Position determination method and device

Abstract

The present application discloses a method and apparatus for determining a position. A specific embodiment of the method includes: projecting a point cloud generating device to scan the target end face of a 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 to determine whether the point cloud generating 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 where the point cloud generating device is located relative to the target object based on the target point of the projection line segment. The present application can determine whether the point cloud generating device is blocked during the scanning of the target end face, and when it is clear that it is not blocked, determine the relative position of the item access device relative to the target object based on the projection line segment, thereby improving the efficiency and accuracy of determining the relative position.

Description

Technical Field

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

[0002] In the warehousing and logistics industry, bins are common containers in automated processes. Real-time determination of the relative position between the bins and automated bin access equipment is often required to facilitate access through motion control. In double-deep bin scenarios, bins are prone to obstruction, and the bin access equipment cannot detect obstructions and operate correctly. Summary of the Invention

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

[0004] In a first aspect, an embodiment of the present application provides a position determination method, including: projecting a point cloud generating device to scan a target end face of a 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 to determine whether the point cloud generating 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 where the point cloud generating device is located relative to the target object based on the target point of the projection line segment.

[0005] In some examples, the above-mentioned projection point cloud generation device scans the target end face 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 projection point set; determining the starting point and 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; determining the length of the projection line segment and the target point according to the projection coordinates of the starting point and the projection coordinates of the end point.

[0006] In some examples, the above-mentioned determining the starting point and end point of the projection line segment from the projection points in the projection point set based on the projection coordinates of the projection points in the projection point set includes: in response to the slope of the target straight line being a finite value, determining the starting point and end point of the projection line segment from the projection points in the projection point set based on the horizontal coordinates of the projection points in the projection point set; in response to the slope of the target straight line being an infinite value, determining the starting point and end point of the projection line segment from the projection points in the projection point set based on the vertical coordinates of the projection points in the projection point set.

[0007] In some examples, the above-mentioned comparison of the length of the projection line segment and the length of the target end face to determine whether the point cloud generation device is obscured during the process of scanning the target end face includes: 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, determining that the point cloud generation device is not obscured during the process of scanning the target end face.

[0008] In some examples, the above-mentioned target point is the midpoint, and the above-mentioned determination of the relative position of the item storage and access device where the point cloud generating device is located relative to the target item based on the target point of the projection line segment includes: determining the relative position of the item storage and access device relative to the target item based on the midpoint of the projection line segment and the relative position of the point cloud generating device relative to the center of the item storage and access device.

[0009] In some examples, the above-mentioned 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 at intervals on the item access device along the running direction of the item access device, and the above-mentioned method also 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 projection line segment corresponding to the auxiliary point cloud generation device; comparing the length of the projection 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 with respect to the target item according to the target point of the projection line segment corresponding to the auxiliary point cloud generation device.

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

[0011] In some examples, the above method further includes: controlling the operation of the item storage and retrieval device based on the relative position.

[0012] In a second aspect, an embodiment of the present application provides a position determination device, comprising: a projection unit, configured to project a point cloud generated by a point cloud generation device scanning a target end face of a target object 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 scanning of the target end face; a position determination unit, 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 object based on the target point of the projection line segment in response to not being blocked.

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

[0014] In some examples, the 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 end point of the projection line segment from the projection points in the projection point set according to the horizontal coordinates of the projection points in the projection point set; in response to the slope of the target straight line being an infinite value, determine the starting point and end point of the projection line segment from the projection points in the projection point set according to the vertical coordinates of the projection points in the projection point set.

[0015] In some examples, the comparison unit is further configured to: 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, determine that the point cloud generation device is not blocked during the scanning of the target end face.

[0016] In some examples, the target point is a midpoint, and the position determination unit is further configured to determine the relative position of the item access device relative to the target item 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.

[0017] In some examples, the above-mentioned point cloud generating device is the main point cloud generating device among the two point cloud generating devices, and the two point cloud generating devices are arranged at intervals on the item access device along the running direction of the item access device, and the above-mentioned projection unit is also configured to: in response to the main point cloud generating device being blocked during the scanning of the target end face, project the point cloud generated by the auxiliary point cloud generating device scanning the target end face to obtain the projection line segment corresponding to the auxiliary point cloud generating device; the comparison unit is also configured to compare the length of the projection line segment corresponding to the auxiliary point cloud generating device and the length of the target end face to determine whether the auxiliary point cloud generating device is blocked during the scanning of the target end face; the position determination unit is also configured to determine the relative position of the item access device relative to the target item according to the target point of the projection line segment corresponding to the auxiliary point cloud generating device in response to not being blocked.

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

[0019] In some examples, the apparatus further includes: a control unit configured to control the operation of the item storage and retrieval device according to the relative position.

[0020] In a third aspect, an embodiment of the present application provides a computer-readable medium having a computer program stored thereon, wherein 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 comprising: one or more processors; a storage device on which one or more programs are stored, and when the one or more programs are executed by one or more processors, the one or more processors implement the method described in any implementation manner of the first aspect.

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

[0023] The position determination method and device provided in the embodiments of the present application obtain a projection line segment by projecting a point cloud generated by scanning the target end face of the target object with a point cloud generating device; compare the length of the projection line segment with the length of the target end face to determine whether the point cloud generating device is blocked during the scanning of the target end face; in response to not being blocked, determine the relative position of the item storage and retrieval device where the point cloud generating device is located relative to the target object based on the target point of the projection line segment, thereby determining whether the point cloud generating device is blocked during the scanning of the target end face, and when it is clear that it is not blocked, determine the relative position of the item storage and retrieval device relative to the target object based on the projection line segment, thereby improving the efficiency and accuracy of determining the relative position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 is an exemplary system architecture diagram in which an embodiment of the present application may be applied;

[0026] Figure 2 is a flow chart of an embodiment of a position determination method according to the present application;

[0027] Figure 3A This is a schematic diagram of the placement of material boxes on a double-depth shelf according to this embodiment;

[0028] Figure 3B is a schematic diagram of a point cloud generation device according to this embodiment being blocked during scanning of a target end face;

[0029] Figure 3C is a schematic diagram of the point cloud generation device according to this embodiment being unobstructed during the process of scanning the target end face;

[0030] Figure 3D is a schematic structural diagram of an embodiment of the article storage and retrieval device according to this embodiment;

[0031] Figure 3E is a structural schematic diagram of an embodiment of a cargo platform according to this embodiment;

[0032] Figure 4 is a schematic diagram of an application scenario of the location determination method according to this embodiment;

[0033] Figure 5is a flow chart of another embodiment of a location determination method according to the present application;

[0034] Figure 6 is a structural diagram of an embodiment of a position determination device according to the present application;

[0035] Figure 7 It is a structural diagram of a computer system suitable for implementing the embodiments of the present application. DETAILED DESCRIPTION

[0036] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the relevant invention are shown in the accompanying drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, and storage of user personal information involved in the technical solutions disclosed herein all comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken with respect to user personal information to prevent unauthorized access to user personal information data and to safeguard the security of user personal information, network security, and national security.

[0039] Figure 1 An exemplary architecture 100 is shown to which the position determination method and apparatus of the present application can be applied.

[0040] like Figure 1 As shown, system architecture 100 may include terminal devices 101, 102, and 103, a network 104, and a server 105. The communication connections between terminal devices 101, 102, and 103 constitute a topological network, and network 104 is used to provide a medium for communication links between terminal devices 101, 102, and 103 and server 105. Network 104 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0041] The terminal devices 101, 102, 103 can interact with the server 105 via the network 104 to receive or send data, etc. The terminal devices 101, 102, 103 can be hardware devices or software that support network connection for data interaction and data processing. When the terminal devices 101, 102, 103 are hardware, they can be various electronic devices that support network connection, information acquisition, interaction, display, processing and other functions, including but not limited to item access devices in cargo storage systems, etc. When the terminal devices 101, 102, 103 are software, they can be installed in the electronic devices listed above. They can be implemented as multiple software or software modules for providing distributed services, for example, or they can be implemented as a single software or software module. No specific limitation is made here.

[0042] Server 105 can be a server that provides various services, such as a backend processing server that obtains a point cloud generated by a point cloud generation device on terminal devices 101, 102, and 103 scanning a target end surface of a target object and determines the relative position of an item access device where the point cloud generation device resides relative to the target object. For example, server 105 can be a cloud server.

[0043] It should be noted that a server can be either hardware or software. When a server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When a server is software, it can be implemented as multiple software programs or software modules (for example, software or software modules used to provide distributed services), or as a single software program or software module. This is not specifically limited here.

[0044] It should also be noted that the location determination method provided in the embodiments of the present application is generally executed by a server, but can also be executed by a terminal device, or can be executed by a server and a terminal device in cooperation with each other. Accordingly, the various parts (e.g., various units) included in the location determination device can be set entirely in the server, entirely in the terminal device, or separately in the server and the terminal device.

[0045] It should be understood that Figure 1 The number of terminal devices, networks, and servers in the system is merely illustrative. Any number of terminal devices, networks, and servers may be provided as needed. When the electronic device on which the location determination method is running does not need to transmit data with other electronic devices, the system architecture may include only the electronic device (e.g., a server or terminal device) on which the location determination method is running.

[0046] Continue to refer Figure 2 , shows a process 200 of an embodiment of a location determination method. The process 200 includes the following steps:

[0047] Step 201 : A projection point cloud generating device scans a target end surface of a target object to generate a point cloud and obtain a projection line segment.

[0048] In this embodiment, the above execution entities (for example Figure 1 The terminal device or server in the system can obtain the point cloud generated by the point cloud generation device scanning the target end surface of the target object remotely or locally through a wired network connection or a wireless network connection, and project the point cloud to obtain a projection line segment.

[0049] Point cloud generation devices, such as LiDAR, millimeter-wave radar, RGB-D (Red, Green, Blue, Depth) cameras, and ultrasonic sensors, scan the target end surface of a target object to generate a point cloud. These devices are typically installed on the item access device and move with it.

[0050] Item storage and retrieval equipment is an automated device used to store and retrieve items on shelves, such as an item storage and retrieval cart that runs on horizontal and vertical tracks on the shelves. The item storage and retrieval cart runs horizontally on the shelves via the horizontal track and vertically on the shelves via the vertical track, so that it can traverse every storage location on the shelves; the item storage and retrieval cart is equipped with a telescopic device for pushing and pulling items to store and retrieve items from the storage locations.

[0051] For another example, the item storage and retrieval equipment is a cargo platform that is realized by a hanging basket device and runs horizontally and vertically along the outside of the shelf. The cargo platform is provided with a telescopic device for pushing and pulling items to store and retrieve items in the storage location.

[0052] Another example is an item storage and retrieval device that is a loading platform that moves horizontally and vertically along the outside of a shelf via vertical rails. The vertical rails are located outside the shelf and can move horizontally along the shelf, while the loading platform is installed on the vertical rails and can move vertically along the vertical rails.

[0053] The target items can be items of the same size or items of different sizes. For example, items of the same size can be boxes for storing goods. The target items are generally placed on the shelf based on a fixed position. Figure 3A , showing a schematic diagram of the placement of bins on double-deep racking. Double-deep racking is a type of racking designed with two rows of storage space. Compared to traditional single-row racking, double-deep racking provides two access locations within each rack unit, accommodating two bins: a near bin 301 and a far bin 302, known as "sister bins." This design reduces the number of aisles in a given space by half, significantly increasing storage density.

[0054] The target end face is generally the end face of the target item opposite to the item storage and retrieval device, such as the target end face 303 of the near-position material box 301 and the far-position material box 302.

[0055] As an example, during operation, the object storage and retrieval device can periodically or in real time scan the target end face of the target object through the point cloud generation device to obtain the point cloud corresponding to the target end face; then, all point clouds are processed as follows:

[0056] Point cloud stitching: The collected point cloud data is stitched using the Random Sample Consensus (RANSAC) and Iterative Closest Point (ICP) algorithms to ensure data integrity and consistency.

[0057] Filtering and denoising: Use voxel filtering (VoxelGrid) to smooth the point cloud data, remove noise points, and improve data quality.

[0058] Feature extraction: Generate a feature grayscale image through normal vector calculation and feature extraction of the point cloud for subsequent image segmentation.

[0059] The point cloud data is then projected onto a two-dimensional plane. The z-axis normal vector of the point cloud is typically used as feature information to generate a feature grayscale image. The camera's intrinsic matrix, rotation matrix, and translation vector are then used to project the three-dimensional point cloud onto a two-dimensional plane to generate projection line segments. Finally, the feature grayscale image is segmented using an improved watershed algorithm to generate projection line segments.

[0060] As another example, first, a 3D projection plane region of the target end face is extracted from the point cloud using region growing and region merging algorithms. The point cloud data is then smoothed using methods such as voxel filtering to remove noise and improve data quality. Projection onto a 2D plane is then performed: the extracted 3D projection plane region is projected onto a 2D plane to generate a projection image. Edge detection is then performed on the projection image using a convolutional neural network (such as DexiNed) to generate an edge map. 2D line segments are then extracted from the edge map using methods such as the MCMLSD (Markov Chain Marginal Line Segment Detector) algorithm. Finally, the extracted 2D line segments are back-projected into 3D space to generate 3D line segments.

[0061] In some implementations of this embodiment, the execution entity may perform step 201 as follows:

[0062] The first step is to project 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.

[0063] As an example, suppose the linear equation of the target line is , the width of the target item is Taking the point cloud generating device as the origin, the point cloud data is solved based on the point cloud generating device coordinate system, and the point cloud belonging to the target end face of the material box is scanned. Then, traverse each point , 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 The distance to the straight line, .

[0064] In the second step, according to the projection coordinates of the projection points in the projection point set, the starting point and the end point of the projection line segment are determined from the projection points in the projection point set.

[0065] After obtaining the projection coordinates of the projection points in the projection point set, the starting point and end point of the projection segment can be determined based on the size of the coordinate values. For example, the projection point with the smallest coordinate value is used as the starting point of the projection segment, and the projection point with the largest coordinate value is used as the end point of the projection segment.

[0066] Third, the length of the projected line segment and the target point are determined according to the projected coordinates of the starting point and the projected coordinates of the end point.

[0067] After determining the projected coordinates of the start and end points, determine the length between the start and end points based on the projected coordinates of the start and end points, which is the length of the projected line segment. Based on the projected coordinates of the start and end points, determine the endpoints (start and end points), as well as the target point (midpoint at a preset ratio) in the middle.

[0068] In this implementation, a specific method for determining the projection line segment is provided, which improves the efficiency and accuracy of determining the projection line segment based on the projection process of the point cloud onto the target line.

[0069] In some implementations of this embodiment, the execution entity may perform the second step in the following manner:

[0070] 1. In response to the slope of the target straight line being a finite 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 abscissa of the projection point in the projection point set.

[0071] 2. In response to the slope of the target straight line being an infinite value, the start point and the end point of the projection line segment are determined from the projection points in the projection point set according to the ordinate of the projection point in the projection point set.

[0072] The slope of the projected line can be calculated based on the projection coordinates of the projection points (e.g., the starting point and the end point) in the determined projection line segment. If the slope of the target line is a finite value, that is, not infinite, the point with the smallest horizontal coordinate among the projected points is determined as the starting point, and the point with the largest horizontal coordinate among the projected points is determined as the end point.

[0073] If the slope of the target straight line is an infinite value, that is, infinity, 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 end point.

[0074] In this implementation, the determination methods of the starting point and the end point are further differentiated based on the slope of the projected line segment, thereby further improving the accuracy of the determined starting point and end point.

[0075] Step 202 : 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.

[0076] In this embodiment, the execution entity may 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.

[0077] Compare the length of the projected line segment and 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 obstructed during the scanning of the target end face; in response to the length difference indicating that the length difference between the two is large, determine that the point cloud generation device is obstructed during the scanning of the target end face.

[0078] Regardless of whether the boxes have the same size or different sizes, the length of the target end face may be stored in the execution subject or in the electronic device connected to the execution subject for communication.

[0079] Continue to refer Figure 3B , shows a schematic diagram of a point cloud generation device being obscured while scanning a target end face. Because point cloud generation device 305 on item access device 304 is obscured, the scanning process only yields a partial point cloud of the target end face. Consequently, the resulting projected line segment 306 is incomplete and significantly different in length from the target end face.

[0080] Continue to refer Figure 3C , shows a schematic diagram of the point cloud generation device scanning the target end face without being obstructed. Because the point cloud generation device is unobstructed, the scanning process obtains the entire point cloud of the target end face. As a result, the resulting projected line segment 306 is complete, with a minimal difference in length from the target end face.

[0081] In some implementations of this embodiment, the above-mentioned execution entity can perform the above-mentioned step 202 in the following manner: 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.

[0082] The preset difference range indicates that the difference is small and can be set according to actual conditions and is not limited here.

[0083] It can be understood that in response to the length difference between the length of the projection line segment and the length of the target end face not being within the preset difference range, it is determined that the point cloud generating device is blocked during the process of scanning the target end face.

[0084] In this implementation, based on the comparison of the length difference between the length of the projection line segment and the length of the target end face with the preset difference range, it is determined whether the point cloud generation device is blocked during the scanning process of the target end face, thereby improving the convenience and accuracy of the comparison process.

[0085] Step 203 : In response to the fact that the object is not blocked, the relative position of the object access device where the point cloud generating device is located relative to the target object is determined based on the target point of the projected line segment.

[0086] In this embodiment, the execution entity may determine the relative position of the item access device where the point cloud generating device is located relative to the target item based on the target point of the projection line segment in response to the fact that the device is not blocked.

[0087] If the point cloud generation device is not obstructed while scanning the target end face, the generated projected line segments can accurately represent the location of the target object. In this case, the relative position of the item access device where the point cloud generation device is located relative to the target object is determined based on the positions of the projected line segment's start and end points, target points such as the midpoint at a preset ratio in the middle, and landmark points such as the end and midpoint on the item access device.

[0088] Generally speaking, the size of the item placement area on the item storage and retrieval device is slightly larger than the size of the target item, and the target operating position for storing and retrieving items is the position directly in front of the target item, so that the item placement area is opposite to the target item, and the target item is pushed and pulled by the telescopic device to avoid the target item being unable to be pulled to the item placement area due to the misalignment between the item placement area and the target item, or causing the target item to be intertwined with the target storage position after being pushed out.

[0089] In some implementations of this embodiment, the target point is the midpoint. If the midpoint of the projected line segment is on the midline of the item placement area, it indicates that the item placement area is exactly opposite to the target item.

[0090] In this implementation, the execution entity may perform step 203 as follows: determining the relative position of the item access device relative to the target item 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.

[0091] Based on structural or aesthetic requirements, the point cloud generating device is often not set at the midpoint or centerline of the item placement area of ​​the item storage and retrieval device, and the relative position of the point cloud generating device relative to the center of the item storage and retrieval device is required; then, the relative position of the item storage and retrieval device relative to the target item is determined based on the midpoint position of the projection line segment and the relative position of the point cloud generating device relative to the center of the item storage and retrieval device.

[0092] In this implementation, the relative position of the item storage and retrieval device relative to the target item is determined by combining 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, thereby further improving the accuracy of the relative position of the item storage and retrieval device relative to the target item and its adaptability to actual conditions.

[0093] Continue to see Figure 4 , Figure 4 FIG4 is a schematic diagram 400 of an application scenario of the location determination method according to this embodiment. Figure 4 In the application scenario of intelligent warehousing, a plurality of shelves and a plurality of item storage and retrieval devices 401 are provided in the warehouse. Each item storage and retrieval device communicates with a server 402 to operate according to the control instructions of the server. During the operation of the item storage and retrieval device, the target end face of the target item is periodically scanned by a point cloud generation device 403 provided thereon, and a point cloud is generated and transmitted to the server. The server projects the point cloud generated by the point cloud generation device scanning the target end face 404 of the target item 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 scanning of the target end face; in response to not being blocked, the relative position of the item storage and retrieval device where the point cloud generation device is located relative to the target item is determined based on the target point of the projection line segment.

[0094] The method provided by the above-mentioned embodiments of the present application obtains a projection line segment by projecting a point cloud generated by scanning the target end face of the target object with a point cloud generating device; compares the length of the projection line segment with the length of the target end face to determine whether the point cloud generating device is blocked during the scanning of the target end face; in response to not being blocked, determines the relative position of the item access device where the point cloud generating device is located relative to the target object based on the target point of the projection line segment, thereby determining whether the point cloud generating device is blocked during the scanning of the target end face, and when it is clear that it is not blocked, determines the relative position of the item access device relative to the target object based on the projection line segment, thereby improving the efficiency and accuracy of determining the relative position.

[0095] In some implementations of this embodiment, continue to refer to Figure 3B and Figure 3C In the above-mentioned embodiment 200 and each implementation method thereof, 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 item storage and retrieval device at intervals along the running direction of the item storage and retrieval device.

[0096] To further illustrate the location information of the point cloud generation device on the item access device, please continue to refer to Figure 3D and Figure 3E .in, Figure 3D Schematic diagram of the structure of the article storage and retrieval device. The article storage and retrieval device 304 includes vertical rails 3041 and a cargo platform 3042. The vertical rails are located outside the shelf and can run horizontally along the shelf. The cargo platform is set on the vertical rails and can run vertically along the vertical rails.

[0097] Figure 3E The cargo platform 3042 includes a cargo carrying portion 1, a hook-shaped component 2, a first driving portion 3, a second driving portion and a controller.

[0098] The cargo section has a loading surface for carrying containers and is configured to move along the arrangement direction of the containers. A point cloud generation device is located on each side of the cargo section. The hook-shaped member can extend outward from the cargo section to hook a container to be removed from the shelf, or retract inward from the cargo section to pull the container toward the cargo section.

[0099] The first drive unit is configured to drive the hook member to extend and retract relative to the cargo carrying portion; the second drive unit is configured to drive the cargo carrying portion to move along the arrangement direction of the containers. A controller is signal-connected to the first drive unit, the second drive unit, and the point cloud generation device, and is configured to control the movement of the cargo carrying portion along the arrangement direction to align the container access device with the container, or to control the extension distance of the hook member toward the outside of the cargo carrying portion based on the position of the container relative to the container access device.

[0100] The hook-shaped member is extendable relative to the cargo loading section. A hooking structure that mates with the hook-shaped member is provided on the end of the container facing outward from the shelf (i.e., the end closest to the item access device along the hook-shaped member's extension and retraction direction). The hook-shaped member extends outward to below the hooking structure and then moves upward a certain distance to connect with the container, thereby pulling the container toward the cargo loading section.

[0101] Furthermore, the cargo loading section includes a frame 11 and a conveyor belt 12 rotatably mounted on the frame 11. The conveyor belt can drive the material box to move along the extension and contraction direction of the hook-shaped member to move the material box into or out of the cargo loading section. The surface of the conveyor belt constitutes a bearing surface for the material box.

[0102] In this implementation, the above execution entity may also perform the following operations:

[0103] First, in response to the main point cloud generating device being blocked during the process of scanning the target end face, the point cloud generated by the auxiliary point cloud generating device scanning the target end face is projected to obtain a projection line segment corresponding to the auxiliary point cloud generating device.

[0104] In this implementation, the projection process in this implementation can be performed with reference to the projection method of step 201 in the above embodiment 200, and will not be described in detail here.

[0105] Then, the length of the projection line segment corresponding to the auxiliary point cloud generating device is compared with the length of the target end face to determine whether the auxiliary point cloud generating device is blocked during the process of scanning the target end face.

[0106] In this implementation, the comparison process in this implementation can be performed with reference to the comparison method of step 202 in the above embodiment 200, which will not be described in detail here.

[0107] Finally, in response to being unobstructed, the relative position of the item access 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.

[0108] In this implementation, the determination process in this implementation can be performed with reference to the determination method of step 203 in the above embodiment 200, and will not be described in detail here.

[0109] In this implementation, two point cloud generating devices are set on the left and right sides of the item access device. When one of the point cloud generating devices is blocked, point cloud generation can be performed by the other point cloud generating device to determine the relative position of the item access device relative to the target item, further improving the flexibility and efficiency of the relative position determination process.

[0110] In some implementations of this embodiment, continue to refer to Figure 3B and Figure 3CThe 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 item access device at intervals along the running direction of the item access device.

[0111] In this implementation, the execution entity may perform steps 201-203 as follows:

[0112] First, the point clouds generated by the main point cloud generating device and the auxiliary point cloud generating device respectively scanning the target end face are projected to obtain the projection line segments corresponding to the main point cloud generating device and the auxiliary point cloud generating device respectively.

[0113] In this implementation, the projection method of step 201 in the above embodiment 200 can be referred to to execute 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, which will not be repeated here.

[0114] Then, the lengths of the projection 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 are compared 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.

[0115] In this implementation method, the comparison method of step 201 in the above-mentioned embodiment 200 can be referred to to execute 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 method, which will not be repeated here.

[0116] Finally, 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 access device with respect to the target item is determined based on the target point of the projection line segment corresponding to the unobstructed main point cloud generating device and / or the auxiliary point cloud generating device.

[0117] In this implementation method, the determination method of step 201 in the above-mentioned embodiment 200 can be referred to to execute the relative position determination process of 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 method, which will not be repeated here.

[0118] It should be noted that when the main point cloud generating device or the auxiliary point cloud generating device is not blocked, 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 unblocked main point cloud generating device or the auxiliary point cloud generating device; when the main point cloud generating device and the auxiliary point cloud generating device are not blocked, 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 or the auxiliary point cloud generating device, or the relative position of the item storage and access device with respect to the target item is determined respectively according to the target point of the projection line segment corresponding to the main point cloud generating device and the auxiliary point cloud generating device, and the final relative position of the item storage and access device with respect to the target item is determined according to the average value of the two relative positions obtained.

[0119] In this implementation, two point cloud generating devices are set on the left and right sides of the item storage and retrieval device. The point cloud of the target end face is generated simultaneously by the two point cloud generating devices to determine the relative position of the item storage and retrieval device with respect to the target item, thereby further improving the flexibility and efficiency of the relative position determination process.

[0120] In some implementations of this embodiment, the execution subject may further perform the following operations: controlling the operation of the item storage and retrieval device according to the relative position.

[0121] As an example, the above-mentioned execution entity can generate a control instruction for the item storage and retrieval device based on the relative position. The control instruction is intended to control the operation of the item operation device so that the item storage and retrieval device stops directly in front of the target item, and the item placement area on the item storage and retrieval device is opposite to the target item; the control instruction is sent to the item storage and retrieval device to control its operation.

[0122] In this implementation, the item storage and retrieval device can be controlled to operate accurately and efficiently based on the relative position.

[0123] Continue to refer Figure 5 , shows a schematic process 500 of another embodiment of a position determination method according to the present application, comprising the following steps:

[0124] Step 501 : Projecting a point cloud generated by a main point cloud generation device scanning a target end face of a target object to obtain a projection line segment corresponding to the main point cloud generation device.

[0125] Step 502 : Compare the length of the projection line segment corresponding to the main point cloud generating device with the length of the target end face to determine whether the main point cloud generating device is blocked during the scanning of the target end face.

[0126] Step 503 , in response to being unobstructed, determine the relative position of the item access device where the main point cloud generating device is located relative to the target item based on the target point of the projection line segment corresponding to the main point cloud generating device.

[0127] Step 504 : In response to the main point cloud generating device being blocked during scanning of the target end face, the point cloud generated by the auxiliary point cloud generating device scanning the target end face is projected to obtain a projection line segment corresponding to the auxiliary point cloud generating device.

[0128] Step 505 : Compare the length of the projection line segment corresponding to the auxiliary point cloud generating device with the length of the target end face to determine whether the auxiliary point cloud generating device is blocked during the process of scanning the target end face.

[0129] Step 506 , in response to the finding that the object is not blocked, the relative position of the object access device relative to the target object is determined based on the target point of the projection line segment corresponding to the auxiliary point cloud generating device.

[0130] It can be seen from this embodiment that Figure 2 Compared with the corresponding embodiments, the process 500 of the position determination method in this embodiment specifically illustrates 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.

[0131] Continue to refer Figure 6 As an implementation of the methods shown in the above figures, the present application provides an embodiment of a position determination device, which is similar to Figure 2 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0132] like Figure 6 As 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 object 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; a position determination unit 603, in response to not being blocked, determines the relative position of the item access device where the point cloud generation device is located relative to the target object based on the target point of the projection line segment.

[0133] In some implementations of this embodiment, the above-mentioned projection unit 601 is further configured to: project the point cloud generated by the point cloud generation device scanning the target end face onto the target straight line to obtain a projection point set; determine the starting point and 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; determine the length of the projection line segment and the target point according to the projection coordinates of the starting point and the projection coordinates of the end point.

[0134] In some implementations of this embodiment, the projection unit 601 is further configured to: in response to the slope of the target straight line being a finite value, determine the starting point and end point of the projection line segment from the projection points in the projection point set according to the horizontal coordinates of the projection points in the projection point set; in response to the slope of the target straight line being an infinite value, determine the starting point and end point of the projection line segment from the projection points in the projection point set according to the vertical coordinates of the projection points in the projection point set.

[0135] In some implementations of this embodiment, the above-mentioned 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 process of scanning the target end face.

[0136] In some implementations of this embodiment, the above-mentioned target point is the midpoint, and the above-mentioned position determination unit 603 is further configured to: determine the relative position of the item access device relative to the target item 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.

[0137] In some implementations of this embodiment, the above-mentioned point cloud generating device is the main point cloud generating device among the two point cloud generating devices, and the two point cloud generating devices are arranged at intervals on the item access device along the running direction of the item access device, and the above-mentioned projection unit 601 is also configured to: in response to the main point cloud generating device being blocked during the scanning of the target end face, project the point cloud generated by the auxiliary point cloud generating device scanning the target end face to obtain the projection line segment corresponding to the auxiliary point cloud generating device; the comparison unit 602 is also configured to compare the length of the projection line segment corresponding to the auxiliary point cloud generating device and the length of the target end face to determine whether the auxiliary point cloud generating device is blocked during the scanning of the target end face; the position determination unit 603 is also configured to determine the relative position of the item access device with respect to the target item according to the target point of the projection line segment corresponding to the auxiliary point cloud generating device in response to not being blocked.

[0138] In some implementations of this embodiment, 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 at intervals on the item access device along the running direction of the item access device, and the projection unit 601 is further configured to: project the point clouds generated by the main point cloud generation device and the auxiliary point cloud generation device respectively scanning the target end face to obtain the projection line segments corresponding to the main point cloud generation device and the auxiliary point cloud generation device respectively; and the 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 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 the 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 being not blocked, determine the relative position of the item access device relative to the target item based on the target points of the projection line segments corresponding to the main point cloud generation device and / or the auxiliary point cloud generation device that are not blocked.

[0139] In some implementations of this embodiment, the apparatus further includes: a control unit (not shown in the figure), configured to control the operation of the item storage and retrieval device according to the relative position.

[0140] In this embodiment, a projection unit in the position determination device projects a point cloud generated by a point cloud generation device scanning a target end face of a target object to obtain a projected line segment. A comparison unit compares the length of the projected line segment with the length of the target end face to determine whether the point cloud generation device was obstructed during scanning of the target end face. In response to the absence of obstruction, the position determination unit determines the relative position of the item access device, where the point cloud generation device is located, relative to the target object based on the target point of the projected line segment. This allows the determination of whether the point cloud generation device was obstructed during scanning of the target end face. If obstruction is confirmed, the relative position of the item access device relative to the target object is determined based on the projected line segment, thereby improving the efficiency and accuracy of relative position determination.

[0141] Reference below Figure 7 , which shows a device suitable for implementing the embodiments of the present application (for example Figure 1 FIG. 7 is a structural diagram of a computer system 700 including terminal devices 101, 102, 103 and a server 105. Figure 7 The device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0142] like Figure 7As shown, computer system 700 includes a processor (e.g., CPU, central processing unit) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of system 700 are also stored in RAM 703. Processor 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to bus 704.

[0143] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, mouse, and the like; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 708 including devices such as a hard disk; and a communication section 709 including a network interface card such as a LAN card or a modem. 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. Removable media 711, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 710 as needed, so that computer programs read from the media can be installed in the storage section 708 as needed.

[0144] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 709 and / or installed from a removable medium 711. When the computer program is executed by the processor 701, the above-mentioned functions defined in the method of the present application are performed.

[0145] It should be noted that the computer-readable medium in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0146] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the client computer, partially on the client computer, 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 cases involving a remote computer, the remote computer may be connected to the client computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0148] The units involved in the embodiments described in the present application can be implemented by software or by hardware. The described units can also be set in a processor. For example, they 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 units themselves under certain circumstances. 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 based on the target point of the projection line segment in response to being unobstructed."

[0149] As another aspect, the present application also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by the device, the computer device: projects the point cloud generated by the point cloud generation device scanning the target end face of the target object 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 scanning of the target end face; and in response to not being blocked, determines the relative position of the item access device where the point cloud generation device is located relative to the target object based on the target point of the projection line segment.

[0150] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for determining a position, comprising: Projecting a point cloud generated by a point cloud generation device on the item access device scanning a target end face of the target item to obtain a projected line segment, wherein the target end face is an end face of the target item relative to the item access device, the item access device further comprising a controller, a mobile drive unit, and a cargo carrying unit, the controller being in communication with the mobile drive unit and the point cloud generation device; comparing the length of the projection line segment with the length of the target end face in the running direction of the item access device to determine whether the point cloud generation device is blocked during scanning of the target end face; In response to being unobstructed, determining a relative position of the item access device relative to the target item based on the target point of the projected line segment; According to the relative position, the moving drive unit is controlled to drive the article storage and retrieval device to move along the article arrangement direction of the shelf to align the cargo carrying unit with the target article.

2. The method according to claim 1, wherein The projection point cloud generation device scans the target end surface of the target object to generate a point cloud, and obtains the projection line segments, including: Projecting the point cloud generated by scanning the target end face with the point cloud generating device onto the target straight line to obtain a set of projection points; 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; 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 start 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 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 Determining a relative position of an item access device where the point cloud generating device is located relative to the target item based on the target point of the projected line segment includes: The relative position of the item access 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 generating device relative to the center of the item access 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 among the two point cloud generating devices, and the two point cloud generating devices are arranged on the item access device at intervals along the running direction of the item access 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 a secondary 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 secondary 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 to determine 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 access 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 includes 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 generation device scans the target end surface of the target object to generate a point cloud, and obtains the projection line segments, including: Projecting the point clouds generated by the primary point cloud generating device and the secondary point cloud generating device respectively scanning the target end face to obtain projection line segments corresponding to the primary point cloud generating device and the secondary point cloud generating device respectively; and 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 with the length of the target end face to determine 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 finding that the object is not blocked, determining a relative position of the object access device where the point cloud generating device is located relative to the target object based on the target point of the projected line segment, including: 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 access device with respect to the target item is determined based on the target point of the projection line segment corresponding to the unobstructed main point cloud generating device and / or the auxiliary point cloud generating device.

8. A position determination device comprising: a projection unit configured to project a point cloud generated by a point cloud generation device on the item access device scanning a target end face of a target item to obtain a projection line segment, wherein the target end face is an end face of the target item relative to the item access device, the item access device further comprising a controller, a mobile drive unit, and a cargo carrying unit, the controller being communicatively connected to the mobile drive unit and the point cloud generation device; a comparing unit configured to compare the length of the projection line segment with the length of the target end face in the running direction of the item access device, and determine whether the point cloud generating device is blocked during scanning of the target end face; a position determination unit configured to determine a relative position of the item access device relative to the target item based on the target point of the projected line segment in response to the target item being unobstructed; The control unit is configured to control the movement drive unit to drive the article storage and retrieval device to move along the article arrangement direction of the shelf according to the relative position, so as to align the cargo carrying unit with the target article.

9. 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 7 is implemented.

10. 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 7.

11. 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 7.

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