Position identification method and device, computer equipment and storage medium

Abstract

The invention relates to a position identification method and device, computer equipment, a storage medium and a computer program product, and can be applied to the technical field of computers. The method comprises the following steps: acquiring a to-be-recognized image; the to-be-recognized image comprises a to-be-recognized object, and the to-be-recognized object is provided with an identification code; identifying an identification code in the to-be-identified image to obtain identification code information of the to-be-identified object; determining the current position of the to-be-identified object according to the identification code information; identifying the current position and the target position of the to-be-identified object to obtain a position identification result of the to-be-identified object; the position recognition result is used for representing whether the to-be-recognized object is located in the target position. By adopting the method, the efficiency of position identification can be improved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and particularly to a location recognition method, device, computer device, storage medium, and computer program product. Background Art

[0002] With the development of intelligent technologies, location recognition has important applications in many fields. By recognizing the location of objects, their exact positions in space can be understood, which is crucial for resource optimization, path planning, inventory management, etc. Therefore, how to efficiently perform location recognition has become an important research direction.

[0003] Traditional technologies usually perform location recognition by means of manual visual observation; however, performing location recognition in this way requires a lot of manual processing time, resulting in low efficiency of location recognition. Summary of the Invention

[0004] Based on this, it is necessary to provide a location recognition method, device, computer device, computer-readable storage medium, and computer program product that can improve the efficiency of location recognition for the above technical problems.

[0005] In a first aspect, this application provides a location recognition method. The method includes:

[0006] Obtain an image to be recognized; the image to be recognized includes an object to be recognized, and a recognition code is set on the object to be recognized;

[0007] Recognize the recognition code in the image to be recognized to obtain the recognition code information of the object to be recognized;

[0008] Determine the current position of the object to be recognized according to the recognition code information;

[0009] Recognize the current position and the target position of the object to be recognized to obtain a location recognition result of the object to be recognized; the location recognition result is used to indicate whether the object to be recognized is within the target position.

[0010] In one embodiment, the determining the current position of the object to be recognized according to the recognition code information includes:

[0011] Determine the coordinate information of the recognition code according to the recognition code information;

[0012] Determine the current position of the object to be recognized according to the coordinate information of the recognition code.

[0013] In one embodiment, determining the current position of the object to be recognized according to the coordinate information of the identification code includes:

[0014] Performing fitting processing on the position boundary of the object to be recognized according to the coordinate information of the identification code to obtain the fitted position boundary of the object to be recognized;

[0015] Identifying the fitted position boundary as the current position of the object to be recognized.

[0016] In one embodiment, recognizing the current position and the target position of the object to be recognized to obtain the position recognition result of the object to be recognized includes:

[0017] Determining the vertex positions of the object to be recognized according to the fitted position boundary;

[0018] Recognizing the vertex positions of the object to be recognized and the target position to obtain the position recognition result.

[0019] In one embodiment, recognizing the vertex positions of the object to be recognized and the target position to obtain the position recognition result includes:

[0020] When it is recognized that all the vertex positions of the object to be recognized are within the target position, confirming that the object to be recognized is within the target position;

[0021] When it is recognized that not all the vertex positions of the object to be recognized are within the target position, confirming that the object to be recognized is not within the target position.

[0022] In one embodiment, after recognizing the current position and the target position of the object to be recognized to obtain the position recognition result of the object to be recognized, the method further includes:

[0023] When the position recognition result indicates that the object to be recognized is within the target position, obtaining the historical position recognition result corresponding to the recognized image; the recognized image is an image of the object to be recognized captured within a preset time period before the shooting time of the image to be recognized;

[0024] When the historical position recognition results corresponding to the recognized images all indicate that the object to be recognized is within the target position, confirming that the object to be recognized is successfully within the target position.

[0025] In one embodiment, after confirming that the object to be recognized is successfully within the target position, the method further includes:

[0026] Determine the identifier of the object to be recognized according to the identifier code information of the object to be recognized;

[0027] Determine the transportation position of the object to be recognized according to the identifier of the object to be recognized;

[0028] Send the transportation position to the transportation device; the transportation device is used to transport the object to be recognized to the transportation position.

[0029] In a second aspect, the present application also provides a position recognition device. The device includes:

[0030] An image acquisition module, configured to acquire an image to be recognized; the image to be recognized includes an object to be recognized, and an identifier code is set on the object to be recognized;

[0031] An image recognition module, configured to recognize the identifier code in the image to be recognized to obtain the identifier code information of the object to be recognized;

[0032] A position determination module, configured to determine the current position of the object to be recognized according to the identifier code information;

[0033] A target recognition module, configured to recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is located within the target position.

[0034] In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] Acquire an image to be recognized; the image to be recognized includes an object to be recognized, and an identifier code is set on the object to be recognized;

[0036] Recognize the identifier code in the image to be recognized to obtain the identifier code information of the object to be recognized;

[0037] Determine the current position of the object to be recognized according to the identifier code information;

[0038] Recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is located within the target position.

[0039] In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] Obtain an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized;

[0041] Recognize the identification code in the image to be recognized to obtain the identification code information of the object to be recognized;

[0042] Determine the current position of the object to be recognized according to the identification code information;

[0043] Recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is within the target position.

[0044] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0045] Obtain an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized;

[0046] Recognize the identification code in the image to be recognized to obtain the identification code information of the object to be recognized;

[0047] Determine the current position of the object to be recognized according to the identification code information;

[0048] Recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is within the target position.

[0049] The above-mentioned location recognition method, device, computer equipment, storage medium and computer program product obtain an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized; the identification code in the image to be recognized is recognized to obtain the identification code information of the object to be recognized; according to the identification code information, the current position of the object to be recognized is determined; the current position and the target position of the object to be recognized are recognized to obtain the location recognition result of the object to be recognized; the location recognition result is used to indicate whether the object to be recognized is within the target position. This solution recognizes the identification code set on the object to be recognized in the image to be recognized to obtain the identification code information, determines the current position of the object to be recognized according to the identification code information, recognizes the current position and the target position of the object to be recognized, and obtains the location recognition result indicating whether the object to be recognized is within the target position; in this way, this solution automatically recognizes whether the object is within the target position through the identification code and location information, which is beneficial to improving the efficiency and accuracy of location recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0051] Figure 1 It is a schematic flowchart of the location recognition method in an embodiment;

[0052] Figure 2 It is a schematic flowchart of the steps for determining the current position in an embodiment;

[0053] Figure 3 It is a schematic flowchart of the steps for determining the current position in another embodiment;

[0054] Figure 4 It is a schematic flowchart of the steps for determining the location recognition result in an embodiment;

[0055] Figure 5 It is a schematic diagram of the image to be recognized in an embodiment;

[0056] Figure 6 It is a structural block diagram of the location recognition device in an embodiment;

[0057] Figure 7 It is an internal structure diagram of the computer equipment in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] In order to make the objectives, technical solutions, and advantages of this application clearer, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0059] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0060] Currently, cage trucks are used for cargo transfer in the transfer yard. Due to their certain weight, the transfer efficiency within the yard is not high. Therefore, AGVs (Automated Guided Vehicles) can be introduced to transfer cage trucks within the yard. By issuing tasks in the task management system of the site, and then the AGVs will transport the specified cage trucks from the specified starting point to the specified ending point, thereby completing these tasks. The process of issuing tasks to AGVs can be manual or automatic. The core points of a set of automated AGV call system for transferring cage trucks provided by this application are as follows: 1. Cage truck ID (identification number) recognition method based on scanning codes; 2. Cage truck in-place recognition method based on the scanning result on the top of the cage truck; 3. AGV call method based on the state machine; 4. Cage truck recognition method.

[0061] Based on this, this application provides a position recognition method, device, computer device, storage medium, and computer program product. First, the position recognition method provided by this application will be described.

[0062] In an exemplary embodiment, as Figure 1 shown, a position recognition method is provided. In this embodiment, it is exemplified that this method is applied to a terminal. It can be understood that this method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. Among them, the terminal can be but is not limited to various personal computers, laptop computers, smart phones, tablet computers, etc.; the server can be implemented by an independent server or a server cluster composed of multiple servers. In this embodiment, this method includes the following steps:

[0063] Step S101, obtain an image to be recognized; the image to be recognized includes an object to be recognized, and a recognition code is set on the object to be recognized.

[0064] Among them, the image to be recognized can be an image to be recognized captured by a camera. For example, the image to be recognized can be an image captured by a camera on the top of a storage location, and the image contains the object to be recognized.

[0065] Among them, the object to be recognized can be an object whose position needs to be recognized. For example, the object to be recognized can be a cage cart. For instance, in a logistics scenario, the object to be recognized can be a cage cart applied to the logistics scenario.

[0066] Among them, the identification code can be a bar code (such as a one-dimensional code). For example, the identification code can be a one-dimensional code pasted on the top of the cage cart.

[0067] Optionally, the terminal obtains image data of the top of the storage location through devices such as a camera. The image data contains the object to be recognized (such as a cage cart) whose position needs to be recognized.

[0068] Step S102: Recognize the identification code in the image to be recognized to obtain the identification code information of the object to be recognized.

[0069] Among them, the identification code information can be the number corresponding to each identification code obtained through recognition.

[0070] Optionally, the terminal processes the image data, recognizes the identification code set on the surface of the object to be recognized, and parses the recognized identification code to obtain information such as the number as the identification code information of the object to be recognized.

[0071] Step S103: Determine the current position of the object to be recognized according to the identification code information.

[0072] Among them, the current position can be the contour position of the object to be recognized in the image to be recognized.

[0073] Optionally, the terminal recognizes the contour position of the object to be recognized in the image to be recognized according to the position information of multiple obtained identification codes as the current position of the object to be recognized.

[0074] Step S104: Recognize the current position and the target position of the object to be recognized to obtain the position recognition result of the object to be recognized. The position recognition result is used to indicate whether the object to be recognized is within the target position.

[0075] Among them, the target position can be the target position area where the object to be recognized needs to be located. For example, the target position can be a storage location.

[0076] Among them, the position recognition result can be used to indicate whether the cage cart has reached the target position.

[0077] Optionally, the terminal reads the preset target position of the object to be recognized from the database, matches the calculated current position with the target position, and determines whether the current position coincides with the target position. If the current position matches the target position, it indicates that the object to be recognized has reached the target position, and the position recognition result of the object to be recognized is output as the object to be recognized being within the target position. If not, the position recognition result of the object to be recognized is output as the object to be recognized not being within the target position.

[0078] In the above position recognition method, an image to be recognized is obtained; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized; the identification code in the image to be recognized is recognized to obtain the identification code information of the object to be recognized; according to the identification code information, the current position of the object to be recognized is determined; the current position and the target position of the object to be recognized are recognized to obtain the position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is within the target position. This solution recognizes the identification code set on the object to be recognized in the image to be recognized to obtain the identification code information, determines the current position of the object to be recognized according to the identification code information, and recognizes the current position and the target position of the object to be recognized to obtain the position recognition result of whether the object to be recognized is within the target position; in this way, this solution automatically recognizes whether the object is within the target position through the identification code and position information, which is beneficial to improving the efficiency and accuracy of position recognition.

[0079] In an exemplary embodiment, as Figure 2 shown, in step S103, according to the identification code information, determining the current position of the object to be recognized specifically includes the following content:

[0080] Step S201, according to the identification code information, determine the coordinate information of the identification code;

[0081] Step S202, according to the coordinate information of the identification code, determine the current position of the object to be recognized.

[0082] Among them, the coordinate information of the identification code can be the pixel coordinate position of each identification code in the image to be recognized obtained through image recognition.

[0083] Optionally, the terminal recognizes each identification code from the image to be recognized; for each recognized identification code, according to the corresponding identification code information, obtain the identification code information belonging to the same cage car; for each cage car, according to the pixel coordinate position of the corresponding identification code in the image to be recognized, determine the coordinate information of the identification code; according to the distribution law of the coordinate information of the identification codes of the same cage car, fit the contour shape or bounding box of the cage car in the image to be recognized; for example, the long-axis distribution of the identification code coordinate points in the image to be recognized can be analyzed to fit a rectangular contour matching the storage location; or a deep learning network can also be used to directly recognize the contour of the cage car with the one-dimensional code coordinate points as the input; no matter what algorithm is used, the position of the cage car in the image to be recognized can be calculated according to the coordinate information of the identification code; the calculated contour or bounding box position of the cage car is used as the current position of the object to be recognized, the cage car.

[0084] The technical solution provided in this embodiment automatically predicts the current position of the object to be recognized through the coordinate information of the identification code, which is beneficial to efficiently and accurately determine the current position of the object to be recognized, thereby improving the efficiency and accuracy of position recognition.

[0085] In an exemplary embodiment, as Figure 3 shown, determining the current position of the object to be recognized according to the coordinate information of the identification code specifically includes the following:

[0086] Step S301: Perform fitting processing on the position boundary of the object to be recognized according to the coordinate information of the identification code to obtain the fitted position boundary of the object to be recognized;

[0087] Step S302: Identify the fitted position boundary as the current position of the object to be recognized.

[0088] Among them, the fitting processing of the position boundary may be to fit the contour or boundary shape of the object to be recognized in the image to be recognized according to the distribution law of the identification code coordinate points. For example, it is the processing of fitting a rectangular contour matching the storage location by using the long-axis distribution of the one-dimensional code coordinates.

[0089] Among them, the fitted position boundary may be the contour or boundary shape of the cage car in the image to be recognized calculated through the fitting processing of the position boundary. For example, the fitted position boundary may be a rectangular contour (rectangular frame).

[0090] Optionally, the terminal performs fitting processing on the position boundary of the object to be recognized according to the distribution law of the coordinates of the identification code. For example, it may use the long-axis distribution of the identification code coordinate points in the image to fit a contour matching the shape of the object to be recognized as the fitted position boundary of the object to be recognized; and use the fitted rectangular contour as the current position of the object to be recognized in the image to be recognized.

[0091] The technical solution provided in this embodiment fits the position boundary shape of the object to be recognized through the identification code coordinates and uses the fitted position boundary as the current position of the object to be recognized, which is beneficial to efficiently and accurately determine the current position of the object to be recognized, thereby improving the efficiency and accuracy of position recognition.

[0092] In an exemplary embodiment, as Figure 4 shown, in step S104, identify the current position and the target position of the object to be recognized to obtain the position recognition result of the object to be recognized, which specifically includes the following:

[0093] Step S401: Determine the vertex position of the object to be recognized according to the fitted position boundary;

[0094] Step S402: Identify the vertex positions and target positions of the object to be recognized to obtain a position recognition result.

[0095] Among them, the vertex positions can be the coordinate positions of each vertex in the fitting position boundary (such as a rectangular contour) in the image to be recognized.

[0096] Optionally, the terminal identifies the coordinate positions of each vertex in the fitting position boundary in the image to be recognized as the vertex positions of the object to be recognized; matches and identifies the vertex positions of the object to be recognized with the target positions to determine whether the vertex positions match the target positions, and obtains a position recognition result.

[0097] The technical solution provided in this embodiment first determines the vertex positions of the object to be recognized, and then determines the position recognition result through the recognition of the vertex positions and the target positions, enabling position recognition using fewer but more accurate vertex positions, which is conducive to further improving the efficiency and accuracy of position recognition.

[0098] In an exemplary embodiment, identifying the vertex positions and target positions of the object to be recognized to obtain a position recognition result specifically includes the following: when it is recognized that all vertex positions of the object to be recognized are within the target position, confirm that the object to be recognized is within the target position; when it is recognized that not all vertex positions of the object to be recognized are within the target position, confirm that the object to be recognized is not within the target position.

[0099] Optionally, the terminal determines whether all vertex positions of the object to be recognized are within the range of the target position; when it is recognized that all vertex positions of the object to be recognized are within the range of the target position, confirm that the position recognition result of the object to be recognized is that the object to be recognized is within the range of the target position; when it is recognized that not all vertex positions of the object to be recognized are within the range of the target position, confirm that the position recognition result of the object to be recognized is that the object to be recognized is not within the range of the target position.

[0100] The technical solution provided in this embodiment directly determines the position recognition result based on whether the vertex positions are within the range of the target position, which is conducive to further improving the efficiency of position recognition.

[0101] In an exemplary embodiment, after performing the above step S104 to identify the current position and the target position of the object to be recognized and obtaining the position recognition result of the object to be recognized, the following further includes: when the position recognition result indicates that the object to be recognized is within the target position, obtaining the historical position recognition result corresponding to the recognized image; the recognized image is an image of the object to be recognized taken within a preset time period before the shooting time of the image to be recognized; when the historical position recognition results corresponding to the recognized images all indicate that the object to be recognized is within the target position, it is confirmed that the object to be recognized is successfully within the target position.

[0102] Among them, the recognized image can be an image taken within a preset time period before the image to be recognized.

[0103] Among them, the preset time period can be a preset time period.

[0104] Among them, the historical position recognition result can be the result obtained by performing position recognition on the recognized image, and is used to indicate whether the object to be recognized is within the target position.

[0105] Optionally, the terminal determines whether the position recognition result indicates that the object to be recognized is within the target position; when the position recognition result indicates that the object to be recognized is within the target position, obtaining the recognized image taken within a preset time period before the shooting time of the image to be recognized; performing position recognition on the recognized image to obtain the corresponding historical position recognition result; determining whether the historical position recognition results all indicate that the object to be recognized is within the target position; if the historical position recognition results all indicate that the object to be recognized is within the target position, it is confirmed that the object to be recognized is successfully within the target position. For example, this indicates that the object to be recognized has successfully stayed within the range of the target position.

[0106] The technical solution provided in this embodiment, based on the fact that the single position recognition result indicates that the object to be recognized is within the target position, combines the historical position recognition results in the past period of time for verification. If the historical results also all indicate that it is within the target position, then it is finally confirmed that the object to be recognized is successfully within or staying at the target position, thereby improving the accuracy of position recognition.

[0107] In an exemplary embodiment, after confirming that the object to be recognized is successfully within the target position, the following further includes: determining the identifier of the object to be recognized according to the identifier information of the object to be recognized; determining the transportation position of the object to be recognized according to the identifier of the object to be recognized; sending the transportation position to the transportation device; the transportation device is used to transport the object to be recognized to the transportation position.

[0108] Among them, the identifier of the object to be recognized can be the unique mark of the object to be recognized, such as the ID (identification number) of the cage car.

[0109] Among them, the transportation position can be the target position where the object to be recognized needs to be transported to.

[0110] Among them, the transportation device can be a device for transporting the object to be recognized, such as an AGV (Automated Guided Vehicle).

[0111] Optionally, the terminal determines the unique identifier of the object to be recognized according to the identification code information on the object to be recognized; according to the identified identifier of the object to be recognized, queries and determines the next transportation position corresponding to the object to be recognized from the system; sends the determined transportation position to the transportation device, so that the transportation device autonomously navigates and drives to the location where the object to be recognized is located according to the received transportation position, grabs and loads the object to be recognized onto the vehicle, drives and transports the object to be recognized to the transportation position, and unloads the object to be recognized at the transportation position.

[0112] The technical solution provided in this embodiment determines the identifier of the object to be recognized through the identification code information, and queries the corresponding next transportation task, completing the automated location recognition and transportation process, which is beneficial to improving the transportation efficiency.

[0113] The following uses an embodiment to illustrate the location recognition method provided in this application. This embodiment takes the application of this method to a terminal as an example for illustration. The main steps include:

[0114] First step, the terminal acquires the image to be recognized; the image to be recognized includes the object to be recognized, and an identification code is set on the object to be recognized.

[0115] Second step, the terminal recognizes the identification code in the image to be recognized to obtain the identification code information of the object to be recognized.

[0116] Third step, the terminal determines the coordinate information of the identification code according to the identification code information; according to the coordinate information of the identification code, performs fitting processing on the position boundary of the object to be recognized to obtain the fitted position boundary of the object to be recognized; identifies the fitted position boundary as the current position of the object to be recognized.

[0117] Fourth step, the terminal determines the vertex positions of the object to be recognized according to the fitted position boundary; in the case where it is recognized that all the vertex positions of the object to be recognized are within the target position, it is confirmed that the object to be recognized is within the target position; in the case where it is recognized that not all the vertex positions of the object to be recognized are within the target position, it is confirmed that the object to be recognized is not within the target position.

[0118] In the fifth step, when the position recognition result indicates that the object to be recognized is within the target position, the terminal obtains the historical position recognition result corresponding to the recognized image; the recognized image is an image of the object to be recognized taken within a preset time period before the shooting time of the image to be recognized; when the historical position recognition results corresponding to the recognized images all indicate that the object to be recognized is within the target position, it is confirmed that the object to be recognized is successfully within the target position.

[0119] In the sixth step, the terminal determines the identifier of the object to be recognized according to the identifier information of the object to be recognized; determines the transportation position of the object to be recognized according to the identifier of the object to be recognized; and sends the transportation position to the transportation device; the transportation device is used to transport the object to be recognized to the transportation position.

[0120] Among them, the position recognition result is used to indicate whether the object to be recognized is within the target position.

[0121] The technical solution provided in this embodiment identifies the identifier code set on the object to be recognized in the image to be recognized to obtain the identifier information, determines the current position of the object to be recognized according to the identifier information, recognizes the current position and the target position of the object to be recognized, and obtains the position recognition result indicating whether the object to be recognized is within the target position; in this way, this solution automatically identifies whether the object is within the target position through the identifier code and the position information, which is beneficial to improving the efficiency and accuracy of position recognition.

[0122] The following uses an application example to illustrate the position recognition method provided in this application. This application example takes the application of this method to a terminal as an example, and the main steps include:

[0123] In the first step, the terminal obtains the ID of the cage truck through a scanner.

[0124] Among them, an industrial barcode scanner or a fish-eye industrial camera can be installed on the top of the storage location (specifically depending on the installable height, because there may be a steel platform on the site, resulting in a relatively low first floor, possibly within 2.5m, in which case it is suitable to install a fish-eye industrial camera to be able to capture the entire top of the cage truck), and a set of laser scanners is installed to be used as a trigger device for the barcode scanner or the fish-eye industrial camera. When the laser scanner on the top detects that a cage truck is coming, it triggers the barcode scanner to obtain the ID of the cage truck (the information of the ID can include the specific coordinates of the one-dimensional code).

[0125] In the second step, when the cage truck is pushed into the storage location, the terminal sends a trigger signal according to the detected information through the laser scanner to trigger the barcode scanner to work. The barcode scanner obtains an image (image to be recognized) according to the obtained signal, decodes the one-dimensional code in the image, and outputs the coordinates of the one-dimensional code and the actual content of the one-dimensional code.

[0126] In the third step, the terminal obtains the intercepted image, the coordinates of the one-dimensional code, and the specific recognition result through the barcode scanner.

[0127] In the fourth step, after the terminal obtains the result and coordinates of the one-dimensional code, it analyzes the coordinates to determine the preliminary posture of the cage cart, which can be determined by multiple one-dimensional codes (refer to Figure 5 , a circle of one-dimensional codes can be pre-pasted on the top of the cage cart. The top of the cage cart is a rectangular shape and 7 one-dimensional codes can be pasted). When the rectangle approximately formed by the long axes of multiple one-dimensional codes is basically similar to the area calibrated by the storage location, it can be determined that the cage cart is basically in place.

[0128] Among them, refer to Figure 5 , Figure 5 The image to be recognized in

[0129] contains the object to be recognized (cage cart), and 7 identification codes are pasted around the top of the object to be recognized.

[0130] In the fifth step, the terminal inputs the image into the cage cart vertex recognition network (such as RTMPose, a real-time key point detection model) to determine the vertices at the top of the cage cart, and then determines whether the vertices are within the area calibrated by the storage location; it is determined that the cage cart has not moved through multiple images, thus determining that the cage cart is in place.

[0131] For example, the barcode scanner obtains the image according to the acquired signal and decodes the one-dimensional code in the image to obtain the information of the one-dimensional code, and sends the information of the one-dimensional code to the terminal. The terminal obtains the information of the one-dimensional code sent by the barcode scanner; for the same cage cart, the information of the one-dimensional code is the same (with the same ID), so it can be determined whether the information of the acquired one-dimensional code belongs to the one-dimensional code of the same cage cart or multiple cage carts; after the terminal recognizes the information of the one-dimensional code, it can recognize the coordinates of the one-dimensional code of the same cage cart; according to the coordinates of the one-dimensional code of the same cage cart, the actual posture of the cage cart can be determined. For example, a rectangular frame of the cage cart is fitted through the coordinates of the one-dimensional code; according to the vertex coordinates of the rectangular frame of the cage cart, it is determined whether the cage cart is located in the storage location area; through multiple frames of images, the time when the cage cart is in the storage location is recognized. If the time is greater than the preset time threshold, it means that the cage cart has been successfully stored in the warehouse; subsequently, through the system that calls the AGV, according to the recognized cage cart ID, the cage cart is transported to the target location.

[0132] The technical solution provided by this application example automatically identifies whether an object is within the target location through the identification code and location information, which is beneficial to improving the efficiency and accuracy of location recognition.

[0133] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear indication in this document, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0134] Based on the same inventive concept, an embodiment of the present application also provides a position recognition device for implementing the above-mentioned position recognition method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the position recognition device provided below can refer to the limitations on the position recognition method in the above text, and will not be repeated here.

[0135] In an exemplary embodiment, as Figure 6 shown, a position recognition device is provided. The device 600 may include:

[0136] An image acquisition module 601, configured to acquire an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized;

[0137] An image recognition module 602, configured to recognize the identification code in the image to be recognized to obtain the identification code information of the object to be recognized;

[0138] A position determination module 603, configured to determine the current position of the object to be recognized according to the identification code information;

[0139] A target recognition module 604, configured to recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is located within the target position.

[0140] In an exemplary embodiment, the position determination module 603 is further configured to determine the coordinate information of the identification code according to the identification code information; and determine the current position of the object to be recognized according to the coordinate information of the identification code.

[0141] In an exemplary embodiment, the position determination module 603 is further configured to perform fitting processing on the position boundary of the object to be recognized according to the coordinate information of the identification code to obtain a fitted position boundary of the object to be recognized; and recognize the fitted position boundary as the current position of the object to be recognized.

[0142] In an exemplary embodiment, the target recognition module 604 is further configured to determine the vertex positions of the object to be recognized according to the fitted position boundaries; recognize the vertex positions and the target positions of the object to be recognized to obtain a position recognition result.

[0143] In an exemplary embodiment, the target recognition module 604 is further configured to confirm that the object to be recognized is located within the target position when it is recognized that all the vertex positions of the object to be recognized are within the target position; and confirm that the object to be recognized is not located within the target position when it is recognized that not all the vertex positions of the object to be recognized are within the target position.

[0144] In an exemplary embodiment, the apparatus 600 further includes: a result acquisition module, configured to acquire the historical position recognition result corresponding to the recognized image when the position recognition result indicates that the object to be recognized is located within the target position; the recognized image is an image of the object to be recognized captured within a preset time period before the shooting time of the image to be recognized; and confirm that the object to be recognized is successfully located within the target position when all the historical position recognition results corresponding to the recognized images indicate that the object to be recognized is located within the target position.

[0145] In an exemplary embodiment, the apparatus 600 further includes: a position sending module, configured to determine the identifier of the object to be recognized according to the identification code information of the object to be recognized; determine the transportation position of the object to be recognized according to the identifier of the object to be recognized; and send the transportation position to the transportation device; the transportation device is configured to transport the object to be recognized to the transportation position.

[0146] Each module in the above position recognition apparatus can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or be independent of the processor, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0147] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 7As shown in the figure. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a location recognition method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0148] Those skilled in the art can understand that Figure 7 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0149] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0150] In an exemplary embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0151] In an exemplary embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps in the above method embodiments are implemented.

[0152] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0153] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0154] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A position recognition method, characterized in that, The method includes: Obtain an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized; Recognize the identification code in the image to be recognized to obtain the identification code information of the object to be recognized; Determine the current position of the object to be recognized according to the identification code information; Recognize the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is within the target position.

2. The method according to claim 1, characterized in that The determining the current position of the object to be recognized according to the identification code information includes: Determine the coordinate information of the identification code according to the identification code information; Determine the current position of the object to be recognized according to the coordinate information of the identification code.

3. The method according to claim 2, characterized in that, The determining the current position of the object to be recognized according to the coordinate information of the identification code includes: Perform fitting processing on the position boundary of the object to be recognized according to the coordinate information of the identification code to obtain a fitted position boundary of the object to be recognized; Identify the fitted position boundary as the current position of the object to be recognized.

4. The method according to claim 3, characterized in that, The recognizing the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized includes: Determine the vertex positions of the object to be recognized according to the fitted position boundary; Recognize the vertex positions of the object to be recognized and the target position to obtain the position recognition result.

5. The method according to claim 4, wherein The recognizing the vertex positions of the object to be recognized and the target position to obtain the position recognition result includes: When it is recognized that all vertex positions of the object to be recognized are within the target position, confirm that the object to be recognized is within the target position; When it is recognized that not all vertex positions of the object to be recognized are within the target position, confirm that the object to be recognized is not within the target position.

6. The method according to claim 1, wherein After recognizing the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized, the method further includes: When the position recognition result indicates that the object to be recognized is within the target position, obtain the historical position recognition result corresponding to the recognized image; the recognized image is an image of the object to be recognized taken within a preset time period before the shooting time of the image to be recognized; When the historical position recognition results corresponding to the recognized images all indicate that the object to be recognized is within the target position, confirm that the object to be recognized is successfully within the target position.

7. The method according to claim 6, characterized in that After confirming that the object to be recognized is successfully within the target position, the method further includes: Determine the identification of the object to be recognized according to the identification code information of the object to be recognized; Determine the transportation position of the object to be recognized according to the identification of the object to be recognized; Send the transportation position to a transportation device; the transportation device is used to transport the object to be recognized to the transportation position.

8. A position recognition device, characterized in that, The device includes: An image acquisition module for acquiring an image to be recognized; the image to be recognized includes an object to be recognized, and an identification code is set on the object to be recognized; An image recognition module for recognizing the identification code in the image to be recognized to obtain the identification code information of the object to be recognized; A position determination module for determining the current position of the object to be recognized according to the identification code information; A target recognition module for recognizing the current position and the target position of the object to be recognized to obtain a position recognition result of the object to be recognized; the position recognition result is used to indicate whether the object to be recognized is located within the target position.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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