and according to the slope and intercept, the angle of the wheel of the scanning device is adjusted so that the scanning device travels along the guide line. For example, the coordinate system can be established with the upper left corner of the image as the origin, the upper edge of the image as the horizontal axis, and the left edge of the image as the vertical axis.

[0142] For example, the slope and intercept of the guide line in the image can be fitted according to the least square method, and the angle of the wheel can be calculated according to the slope and intercept.

[0143] In this way, the scanning device can accurately move along the first direction and the second direction according to the guidance of the guide line, so as to accurately move to the target channel to scan the goods, thereby improving the efficiency of scanning the goods.

[0144] In the above embodiment, after the user sends a scanning instruction through the interactive interface, the current parking point of the scanning device is determined based on the first mark in the image acquired by the visual sensor installed on the scanning device, and the scanning device is controlled to travel in a first direction (for example, horizontally).

[0145] When the scanning device is moving along the first direction, if a second mark of an end point of the target channel appears in the image acquired by the visual sensor, the scanning device is controlled to move along the second direction (for example, vertically).

[0146] During the movement of the scanning device, the scanning device can be driven in the first direction or the second direction according to the guide line on the ground, so that the scanning device can scan the information of the goods stored in each target channel. After the scanning device completes scanning for a target channel, the scanning device is controlled to move to the next target channel for scanning. In this way, the scanning device is cyclically controlled to scan multiple target channels to complete the scanning of the information of the goods in the multiple target channels.

[0147] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0148] In some embodiments, the information scanning device includes a module for executing the method of any one of the above embodiments.

[0149] Figure 5 It is a schematic diagram of the structure of an information scanning device according to some embodiments of the present disclosure.

[0150] like Figure 5 As shown, the information scanning device includes a receiving module 501 , a determining module 502 , a planning module 503 and a control module 504 .

[0151] The receiving module 501 is configured to receive a scanning instruction. Here, the scanning instruction indicates a plurality of target channels that the scanning device needs to scan in the plurality of channels in the scanning area 200, and a plurality of signs are set in the scanning area 200, the plurality of signs including a first sign indicating a parking point, and a second sign indicating each of two endpoints of each channel in the plurality of channels, and the first sign is different from the second sign.

[0152] The determination module 502 is configured to determine, in response to the scanning instruction, a parking spot where the scanning device is currently located according to a first mark in an image acquired by a visual sensor installed on the scanning device.

[0153] The planning module 503 is configured to plan a target path according to the parking spot where the scanning device is currently located and the two end points of each target channel.

[0154] The control module 504 is configured to control the scanning device to start from the current parking point, and control the scanning device to travel along the target path according to the second mark in the image during the driving process of the scanning device, so that the scanning device scans the information of the goods stored in each target channel.

[0155] In some embodiments, the information scanning device may further include other modules to execute the information scanning method of any of the above embodiments.

[0156] Figure 6 It is a schematic diagram of the structure of an information scanning device according to other embodiments of the present disclosure.

[0157] like Figure 6 As shown, the information scanning device 600 includes a memory 601 and a processor 602 coupled to the memory 601 , and the processor 602 is configured to execute the method of any one of the aforementioned embodiments based on the instructions stored in the memory 601 .

[0158] The memory 601 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0159] In some embodiments, the information scanning device 600 may further include an input / output interface 603, a network interface 604, a storage interface 605, etc. The input / output interface 603, the network interface 604, the storage interface 605, and the memory 601 and the processor 602 may be connected, for example, via a bus 606. The input / output interface 603 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 604 provides a connection interface for various networked devices. The storage interface 605 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0160] The disclosed embodiment also provides an information scanning system, comprising the information scanning device of any one of the above embodiments and a visual sensor.

[0161] Fig. 7A is a schematic diagram of an arrangement of visual sensors according to some embodiments of the present disclosure, Figure 7B is a schematic diagram of the arrangement of visual sensors according to other embodiments of the present disclosure.

[0162] In some embodiments, Fig. 7A and Figure 7B As shown, the scanning device includes a first vehicle body 701, a second vehicle body 702, and an arm 703 connecting the first vehicle body 701 and the second vehicle body 702, and the visual sensor includes a first sensor 704 and a second sensor 705, wherein the first sensor 704 is arranged at the front side of one of the first vehicle body 701 and the second vehicle body 702, and the second sensor 705 is arranged at the rear side of the vehicle body where the first sensor 704 is arranged. It should be understood that the front side and the rear side of the vehicle body are opposite sides. In this way, the use of the visual sensor can reduce the construction cost of the information scanning system.

[0163] In some embodiments, the visual sensor can be installed above the wheel at a height equal to the braking distance. Thus, installing the visual sensor above the wheel at a height equal to the braking distance helps to combine the detection range of the visual sensor so that the scanning device stops at the end point of the target channel when braking, thereby accurately moving to the target channel to scan the goods, thereby improving the efficiency of scanning the goods.

[0164] In some embodiments, the scanning device is further equipped with at least one scanner to scan the information of the goods, for example, an X-ray scanner.

[0165] As some embodiments, at least one of the arm 703, the first vehicle body 701, and the second vehicle body 702 is installed with at least one scanner.

[0166] The embodiment of the present disclosure further provides a computer-readable storage medium, including computer program instructions, which implement the steps of the method of any one of the above embodiments when executed by a processor.

[0167] The embodiments of the present disclosure further provide a computer program product, including a computer program, which implements the steps of the method of any one of the above embodiments when executed by a processor.

[0168] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0169] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0170] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions specified in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0171] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0172] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0173] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for scanning information, comprising: Receiving a scanning instruction, the scanning instruction indicating a plurality of target channels that a scanning device needs to scan among a plurality of channels in a scanning area, wherein a plurality of marks are set in the scanning area, the plurality of marks including a first mark indicating a parking point, and a second mark indicating each of two endpoints of each channel in the plurality of channels, the first mark being different from the second mark; In response to the scanning instruction, determining the parking spot where the scanning device is currently located according to the first mark in the image acquired by the visual sensor installed on the scanning device; Planning a target path according to the current parking point of the scanning device and the two end points of each target channel; as well as The scanning device is controlled to start from the current parking point, and during the driving process of the scanning device, the scanning device is controlled to drive along the target path according to the second mark in the image, so that the scanning device scans the information of the goods stored in each target channel.

2. The method according to claim 1, wherein: The step of controlling the scanning device to start from the current parking point and controlling the scanning device to travel along the target path according to the second mark in the image during the driving of the scanning device, so that the scanning device scans the information of the goods stored in each target channel, includes: Controlling the scanning device to move in a first direction from a current parking point; When the scanning device is moving along the first direction, if the second mark of one end point of the first target channel appears in the image, the scanning device is controlled to turn to move in the second direction extending from the first target channel, so that the scanning device scans the information of the goods stored in the first target channel, and the first target channel is any target channel; When the scanning device is moving along the second direction, if the second mark of the other end point of the first target channel appears in the image, the scanning device is controlled to turn and move in the first direction.

3. The method according to claim 1, wherein: Determining the current parking spot of the scanning device according to the first mark in the image acquired by the visual sensor installed on the scanning device comprises: Performing feature extraction on the image to obtain a first feature image of the first mark in the image; Matching the first characteristic image with a characteristic image sequence to determine the serial number of the first mark in the image, wherein the characteristic image sequence includes the characteristic image of each mark in the plurality of marks, and each mark has a serial number corresponding to it; According to the number of the first mark in the image, the parking spot where the scanning device is currently located is determined in the topological map, wherein the topological map includes a plurality of nodes corresponding to the plurality of marks, and each node is the number of the corresponding mark.

4. The method according to claim 3, wherein: The planning of the target path according to the parking point where the scanning device is currently located and the two end points of each target channel includes: Converting the topological map into an adjacency matrix; The target path is generated according to the adjacency matrix.

5. The method according to claim 1, wherein: The second flags of two endpoints of each channel are the same, and the second flags of any two channels among the multiple channels are different.

6. The method according to claim 1, wherein: The plurality of target channels include all channels in the scanning area.

7. The method according to claim 1, wherein: The cargo includes a box, and the cargo information includes at least one of an identification of the box and information of items in the box.

8. An information scanning device, comprising: A module configured to execute the method according to any one of claims 1 to 7.

9. An information scanning device, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method according to any one of claims 1 to 7 based on instructions stored in the memory.

10. An information scanning system, comprising: The information scanning device according to claim 8 or 9, wherein the scanning device comprises a first vehicle body, a second vehicle body, and an arm connecting the first vehicle body and the second vehicle body; and The visual sensor includes a first sensor and a second sensor, wherein the first sensor is arranged at the front side of one of the first vehicle body and the second vehicle body, and the second sensor is arranged at the rear side of the one vehicle body.

11. A computer-readable storage medium comprising a computer program, wherein: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

12. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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