Position determination method and device

Abstract

The invention discloses a position determination method and device. A specific embodiment of the method comprises the following steps: a projection point cloud generation device scans a point cloud generated by a target end face of a target object to obtain a projection line segment; comparing the length of the projection line segment with the length of the target end face, and determining whether the point cloud generation device is shielded in the process of scanning the target end face; and in response to non-shielding, according to the target point of the projection line segment, determining the relative position of the object access device where the point cloud generation device is located relative to the target object. Whether the point cloud generation device is shielded in the process of scanning the target end face can be determined, and the relative position of the object access device relative to the target object is determined based on the projection line segment when it is clear that the point cloud generation device is not shielded, so that the determination efficiency and accuracy of the relative position are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer technologies, specifically to the field of intelligent warehousing technologies, and particularly to a method and device for position determination. Background Art

[0002] In the warehousing and logistics industry, as a common container in the automated process, a bin often needs to determine the relative position relationship between the bin and the automated bin storage and retrieval equipment in real time, so as to complete the storage and retrieval of the bin through the motion control of the automated bin storage and retrieval equipment. In the double-depth bin scenario, it is easy for the bin to be blocked, and the bin storage and retrieval equipment cannot perceive the blocking situation to operate correctly. Summary of the Invention

[0003] The embodiments of the present application propose a method, system, device, computer-readable medium, electronic device, and computer program product for position determination.

[0004] In a first aspect, the embodiments of the present application provide a method for position determination, including: generating a point cloud by a projection point cloud generation device scanning a target end face of a target item, and obtaining a projection line segment; comparing the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; in response to not being blocked, determining the relative position of the item storage and retrieval device where the point cloud generation device is located relative to the target item according to the target point of the projection line segment.

[0005] In some examples, the above step of generating a point cloud by a projection point cloud generation device scanning a target end face of a target item and obtaining a projection line segment includes: projecting the point cloud generated by the point cloud generation device scanning the target end face onto a target line to obtain a set of projection points; determining the start point and end point of the projection line segment from the projection points in the set of projection points according to the projection coordinates of the projection points in the set of projection points; determining the length and target point of the projection line segment according to the projection coordinates of the start point and the end point.

[0006] In some examples, the above step of determining the start point and end point of the projection line segment from the projection points in the set of projection points according to the projection coordinates of the projection points in the set of projection points includes: in response to the slope of the target line being a finite value, determining the start point and end point of the projection line segment from the projection points in the set of projection points according to the abscissas of the projection points in the set of projection points; in response to the slope of the target line being an infinite value, determining the start point and end point of the projection line segment from the projection points in the set of projection points according to the ordinates of the projection points in the set of projection points.

[0007] In some examples, comparing the length of the projected line segment and the length of the target end face to determine whether the point cloud generation device is blocked during the scanning of the target end face includes: in response to the length difference between the length of the projected line segment and the length of the target end face being within a preset difference range, determining that the point cloud generation device is not blocked during the scanning of the target end face.

[0008] In some examples, the above target point is the midpoint, and determining the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target point of the projected line segment includes: determining the relative position of the item access device relative to the target item according to the midpoint of the projected line segment and the relative position of the point cloud generation device relative to the center of the item access device.

[0009] In some examples, the above point cloud generation device is the main point cloud generation device among two point cloud generation devices, and the two point cloud generation devices are arranged at intervals on the item access device along the running direction of the item access device. The method further includes: in response to the main point cloud generation device being blocked during the scanning of the target end face, projecting the point cloud generated by the auxiliary point cloud generation device scanning the target end face to obtain the projected line segment corresponding to the auxiliary point cloud generation device; comparing the length of the projected line segment corresponding to the auxiliary point cloud generation device and the length of the target end face to determine whether the auxiliary point cloud generation device is blocked during the scanning of the target end face; in response to not being blocked, determining the relative position of the item access device relative to the target item according to the target point of the projected line segment corresponding to the auxiliary point cloud generation device.

[0010] In some examples, the above point cloud generation device includes a main point cloud generation device and an auxiliary point cloud generation device, and the main point cloud generation device and the auxiliary point cloud generation device are arranged at intervals on the item access device along the running direction of the item access device. Projecting the point cloud generated by the point cloud generation device scanning the target end face of the target item to obtain the projected line segment includes: projecting the point cloud generated by the main point cloud generation device and the auxiliary point cloud generation device scanning the target end face respectively to obtain the projected line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively; and comparing the length of the projected line segment and the length of the target end face to determine whether the point cloud generation device is blocked during the scanning of the target end face includes: comparing the lengths of the projected line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device and the length of the target end face to determine whether the main point cloud generation device and the auxiliary point cloud generation device are blocked during the scanning of the target end face; and in response to not being blocked, determining the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target point of the projected line segment includes: in response to the main point cloud generation device and / or the auxiliary point cloud generation device not being blocked, determining the relative position of the item access device relative to the target item according to the target points of the projected line segments corresponding to the unblocked main point cloud generation device and / or the auxiliary point cloud generation device.

[0011] In some examples, the above method further includes: controlling the operation of the article access device according to the relative position.

[0012] In a second aspect, an embodiment of the present application provides a position determination device, including: a projection unit configured to project the point cloud generated by the point cloud generation device scanning the target end face of the target article to obtain a projection line segment; a comparison unit configured to compare the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; a position determination unit configured to, in response to not being blocked, determine the relative position of the article access device where the point cloud generation device is located relative to the target article according to the target point of the projection line segment.

[0013] In some examples, the above projection unit is further configured to: project the point cloud generated by the point cloud generation device scanning the target end face onto a target straight line to obtain a set of projection points; determine the starting point and the ending point of the projection line segment from the projection points in the set of projection points according to the projection coordinates of the projection points in the set of projection points; determine the length and the target point of the projection line segment according to the projection coordinates of the starting point and the projection coordinates of the ending point.

[0014] In some examples, the above projection unit is further configured to: in response to the slope of the target straight line being a finite value, determine the starting point and the ending point of the projection line segment from the projection points in the set of projection points according to the abscissas of the projection points in the set of projection points; in response to the slope of the target straight line being an infinite value, determine the starting point and the ending point of the projection line segment from the projection points in the set of projection points according to the ordinates of the projection points in the set of projection points.

[0015] In some examples, the above comparison unit is further configured to: in response to the length difference between the length of the projection line segment and the length of the target end face being within a preset difference range, determine that the point cloud generation device is not blocked during the process of scanning the target end face.

[0016] In some examples, the above target point is the midpoint, and the above position determination unit is further configured to: determine the relative position of the article access device relative to the target article according to the midpoint of the projection line segment and the relative position of the point cloud generation device relative to the center of the article access device.

[0017] In some examples, the above point cloud generation device is the main point cloud generation device among two point cloud generation devices. The two point cloud generation devices are arranged on the article access device at intervals along the running direction of the article access device. Further, the above projection unit is further configured to: in response to the main point cloud generation device being blocked during the process of scanning the target end face, project the point cloud generated by the auxiliary point cloud generation device scanning the target end face, to obtain a projection line segment corresponding to the auxiliary point cloud generation device; the comparison unit is further configured to compare the length of the projection line segment corresponding to the auxiliary point cloud generation device with the length of the target end face, to determine whether the auxiliary point cloud generation device is blocked during the process of scanning the target end face; the position determination unit is further configured to, in response to not being blocked, determine the relative position of the article access device with respect to the target article according to the target points of the projection line segment corresponding to the auxiliary point cloud generation device.

[0018] In some examples, the above point cloud generation device includes a main point cloud generation device and an auxiliary point cloud generation device. The main point cloud generation device and the auxiliary point cloud generation device are arranged on the article access device at intervals along the running direction of the article access device. Further, the above projection unit is further configured to: project the point cloud generated by the main point cloud generation device and the auxiliary point cloud generation device respectively scanning the target end face, to obtain a projection line segment corresponding to the main point cloud generation device and a projection line segment corresponding to the auxiliary point cloud generation device respectively; and the above comparison unit is further configured to: compare the lengths of the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively with the length of the target end face, to determine whether the main point cloud generation device and the auxiliary point cloud generation device are blocked during the process of scanning the target end face; and the above position determination unit is further configured to: in response to the main point cloud generation device and / or the auxiliary point cloud generation device not being blocked, determine the relative position of the article access device with respect to the target article according to the target points of the projection line segment corresponding to the unblocked main point cloud generation device and / or the auxiliary point cloud generation device.

[0019] In some examples, the above device further includes: a control unit, configured to control the operation of the article access device according to the relative position.

[0020] In a third aspect, an embodiment of the present application provides a computer-readable medium, on which a computer program is stored. When the program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

[0021] In a fourth aspect, an embodiment of the present application provides an electronic device, including: one or more processors; a storage device, on which one or more programs are stored. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

[0022] Fifth aspect, an embodiment of the present application provides a computer program product, including: a computer program, which when executed by a processor, implements the method described in any implementation manner of the first aspect.

[0023] The position determination method and device provided by the embodiments of the present application generate a point cloud by a projection point cloud generation device scanning the target end face of a target item to obtain a projection line segment; compare the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; in response to not being blocked, determine the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target points of the projection line segment, so that it is possible to determine whether the point cloud generation device is blocked during the process of scanning the target end face, and in the case of clearly not being blocked, determine the relative position of the item access device relative to the target item based on the projection line segment, improving the determination efficiency and accuracy of the relative position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objects, and advantages of the present application will become more apparent: Figure 1 It is an exemplary system architecture diagram to which an embodiment of the present application can be applied; Figure 2 It is a flowchart of an embodiment of the position determination method according to the present application; Figure 3A It is a schematic diagram of the placement of bins on a double-depth shelf according to this embodiment; Figure 3B It is a schematic diagram of the point cloud generation device being blocked during the process of scanning the target end face according to this embodiment; Figure 3C It is a schematic diagram of the point cloud generation device not being blocked during the process of scanning the target end face according to this embodiment; Figure 3D It is a schematic structural diagram of an embodiment of the item access device according to this embodiment; Figure 3E It is a schematic structural diagram of an embodiment of the load platform according to this embodiment; Figure 4 It is a schematic diagram of the application scenario of the position determination method according to this embodiment; Figure 5 It is a flowchart of another embodiment of the position determination method according to the present application; Figure 6 It is a structural diagram of an embodiment of the position determination device according to the present application; Figure 7 It is a schematic structural diagram of a computer system suitable for implementing the embodiments of the present application. Detailed Implementation Manner

[0025] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. Additionally, it should be noted that for the convenience of description, only the parts related to the relevant invention are shown in the drawings.

[0026] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0027] It should be noted that in the technical solution of the present disclosure, in terms of the collection, gathering, updating, analysis, processing, use, transmission, storage, etc. of the user's personal information, it complies with the provisions of relevant laws and regulations, is used for legal purposes, and does not violate public order and good customs. Necessary measures are taken for the user's personal information to prevent illegal access to the user's personal information data, and to safeguard the security of the user's personal information, network security, and national security.

[0028] Figure 1 An exemplary architecture 100 to which the location determination method and device of the present application can be applied is shown.

[0029] As Figure 1 shown, the system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The terminal devices 101, 102, 103 are communicatively connected to form a topology network, and the network 104 is used as a medium to provide a communication link between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, etc.

[0030] The terminal devices 101, 102, 103 can interact with the server 105 through the network 104 to receive or send data, etc. The terminal devices 101, 102, 103 can be hardware devices or software that support network connections for data interaction and data processing. When the terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connections, information acquisition, interaction, display, processing, etc. functions, including but not limited to item access devices in a goods storage system, etc. When the terminal devices 101, 102, 103 are software, they can be installed in the above-listed electronic devices. It can be implemented as, for example, multiple software or software modules for providing distributed services, or can also be implemented as a single software or software module. No specific limitation is made here.

[0031] Server 105 may be a server that provides various services. For example, it is a background processing server that obtains the point cloud generated by the point cloud generation device on the terminal devices 101, 102, and 103 scanning the target end face of the target item, and determines the relative position of the item access device where the point cloud generation device is located relative to the target item. As an example, server 105 may be a cloud server.

[0032] It should be noted that the server may be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers, or as a single server. When the server is software, it can be implemented as multiple software or software modules (such as software or software modules for providing distributed services), or as a single software or software module. Specific limitations are not made here.

[0033] It should also be noted that the position determination method provided in the embodiments of the present application is generally executed by the server, or can be executed by the terminal device, or can be executed by the server and the terminal device in cooperation with each other. Correspondingly, each part (such as each unit) included in the position determination device can be all set in the server, or all set in the terminal device, or can be respectively set in the server and the terminal device.

[0034] It should be understood that Figure 1 the numbers of the terminal devices, network, and server in

[0035] are merely illustrative. According to the implementation requirements, there can be any number of terminal devices, network, and server. When the electronic device on which the position determination method runs does not need to perform data transmission with other electronic devices, the system architecture can only include the electronic device (such as a server or a terminal device) on which the position determination method runs. Figure 2 Continuing to refer to Figure 200 shows the flow of an embodiment of the position determination method. The flow 200 includes the following steps:

[0036] In this embodiment, the above execution subject (such as Figure 1 the terminal device or server in

[0037] The point cloud generation device is a device that scans the target end face of the target item to generate a point cloud, such as a lidar, a millimeter-wave radar, an RGB-D (Red, Green, Blue, Depth) camera, an ultrasonic sensor, etc. The point cloud generation device is generally installed on the item access device and moves along with the item access device.

[0038] The item access device is an automated device for accessing items on the shelf. For example, it is an item access vehicle running on the horizontal and vertical tracks on the shelf. The item access vehicle moves horizontally on the shelf through the horizontal track and vertically on the shelf through the vertical track, so that it can traverse each storage location on the shelf; an expansion device for pushing and pulling items is installed on the item access vehicle to access items at the storage location.

[0039] Another example is that the item access device is a loading platform that is realized through a hanging basket device and runs in the horizontal and vertical directions along the outside of the shelf. An expansion device for pushing and pulling items is installed on the loading platform to access items at the storage location.

[0040] Another example is that the item access device is a loading platform that runs in the horizontal and vertical directions along the outside of the shelf through a vertical rail. Among them, the vertical rail is located outside the shelf and can run horizontally along the shelf, and the loading platform is installed on the vertical rail and can run vertically along the vertical rail.

[0041] The target item can be items of the same size or items of different sizes. Taking items of the same size as an example, they can be bins for storing goods. The target item is generally placed on the storage location of the shelf based on a fixed pose. Continuing to refer to Figure 3A , it shows a schematic diagram of the placement of bins on a double-depth shelf. A double-depth shelf is a type of shelf designed to store items in two rows side by side. Compared with the traditional single-row shelf, the double-depth shelf has two access positions in each shelf unit, and two bins can be placed, namely the near-bin 301 and the far-bin 302, which are called sibling bins. This design reduces the number of channels in the same space by half, thus significantly improving the storage density.

[0042] The target end face is generally the end face of the target item that faces the item access device, such as the target end face 303 of the near-bin 301 and the far-bin 302.

[0043] As an example, during the operation of the item access device, it can scan the target end face of the target item regularly or in real time through the point cloud generation device to obtain the point cloud corresponding to the target end face; then, all the point clouds are processed as follows: Point cloud stitching: The random sample consensus (RANSAC) and iterative closest point (ICP) algorithms are used to stitch the collected point cloud data to ensure the integrity and consistency of the data.

[0044] Filtering and denoising: The voxel grid filter (VoxelGrid) is used to smooth the point cloud data, remove noise points, and improve the data quality.

[0045] Feature extraction: By calculating the normal vector of the point cloud and feature extraction, a feature grayscale image is generated for subsequent image segmentation.

[0046] Then, the point cloud data is projected onto a two-dimensional plane. Usually, the z-axis normal vector of the point cloud is used as feature information to generate a feature grayscale image. Using the camera intrinsic matrix, rotation matrix, and translation vector, the three-dimensional point cloud is projected onto the two-dimensional plane to generate projected line segments. Finally, the feature grayscale image is segmented using an improved watershed algorithm to generate projected line segments.

[0047] As another example, first, the three-dimensional projection plane area of the target end face is extracted from the point cloud through region growing and region merging algorithms. Then, methods such as voxel filtering are used to smooth the point cloud data, remove noise points, and improve the data quality. Then, projection onto a two-dimensional plane: The extracted three-dimensional projection plane area is projected onto a two-dimensional plane to generate a projection image. Then, a convolutional neural network (such as DexiNed) is used to detect the edges of the projection image to generate an edge map. Then, two-dimensional line segments are extracted from the edge map, and methods such as the MCMLSD (Markov Chain Marginal Line Segment Detector) algorithm are used to extract line segments. Finally, the extracted two-dimensional line segments are back-projected into the three-dimensional space to generate three-dimensional line segments.

[0048] In some implementation manners of this embodiment, the above execution subject may execute the above step 201 in the following manner: In the first step, the point cloud generated by the point cloud generation device scanning the target end face is projected onto the target line to obtain a set of projection points.

[0049] As an example, let the linear equation of the target line be , and the width of the target item be . Taking the point cloud generation device as the origin, based on the point cloud generation device coordinate system, the point cloud data is solved. After scanning the point cloud on the target end face of the bin , each point is traversed , project the coordinates of each point onto the target line, and the coordinates of the projected point can be obtained as , where d is the point to the distance of the line, .

[0050] The second step is to determine the starting point and the ending point of the projected line segment from the projected points in the projected point set according to the projected coordinates of the projected points in the projected point set.

[0051] After obtaining the projected coordinates of the projected points in the projected point set, the starting point and the ending point of the projected line segment can be determined according to the magnitude of the coordinate values. For example, the projected point with the smallest coordinate value is used as the starting point of the projected line segment, and the projected point with the largest coordinate value is used as the ending point of the projected line segment.

[0052] Third, according to the projected coordinates of the starting point and the ending point, determine the length and the target points of the projected line segment.

[0053] After determining the projected coordinates of the starting point and the ending point, according to the projected coordinates of the starting point and the ending point, determine the length between the starting point and the ending point, which is the length of the projected line segment. According to the projected coordinates of the starting point and the ending point, determine the target points such as the starting point, the ending point and other end points, and the intermediate points at the preset ratio in the middle.

[0054] In this implementation manner, a specific determination method of the projected line segment is provided, which improves the determination efficiency and accuracy of the projected line segment based on the projection process of the point cloud onto the target line.

[0055] In some implementation manners of this embodiment, the above execution subject may execute the above second step in the following manner: 1. In response to the slope of the target line being a finite value, determine the starting point and the ending point of the projected line segment from the projected points in the projected point set according to the abscissas of the projected points in the projected point set.

[0056] 2. In response to the slope of the target line being an infinite value, determine the starting point and the ending point of the projected line segment from the projected points in the projected point set according to the ordinates of the projected points in the projected point set.

[0057] According to the projected coordinates of the projected points (such as the starting point and the ending point) in the determined projected line segment, the slope of the projected line can be calculated; if the slope of the target line is a finite value, that is, not infinite, then the point with the smallest abscissa among the projected points is determined as the starting point, and the point with the largest abscissa among the projected points is determined as the ending point.

[0058] If the slope of the target line is an infinite value, that is, infinite, then the point with the smallest ordinate among the projected points is determined as the starting point, and the point with the largest ordinate among the projected points is determined as the ending point.

[0059] In this implementation manner, the determination methods of the starting point and the ending point are further distinguished based on the slope of the projected line segment, further improving the accuracy of the determined starting point and ending point.

[0060] Step 202: Compare the length of the projected line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face.

[0061] In this embodiment, the above-mentioned execution entity can compare the length of the projected line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face.

[0062] Compare the length of the projected line segment with the length of the target end face to determine the length difference between the two lengths; in response to the length difference indicating that the lengths are the same or equal, determine that the point cloud generation device is not blocked during the process of scanning the target end face; in response to the length difference indicating a large length gap between the two, determine that the point cloud generation device is blocked during the process of scanning the target end face.

[0063] Whether it is a bin with the same size or bins with different sizes, the length of its target end face can be stored in the above-mentioned execution entity or an electronic device communicatively connected to the above-mentioned execution entity.

[0064] Continue to refer to Figure 3B , which shows a schematic diagram of the point cloud generation device being blocked during the process of scanning the target end face. Since the point cloud generation device 305 on the article access device 304 is blocked, only part of the point cloud of the target end face is obtained during its scanning process. Thus, the obtained projected line segment 306 is incomplete and has a large length gap from the length of the target end face.

[0065] Continue to refer to Figure 3C , which shows a schematic diagram of the point cloud generation device not being blocked during the process of scanning the target end face. Since the point cloud generation device is not blocked, all the point cloud of the target end face is obtained during its scanning process. Thus, the obtained projected line segment 306 is complete and has a small length gap from the length of the target end face.

[0066] In some implementation manners of this embodiment, the above-mentioned execution entity can execute the above-mentioned step 202 in the following manner: in response to the length difference between the length of the projected line segment and the length of the target end face being within a preset difference range, determine that the point cloud generation device is not blocked during the process of scanning the target end face.

[0067] The preset difference range indicates a small difference, which can be specifically set according to the actual situation and is not limited here.

[0068] It can be understood that in response to the length difference between the length of the projected line segment and the length of the target end face not being within the preset difference range, determine that the point cloud generation device is blocked during the process of scanning the target end face.

[0069] In this implementation manner, based on the comparison between the length difference between the length of the projection line segment and the length of the target end face and the preset difference range, it is determined whether the point cloud generation device is blocked during the process of scanning the target end face, which improves the convenience and accuracy of the comparison process.

[0070] Step 203: In response to not being blocked, based on the target points of the projection line segment, determine the relative position of the item access device where the point cloud generation device is located relative to the target item.

[0071] In this embodiment, the above-mentioned execution entity can, in response to not being blocked, based on the target points of the projection line segment, determine the relative position of the item access device where the point cloud generation device is located relative to the target item.

[0072] When the point cloud generation device is not blocked during the process of scanning the target end face, the generated projection line segment can accurately represent the position of the target item. At this time, based on the positions of the end points such as the starting point and the ending point of the projection line segment, the target points such as the intermediate point at a preset ratio in the middle, and the landmark points such as the end points and the intermediate points on the item access device, determine the relative position of the item access device where the point cloud generation device is located relative to the target item.

[0073] Generally, the size of the item placement area on the item access device is slightly larger than the size of the target item, and its target operating position for accessing the item is the position directly in front of the target item, so that the item placement area faces the target item, and the target item is pushed or pulled through the expansion and contraction of the expansion device, avoiding the situation that the target item cannot be pulled into the item placement area due to the misalignment between the item placement area and the target item, or the target item is pushed out and intersects with the target storage location after being pushed out.

[0074] In some implementation manners of this embodiment, the target point is the midpoint. If the midpoint of the projection line segment is on the center line of the item placement area, it indicates that the item placement area is exactly opposite to the target item.

[0075] In this implementation manner, the above-mentioned execution entity can execute the above-mentioned step 203 in the following manner: Based on the midpoint of the projection line segment and the relative position of the point cloud generation device relative to the center of the item access device, determine the relative position of the item access device relative to the target item.

[0076] Due to structural requirements or aesthetic requirements, the point cloud generation device is often not set at the midpoint or the center line of the item placement area of the item access device, and the relative position of the point cloud generation device relative to the center of the item access device is required; furthermore, based on the midpoint position of the projection line segment and the relative position of the point cloud generation device relative to the center of the item access device, determine the relative position of the item access device relative to the target item.

[0077] In this implementation manner, by combining the midpoint of the projection line segment and the relative position of the point cloud generation device with respect to the center of the article access device, the relative position of the article access device with respect to the target article is determined, further improving the accuracy of the relative position of the article access device with respect to the target article and the degree of adaptation to the actual situation.

[0078] Continue to refer to Figure 4 , Figure 4 FIG. 400 is a schematic diagram of an application scenario of the position determination method according to this embodiment. In Figure 4 In the application scenario of intelligent warehousing, a plurality of shelves and a plurality of article access devices 401 are arranged in a warehouse. Each article access device communicates with a server 402 to operate according to the control instructions of the server. During the operation of the article access device, the target end face of the target article is scanned at regular intervals by a point cloud generation device 403 provided thereon, and the generated point cloud is transmitted to the server. The server projects the point cloud generated by scanning the target end face 404 of the target article by the point cloud generation device to obtain a projection line segment 405; compares the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; in response to not being blocked, determines the relative position of the article access device where the point cloud generation device is located with respect to the target article according to the target point of the projection line segment.

[0079] The method provided in the above embodiments of the present application projects the point cloud generated by scanning the target end face of the target article by the point cloud generation device to obtain a projection line segment; compares the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; in response to not being blocked, determines the relative position of the article access device where the point cloud generation device is located with respect to the target article according to the target point of the projection line segment, so that it is possible to determine whether the point cloud generation device is blocked during the process of scanning the target end face, and based on the projection line segment, determine the relative position of the article access device with respect to the target article in the case of clear non-blocking, improving the determination efficiency and accuracy of the relative position.

[0080] In some implementation manners of this embodiment, continue to refer to Figure 3B and Figure 3C In the above embodiment 200 and each implementation manner therein, the point cloud generation device is the main point cloud generation device among the two point cloud generation devices, and the two point cloud generation devices are arranged on the article access device at intervals along the running direction of the article access device.

[0081] To further illustrate the position information of the point cloud generation device on the article access device, please continue to refer to Figure 3D and Figure 3E . Among them, Figure 3DIt is a schematic structural diagram of an article access device. The article access device 304 includes a vertical rail 3041 and a loading platform 3042. The vertical rail is located outside the shelf and can run horizontally along the shelf. The loading platform is arranged on the vertical rail and can run along the vertical rail in the vertical direction.

[0082] Figure 3E It is a schematic structural diagram of the loading platform. The loading platform 3042 includes a loading part 1, a hook-shaped part 2, a first driving part 3, a second driving part, and a controller.

[0083] The loading part has a bearing surface for bearing the bin and is configured to be movable along the arrangement direction of multiple bins. A point cloud generation device is arranged on each side of the loading part. The hook-shaped part can extend outwards relative to the loading part to hook the bin to be taken out from the shelf or retract inwards relative to the loading part to pull the bin towards the loading part.

[0084] The first driving part is configured to drive the hook-shaped part to extend and retract relative to the loading part; the second driving part is configured to drive the loading part to move along the arrangement direction of the bins. The controller is respectively signal-connected to the first driving part, the second driving part, and the point cloud generation device, and is configured to control the loading part to move along the arrangement direction to align the article access device with the bin or control the distance that the hook-shaped part extends outwards relative to the loading part according to the position of the bin relative to the article access device.

[0085] The hook-shaped part can extend and retract relative to the loading part. A hooking structure matching the hook-shaped part is arranged on the end face of the outer side of the bin facing the shelf (that is, the end close to the article access device along the telescopic direction of the hook-shaped part). After the hook-shaped part extends outwards to the lower part of the hooking structure and then moves upwards a certain distance, the connection with the bin is realized, so that the bin can be pulled onto the loading part.

[0086] Further, the loading part includes a rack 11 and a conveyor belt 12 rotatably installed on the rack 11. The conveyor belt can drive the bin to move along the telescopic direction of the hook-shaped part to move the bin into the loading part or out of the loading part. The surface of the conveyor belt constitutes the bearing surface for bearing the bin.

[0087] In this implementation manner, the above execution subject can also perform the following operations: First, in response to the main point cloud generation device being blocked during the process of scanning the target end face, project the point cloud generated by the auxiliary point cloud generation device scanning the target end face to obtain the projection line segment corresponding to the auxiliary point cloud generation device.

[0088] In this implementation manner, the projection process in this implementation manner can be performed with reference to the projection method in step 201 of the above embodiment 200, which will not be elaborated here.

[0089] Then, compare the lengths of the projection line segments corresponding to the auxiliary point cloud generation device and the length of the target end face to determine whether the auxiliary point cloud generation device is blocked during the scanning of the target end face.

[0090] In this implementation, the comparison process in this implementation can be performed with reference to the comparison method in step 202 of the above-mentioned embodiment 200, which will not be elaborated here.

[0091] Finally, in response to not being blocked, determine the relative position of the article access device with respect to the target article according to the target points of the projection line segments corresponding to the auxiliary point cloud generation device.

[0092] In this implementation, the determination process in this implementation can be performed with reference to the determination method in step 203 of the above-mentioned embodiment 200, which will not be elaborated here.

[0093] In this implementation, two point cloud generation devices are arranged on the left and right of the article access device. When one of the point cloud generation devices is blocked, the other point cloud generation device can be used to generate the point cloud to determine the relative position of the article access device with respect to the target article, further improving the flexibility and determination efficiency of the relative position determination process.

[0094] In some implementations of this embodiment, continue to refer to Figure 3B and Figure 3C , the point cloud generation device includes a main point cloud generation device and an auxiliary point cloud generation device, and the main point cloud generation device and the auxiliary point cloud generation device are arranged on the article access device at intervals along the running direction of the article access device.

[0095] In this implementation, the above-mentioned execution subject can execute the above steps 201-203 in the following manner: First, project the point clouds generated by the main point cloud generation device and the auxiliary point cloud generation device when scanning the target end face respectively to obtain the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively.

[0096] In this implementation, the projection process based on the main point cloud generation device and the projection process based on the auxiliary point cloud generation device in this implementation can be performed with reference to the projection method in step 201 of the above-mentioned embodiment 200, which will not be elaborated here.

[0097] Then, compare the lengths of the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively and the length of the target end face to determine whether the main point cloud generation device and the auxiliary point cloud generation device are blocked during the scanning of the target end face.

[0098] In this implementation manner, the comparison process of the projection line segments corresponding to the main point cloud generation device and the comparison process of the projection line segments corresponding to the auxiliary point cloud generation device in this implementation manner can be performed with reference to the comparison manner in step 201 of the above-mentioned embodiment 200, which will not be elaborated here.

[0099] Finally, in response to the main point cloud generation device and / or the auxiliary point cloud generation device not being blocked, the relative position of the article access device with respect to the target article is determined according to the target points of the projection line segments corresponding to the unblocked main point cloud generation device and / or the auxiliary point cloud generation device.

[0100] In this implementation manner, the relative position determination process based on the projection line segments corresponding to the main point cloud generation device and the relative position determination process of the projection line segments corresponding to the auxiliary point cloud generation device in this implementation manner can be performed with reference to the determination manner in step 201 of the above-mentioned embodiment 200, which will not be elaborated here.

[0101] It should be noted that when the main point cloud generation device or the auxiliary point cloud generation device is not blocked, the relative position of the article access device with respect to the target article is determined according to the target points of the projection line segments corresponding to the unblocked main point cloud generation device or the auxiliary point cloud generation device; when the main point cloud generation device and the auxiliary point cloud generation device are not blocked, the relative position of the article access device with respect to the target article is determined according to the target points of the projection line segments corresponding to the main point cloud generation device or the auxiliary point cloud generation device, or the relative positions of the article access device with respect to the target article are respectively determined according to the target points of the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device, and the final relative position of the article access device with respect to the target article is determined according to the average value of the two obtained relative positions.

[0102] In this implementation manner, two point cloud generation devices are arranged on the left and right of the article access device, and the point clouds of the target end face are generated by the two point cloud generation devices at the same time, so as to determine the relative position of the article access device with respect to the target article, further improving the flexibility and determination efficiency of the relative position determination process.

[0103] In some implementation manners of this embodiment, the above-mentioned execution subject may further perform the following operations: control the operation of the article access device according to the relative position.

[0104] As an example, the above-mentioned execution subject may generate a control instruction for the article access device according to the relative position. The control instruction is intended to control the operation of the article access device so that the article access device stops directly in front of the target article, and the article placement area on the article access device faces the target article; the control instruction is sent to the article access device to control its operation.

[0105] In this implementation manner, the operation of the article access device can be controlled accurately and efficiently based on the relative position.

[0106] Continue to refer to Figure 5 , which shows a schematic flowchart 500 of another embodiment of the position determination method according to the present application, including the following steps: Step 501, project the point cloud generated by the main point cloud generation device scanning the target end face of the target item to obtain the projection line segment corresponding to the main point cloud generation device.

[0107] Step 502, compare the length of the projection line segment corresponding to the main point cloud generation device with the length of the target end face to determine whether the main point cloud generation device is blocked during the process of scanning the target end face.

[0108] Step 503, in response to not being blocked, determine the relative position of the item access device where the main point cloud generation device is located relative to the target item according to the target points of the projection line segment corresponding to the main point cloud generation device.

[0109] Step 504, in response to the main point cloud generation device being blocked during the process of scanning the target end face, project the point cloud generated by the auxiliary point cloud generation device scanning the target end face to obtain the projection line segment corresponding to the auxiliary point cloud generation device.

[0110] Step 505, compare the length of the projection line segment corresponding to the auxiliary point cloud generation device with the length of the target end face to determine whether the auxiliary point cloud generation device is blocked during the process of scanning the target end face.

[0111] Step 506, in response to not being blocked, determine the relative position of the item access device relative to the target item according to the target points of the projection line segment corresponding to the auxiliary point cloud generation device.

[0112] It can be seen from this embodiment that compared with the corresponding embodiment of Figure 2 , the flowchart 500 of the position determination method in this embodiment specifically describes the relative position determination process based on the main point cloud generation device and the relative position determination process based on the auxiliary point cloud generation device, further improving the accuracy and determination efficiency of the relative position.

[0113] Continue to refer to Figure 6 , as an implementation of the methods shown in the above figures, the present application provides an embodiment of a position determination device. This device embodiment corresponds to the method embodiment shown in Figure 2 , and this device can be specifically applied to various electronic devices.

[0114] As shown in Figure 6As shown, the position determination device 600 includes: a projection unit 601 configured to project the point cloud generated by the point cloud generation device scanning the target end face of the target item to obtain a projection line segment; a comparison unit 602 configured to compare the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the scanning of the target end face; and a position determination unit 603 configured to, in response to not being blocked, determine the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target points of the projection line segment.

[0115] In some implementation manners of this embodiment, the above projection unit 601 is further configured to: project the point cloud generated by the point cloud generation device scanning the target end face onto a target straight line to obtain a set of projection points; determine the start point and end point of the projection line segment from the projection points in the set of projection points according to the projection coordinates of the projection points in the set of projection points; and determine the length and target points of the projection line segment according to the projection coordinates of the start point and the end point.

[0116] In some implementation manners of this embodiment, the above projection unit 601 is further configured to: in response to the slope of the target straight line being a finite value, determine the start point and end point of the projection line segment from the projection points in the set of projection points according to the abscissas of the projection points in the set of projection points; and in response to the slope of the target straight line being an infinite value, determine the start point and end point of the projection line segment from the projection points in the set of projection points according to the ordinates of the projection points in the set of projection points.

[0117] In some implementation manners of this embodiment, the above comparison unit 602 is further configured to: in response to the length difference between the length of the projection line segment and the length of the target end face being within a preset difference range, determine that the point cloud generation device is not blocked during the scanning of the target end face.

[0118] In some implementation manners of this embodiment, the above target point is the midpoint, and the above position determination unit 603 is further configured to: determine the relative position of the item access device relative to the target item according to the midpoint of the projection line segment and the relative position of the point cloud generation device relative to the center of the item access device.

[0119] In some implementation manners of this embodiment, the above point cloud generation device is the main point cloud generation device among two point cloud generation devices. The two point cloud generation devices are arranged on the article access device at intervals along the running direction of the article access device. Further, the above projection unit 601 is further configured to: in response to the main point cloud generation device being blocked during the process of scanning the target end face, project the point cloud generated by the auxiliary point cloud generation device scanning the target end face, to obtain a projection line segment corresponding to the auxiliary point cloud generation device; the comparison unit 602 is further configured to compare the length of the projection line segment corresponding to the auxiliary point cloud generation device with the length of the target end face, to determine whether the auxiliary point cloud generation device is blocked during the process of scanning the target end face; the position determination unit 603 is further configured to, in response to not being blocked, determine the relative position of the article access device with respect to the target article according to the target points of the projection line segment corresponding to the auxiliary point cloud generation device.

[0120] In some implementation manners of this embodiment, the above point cloud generation device includes a main point cloud generation device and an auxiliary point cloud generation device. The main point cloud generation device and the auxiliary point cloud generation device are arranged on the article access device at intervals along the running direction of the article access device. Further, the above projection unit 601 is further configured to: project the point cloud generated by the main point cloud generation device and the auxiliary point cloud generation device respectively scanning the target end face, to obtain projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively; and the above comparison unit 602 is further configured to: compare the lengths of the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively with the length of the target end face, to determine whether the main point cloud generation device and the auxiliary point cloud generation device are blocked during the process of scanning the target end face; and the above position determination unit 603 is further configured to: in response to the main point cloud generation device and / or the auxiliary point cloud generation device not being blocked, determine the relative position of the article access device with respect to the target article according to the target points of the projection line segment corresponding to the unblocked main point cloud generation device and / or auxiliary point cloud generation device.

[0121] In some implementation manners of this embodiment, the above device further includes: a control unit (not shown in the figure), configured to control the operation of the article access device according to the relative position.

[0122] In this embodiment, a projection unit in the position determination device projects the point cloud generated by the point cloud generation device scanning the target end face of the target item to obtain a projection line segment; a comparison unit compares the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; a position determination unit, in response to not being blocked, determines the relative position of the item access device where the point cloud generation device is located with respect to the target item according to the target points of the projection line segment, so that it is possible to determine whether the point cloud generation device is blocked during the process of scanning the target end face, and in the case of being clearly unblocked, determine the relative position of the item access device with respect to the target item based on the projection line segment, improving the determination efficiency and accuracy of the relative position.

[0123] Reference is made below to Figure 7 , which shows a schematic structural diagram of a computer system 700 of a device (such as Figure 1 the terminal devices 101, 102, 103 and the server 105 shown) suitable for implementing the embodiments of the present application. Figure 7 The devices shown are merely examples and should not impose any limitations on the functions and usage scopes of the embodiments of the present application.

[0124] As Figure 7 shown, the computer system 700 includes a processor (such as a CPU, a central processing unit) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage section 708 into the random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the system 700 are also stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0125] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read from it can be installed into the storage section 708 as needed.

[0126] In particular, according to an embodiment of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709 and / or installed from the removable medium 711. When the computer program is executed by the processor 701, the above functions defined in the methods of the present application are performed.

[0127] It should be noted that the computer-readable medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. And in the present application, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0128] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the client computer, partially on the client computer, executed as a stand-alone software package, partially on the client computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the client computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0129] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks can occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0130] The units involved in the embodiments described in this application can be implemented in software or in hardware. The described units can also be provided in a processor. For example, it can be described as: a processor including a projection unit, a comparison unit, and a position determination unit. Among them, the names of these units do not constitute a limitation on the unit itself in some cases. For example, the position determination unit can also be described as "a unit that determines the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target point of the projection line segment in response to being unobscured".

[0131] As another aspect, the present application also provides a computer-readable medium. This computer-readable medium may be included in the device described in the above embodiments; or it may exist separately without being assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by the device, the computer device is caused to: generate a point cloud by scanning a target end face of a target item by a projection point cloud generation device, and obtain a projection line segment; compare the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during the process of scanning the target end face; in response to not being blocked, determine the relative position of the item access device where the point cloud generation device is located relative to the target item according to the target points of the projection line segment.

[0132] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the present application.

Claims

1. A method for determining a position, comprising: The projection point cloud generating device scans the target end surface of the target object to generate a point cloud to obtain a projection line segment; Comparing the length of the projection line segment with the length of the target end face, and determining whether the point cloud generation device is blocked during scanning of the target end face; In response to being unobstructed, the relative position of the item storage and retrieval device where the point cloud generating device is located relative to the target item is determined according to the target point of the projection line segment.

2. The method according to claim 1, wherein: The projection point cloud generating device scans the target end surface of the target object to generate a point cloud to obtain a projection line segment, including: Projecting the point cloud generated by the point cloud generation device scanning the target end face onto the target straight line to obtain a set of projection points; Determine the starting point and the end point of the projection line segment from the projection points in the projection point set according to the projection coordinates of the projection points in the projection point set; The length of the projected line segment and the target point are determined according to the projection coordinates of the starting point and the projection coordinates of the end point.

3. The method according to claim 2, wherein: The step of determining the starting point and the end point of the projection line segment from the projection points in the projection point set according to the projection coordinates of the projection points in the projection point set comprises: In response to the slope of the target straight line being a finite value, determining the starting point and the end point of the projection line segment from the projection points in the projection point set according to the abscissas of the projection points in the projection point set; In response to the slope of the target straight line being an infinite value, the starting point and the end point of the projection line segment are determined from the projection points in the projection point set according to the ordinates of the projection points in the projection point set.

4. The method according to claim 1, wherein: The comparing the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during scanning of the target end face includes: In response to a length difference between the length of the projection line segment and the length of the target end face being within a preset difference range, it is determined that the point cloud generating device is not blocked during the process of scanning the target end face.

5. The method according to claim 1, wherein: The target point is the midpoint, and The determining, based on the target point of the projection line segment, a relative position of the item storage and access device where the point cloud generating device is located relative to the target item comprises: The relative position of the item storage and retrieval device relative to the target item is determined based on the midpoint of the projection line segment and the relative position of the point cloud generation device relative to the center of the item storage and retrieval device.

6. The method according to any one of claims 1 to 5, wherein: The point cloud generating device is a main point cloud generating device of the two point cloud generating devices, and the two point cloud generating devices are arranged on the item storage and retrieval device at intervals along the running direction of the item storage and retrieval device, and The method further comprises: In response to the main point cloud generating device being blocked during scanning of the target end face, projecting a point cloud generated by an auxiliary point cloud generating device of the two point cloud generating devices scanning the target end face to obtain a projection line segment corresponding to the auxiliary point cloud generating device; Comparing the length of the projection line segment corresponding to the auxiliary point cloud generating device with the length of the target end face, and determining whether the auxiliary point cloud generating device is blocked during scanning of the target end face; In response to being unobstructed, the relative position of the item storage and retrieval device with respect to the target item is determined according to the target point of the projection line segment corresponding to the auxiliary point cloud generating device.

7. The method according to any one of claims 1 to 5, wherein: The point cloud generating device comprises a main point cloud generating device and an auxiliary point cloud generating device, wherein the main point cloud generating device and the auxiliary point cloud generating device are arranged on the item access device at intervals along the running direction of the item access device, and The projection point cloud generating device scans the target end surface of the target object to generate a point cloud to obtain a projection line segment, including: Projecting the point clouds generated by the main point cloud generating device and the auxiliary point cloud generating device scanning the target end face to obtain projection line segments corresponding to the main point cloud generating device and the auxiliary point cloud generating device respectively; and The comparing the length of the projection line segment with the length of the target end face to determine whether the point cloud generation device is blocked during scanning of the target end face includes: Comparing the lengths of the projection line segments corresponding to the primary point cloud generating device and the secondary point cloud generating device and the length of the target end face, and determining whether the primary point cloud generating device and the secondary point cloud generating device are blocked during scanning of the target end face; and In response to the fact that the object is not blocked, determining the relative position of the object access device where the point cloud generating device is located relative to the target object according to the target point of the projection line segment, includes: In response to the main point cloud generating device and / or the auxiliary point cloud generating device being unobstructed, the relative position of the item storage and access device with respect to the target item is determined according to the target point of the projection line segment corresponding to the main point cloud generating device and / or the auxiliary point cloud generating device that is unobstructed.

8. The method according to claim 1, wherein: Also includes: According to the relative position, the operation of the item storage and retrieval device is controlled.

9. A position determination device, comprising: A projection unit is configured to project a point cloud generated by scanning a target end surface of a target object by a point cloud generation device to obtain a projection line segment; a comparison unit configured to compare the length of the projection line segment with the length of the target end face, and determine whether the point cloud generation device is blocked during scanning of the target end face; The position determination unit is configured to determine the relative position of the item storage and retrieval device where the point cloud generation device is located relative to the target item in response to being unobstructed and based on the target point of the projection line segment.

10. A computer readable medium having a computer program stored thereon, wherein: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

12. A computer program product comprising: A computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.

Images