Information scanning method and device and scanning equipment

Abstract

The invention provides an information scanning method and device and scanning equipment, and relates to the technical field of information scanning, and the method comprises the steps: responding to an instruction which is sent by a user and indicates that the scanning equipment is transferred from a first scanning area to a second scanning area; determining a target path from a first parking point of the first scanning area to a second parking point of the second scanning area; and automatically controlling the scanning equipment to start from the first parking point after scanning the information of the goods in the first scanning area, and driving to the second parking point according to the target path, so that the scanning equipment can scan the information of the goods in the second scanning area.

Description

Technical Field

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

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

[0003] In related technologies, when multiple yards contain cargo requiring scanning, scanning equipment can only automatically scan cargo in one yard. For example, after a scanning device has finished scanning cargo in one yard, if another yard needs to be scanned, the scanning device must be manually moved to the other yard so that it can scan the cargo there. This manual movement of the scanning device consumes a significant amount of time, resulting in low cargo scanning efficiency.

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

[0005] According to one aspect of an embodiment of the present disclosure, a method for scanning information is provided, comprising: determining a target path from a first parking point in the first scanning area to a second parking point in the second scanning area in response to an instruction issued by a user instructing a scanning device to move from a first scanning area to a second scanning area; and automatically controlling the scanning device to depart from the first parking point after scanning information of goods in the first scanning area and travel to the second parking point along the target path, so that the scanning device scans information of goods in the second scanning area.

[0006] In some embodiments, the instruction is received after the scanning device scans the information of the goods in the first scanning area.

[0007] In some embodiments, the instruction is received after the scanning device arrives at the first parking point.

[0008] In some embodiments, the instruction further instructs the scanning device to start scanning information of the goods in the first scanning area.

[0009] In some embodiments, the first parking point is a parking point that the scanning device needs to arrive at by default after scanning the information of the goods in the first scanning area.

[0010] In some embodiments, the second parking point is a default parking point that the scanning device needs to reach before scanning the information of the goods in the second scanning area.

[0011] In some embodiments, the second parking point is a parking point in the second scanning area that is closest to the first parking point.

[0012] In some embodiments, the scanning device includes a first vehicle body, a second vehicle body, and an arm connecting the first vehicle body and the second vehicle body. The method also includes: when the scanning device is traveling along the target path, detecting whether there is an obstacle in the side area of ​​at least one of the first vehicle body and the second vehicle body, the side area including at least one of the front area, the rear area, the left area and the right area; if the obstacle exists, controlling the scanning device to stop traveling and reporting the location of the obstacle.

[0013] In some embodiments, the scanning device also includes a detection device for the detection, and the method includes: when the scanning device starts to travel along the target path, reducing the detection range of the detection device from a first detection range to a second detection range, wherein the first detection range is the detection range of the detection device when the scanning device scans the information of the cargo.

[0014] According to another aspect of an embodiment of the present disclosure, there is provided an information scanning device, comprising: a module configured to execute the method described in any one of the above embodiments.

[0015] According to another aspect of an embodiment of the present disclosure, there is provided an information scanning device, comprising: a memory; and a processor coupled to the memory, configured to execute the method described in any one of the above embodiments based on instructions stored in the memory.

[0016] According to another aspect of an embodiment of the present disclosure, a scanning device is provided, including: a first vehicle body; a second vehicle body; an arm connecting the first vehicle body and the second vehicle body; and a scanning device for information as described in any one of the above embodiments.

[0017] In some embodiments, the scanning device further includes: a positioning device, disposed on the arm, configured to obtain a position of the scanning device; and a detection device, comprising a first sensor, a second sensor, and a third sensor, configured to detect whether there is an obstacle in a lateral area of ​​at least one of the first vehicle body and the second vehicle body when the scanning device travels along the target path, the lateral area including at least one of a front area, a rear area, a left area, and a right area, wherein: the first sensor is disposed at a corner where the front end of one of the first vehicle body and the second vehicle body is away from the other vehicle body, and is configured to detect whether there is an obstacle in at least one of the front area, the rear area, the left area, and the right area of ​​the vehicle body where the first sensor is located; the second sensor is disposed at a corner where the rear end of the other vehicle body is away from the first sensor, and is configured to detect whether there is an obstacle in at least one of the front area, the rear area, the left area, and the right area of ​​the vehicle body where the second sensor is located; and the third sensor is disposed on a side of one of the first vehicle body and the second vehicle body close to the other vehicle body, and is configured to detect whether there is an obstacle in an area on the side of the vehicle body where the third sensor is located close to the other vehicle body and / or an area on the side of the other vehicle body close to the third sensor.

[0018] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, comprising computer program instructions, wherein when the computer program instructions are executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0019] According to another aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the steps of the method described in any one of the above embodiments are implemented.

[0020] In an embodiment of the present disclosure, in response to an instruction issued by a user to instruct the scanning device to transfer the scanning area, a target path for transferring the scanning area is determined, and then the scanning device is automatically controlled to move to the next scanning area along the target path after scanning the information of the goods in a certain scanning area, thereby improving the efficiency of the scanning device in transferring the site and helping to improve the efficiency of the scanning device in scanning goods.

[0021] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 It is a flowchart of a method for scanning information according to some embodiments of the present disclosure.

[0024] Figure 2 is a schematic diagram of a scanning area according to some embodiments of the present disclosure.

[0025] Figure 3 is a schematic diagram of a target path according to some embodiments of the present disclosure.

[0026] Figure 4 is a schematic diagram of an Ackerman steering model of a scanning device according to some embodiments of the present disclosure.

[0027] Figure 5 is a top view of a scanning device according to some embodiments of the present disclosure.

[0028] Figure 6A is a front view of a scanning device according to some embodiments of the present disclosure.

[0029] Figure 6B is a top view of a scanning device according to some embodiments of the present disclosure.

[0030] Figure 7 It is a structural diagram of an information scanning device according to some embodiments of the present disclosure.

[0031] Figure 8 It is a structural schematic diagram of an information scanning device according to other embodiments of the present disclosure. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0033] Unless specifically stated otherwise, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0034] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not necessarily drawn according to the actual proportional relationship.

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] In addition, in the description of the present disclosure, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or order. Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or that all illustrated operations be performed to achieve the desired result. In certain circumstances, multitasking and parallel processing can be advantageous.

[0039] Figure 1 It is a flowchart of a method for scanning information according to some embodiments of the present disclosure.

[0040] At step 102 , in response to a user instruction instructing a scanning device to move from a first scanning area to a second scanning area, a target path is determined from a first parking point in the first scanning area to a second parking point in the second scanning area.

[0041] Next, combine Figure 2 The scanning area according to some embodiments of the present disclosure is introduced. Figure 2 is a schematic diagram of a scanning area according to some embodiments of the present disclosure.

[0042] here, Figure 2 The points (red dots) at the four corners represent the parking points of the scanning device, the three long strips (gray areas) represent the scanning channels used for scanning by the scanning device (for example, cargo 201 can be stored in the scanning channel), and the other points (yellow dots) except the points at the four corners represent the endpoints of the scanning channels. Figure 2 FIG schematically shows that the scanning area includes area 1, area 2 and area 3.

[0043] In some embodiments, multiple parking spots may be set in Area 1. These parking spots may include, for example, any one, any two, any three, or all of the four red dots in Area 1. The parking spot settings for Areas 2 and 3 are similar to those for Area 1 and are not described in detail here.

[0044] In some embodiments, area 1 is further provided with marks indicating the endpoints of the scanning channel. For example, the mark of one endpoint of the scanning channel 202 is represented by "A", and the mark of the other endpoint is represented by "B".

[0045] As some embodiments, when the scanning device needs to scan the goods in the scanning area, the scanning device can start from the current parking point and, during the driving process, follow the planned scanning path according to the signs indicating the end points of the scanning channel in the scanning area, so as to scan the information of the goods in the scanning channel where the goods are stored.

[0046] For example, the scanning path may be obtained by planning based on the current parking spot of the scanning device, the two end points of the scanning channel where the goods are stored, and the topological map of the scanning area.

[0047] In step 104 , after scanning the information of the goods in the first scanning area, the scanning device is automatically controlled to start from the first parking point and travel to the second parking point along the target path so that the scanning device can scan the information of the goods in the second scanning area.

[0048] As some embodiments, Figure 2 As shown, when the first scanning area is area 1 and the second scanning area is area 2, the scanning device starts from parking point 203 after scanning the information of the goods in area 1 and travels to parking point 204 in area 2 according to the target path L1, so that the scanning device can scan the information of the goods in area 2.

[0049] As other embodiments, Figure 2 As shown, when the first scanning area is area 1 and the second scanning area is area 3, the scanning device starts from parking point 203 after scanning the information of the goods in area 1 and travels to parking point 205 of area 3 according to the target path L2, so that the scanning device can scan the information of the goods in area 3.

[0050] In some embodiments, the target path may be a pre-planned path. For example, when the first scanning area is area 1 and the second scanning area is area 2, a road from area 1 to area 2 may be used as the target path L1.

[0051] For example, the coordinates of each turning point on the road from Area 1 to Area 2 can be pre-collected in sequence. In this case, the scanning device can sequentially read the collected coordinates of each turning point to travel along the target path L1. For example, if the scanning device needs to travel from Area 1 to Area 2, the scanning device can sequentially read the collected and stored longitude and latitude coordinates of each turning point and plan the target path based on the location information corresponding to the longitude and latitude coordinates.

[0052] In the above embodiment, in response to an instruction issued by the user to instruct the scanning device to transfer the scanning area, the target path for transferring the scanning area is determined, and then the scanning device is automatically controlled to move to the next scanning area along the target path after scanning the information of the goods in a certain scanning area, thereby improving the efficiency of the scanning device in transferring the site and helping to improve the efficiency of the scanning device in scanning goods.

[0053] In some embodiments, the instruction issued by the user to instruct the scanning device to move from the first scanning area to the second scanning area is received after the scanning device finishes scanning the information of the goods in the first scanning area.

[0054] In some embodiments, the user's instruction to instruct the scanning device to transfer from the first scanning area to the second scanning area is received before the scanning device reaches the first parking point. Figure 2 As shown, when the first scanning area is area 1 and the second scanning area is area 2, the instruction issued by the user is received after the scanning device scans the information of the goods in scanning area 1 and before driving to the parking point 203.

[0055] In the above embodiment, the user's command is received after the scanning device has scanned the goods in the first scanning area. This eliminates the need for the scanning device to perform both the scanning operation and the target path determination operation simultaneously. This reduces the processing pressure on the scanning device, thereby reducing the possibility of scanning device failure and improving the reliability of the scanning information. Furthermore, this reduces the performance requirements of the scanning device, facilitating compatibility with a variety of scanning devices with different processing capabilities.

[0056] In some embodiments, the user-initiated instruction to transfer the scanning device from the first scanning area to the second scanning area is received after the scanning device arrives at the first parking point.

[0057] As some embodiments, Figure 2 As shown, when the first scanning area is area 1 and the second scanning area is area 2, the instruction issued by the user is received after the scanning device scans the information of the goods in area 1 and after driving to the parking point 203.

[0058] In the above embodiment, the user's command is received after the scanning device reaches the first parking point. The scanning device can perform the target path determination operation while stopped, eliminating the need to perform scanning and driving operations simultaneously. This further reduces the processing pressure on the scanning device, thereby further reducing the possibility of scanning device failure and further improving the reliability of the scanning information. Furthermore, it further reduces the performance requirements of the scanning device, facilitating compatibility with a wider range of scanning devices with different processing capabilities.

[0059] In some embodiments, the instruction issued by the user to instruct the scanning device to move from the first scanning area to the second scanning area also instructs the scanning device to start scanning information of the goods in the first scanning area.

[0060] As some embodiments, during the process of scanning information of goods in a first scanning area by a scanning device, a target path from a first parking point in the first scanning area to a second parking point in the second scanning area is determined.

[0061] For example, Figure 2 As shown, in the case where the first scanning area is area 1 and the second scanning area is area 2, the user issues an instruction to start scanning the information of the goods in area 1 and instructs the scanning device to move from area 1 to area 2 after scanning the information of the goods in area 1. In this case, after a preset time period has passed since the scanning device started scanning the information of the goods in area 1, but before scanning of the information of the goods in area 1 is completed, a target path L1 is determined from parking point 203 in area 1 to parking point 204 in area 2.

[0062] For example, Figure 2 As shown, in the case where the first scanning area is area 1 and the second scanning area is area 2, the user issues an instruction to start scanning the information of the goods in area 1 and instructs the scanning device to move from area 1 to area 2 after scanning the information of the goods in area 1. In this case, while the scanning device starts scanning the information of the goods in area 1, it determines the target path L1 from parking point 203 in area 1 to parking point 204 in area 2.

[0063] In the above embodiment, the user's command not only instructs the scanning area to shift, but also instructs the scanning device to begin scanning for information about the goods in the first scanning area. In this manner, the target path can be determined during the scanning of the first scanning area, and the target path can be determined before the scanning device reaches the first parking point. After reaching the first parking point, the scanning device can directly follow the determined target path, further improving the scanning device's efficiency in scanning goods.

[0064] In some embodiments, the instruction issued by the user to instruct the scanning device to move from the first scanning area to the second scanning area further instructs the scanning device to start scanning information of the goods in the second scanning area after arriving at the second parking point.

[0065] For example, the instruction issued by the user instructs the scanning device to transfer from the first scanning area to the second scanning area, and the scanning device starts scanning the information of the goods in the second scanning area after arriving at the second parking point; for another example, the instruction issued by the user instructs the scanning device to start scanning the information of the goods in the first scanning area, the scanning device transfers from the first scanning area to the second scanning area, and the scanning device starts scanning the information of the goods in the second scanning area after arriving at the second parking point.

[0066] As some implementation methods, after the scanning device arrives at the second parking point, it automatically starts scanning the information of the goods in the second scanning area.

[0067] As other embodiments, after the scanning device arrives at the second parking point, it again asks the user whether to start scanning the information of the goods in the second scanning area; if the user confirms to scan the information of the goods in the second scanning area, the scanning device starts scanning the information of the goods in the second scanning area.

[0068] It should be understood that, if the user confirms not to scan the information of the goods in the second scanning area, the scanning device does not perform the operation of scanning the information of the goods in the second scanning area.

[0069] In the above embodiment, the user-issued command not only instructs the scanning device to relocate but also instructs the scanning device to begin scanning for information about the goods in the second scanning area upon arrival at the second parking point. This allows the scanning device to begin scanning for information about the goods in the second scanning area upon arrival at the second parking point, further improving the scanning device's efficiency in scanning goods. The starting point of the target path (i.e., the first parking point) for the scanning device's relocation can be pre-specified or determined based on the scanning device's scanning results. This will be explained below with reference to some embodiments.

[0070] In some embodiments, the first parking point is a parking point that the scanning device is required to arrive at by default after scanning the information of the goods in the first scanning area.

[0071] That is, the starting point of the target path is the parking point that the scanning device needs to reach by default after scanning the information of the goods in the first scanning area.

[0072] In this way, there is no need to determine the first parking point after the scanning device completes scanning, which improves the automation level of the scanning device from scanning the goods in the first scanning area to transferring to the second scanning area, and helps to further improve the efficiency of the scanning device in scanning goods.

[0073] In some embodiments, after the scanning device scans the information of the goods in the first scanning area, the parking point that the scanning device needs to arrive at by default is a pre-designated parking point.

[0074] In some implementation manners, after the scanning device scans the information of the goods in the first scanning area, the default parking point that the scanning device needs to arrive at is a parking point pre-specified by the user.

[0075] For example, Figure 2 As shown, when the first parking point designated by default is parking point 203, the scanning device will automatically drive to parking point 203 and park at parking point 203 after scanning the information of the goods in area 1.

[0076] If the scanning device stops at another parking spot after scanning the information of the goods in area 1, the scanning device will move from the other parking spot to parking spot 203. Figure 2 As shown, when the first parking point designated by default is parking point 203 and the scanning device stops at parking point 206 after scanning the information of the goods in area 1, the scanning device will automatically drive from parking point 206 to parking point 203.

[0077] In the above embodiment, the designated parking point is assumed to be the default parking point, i.e., the starting point of the target path is the designated parking point. This eliminates the need to temporarily determine the target path based on a new parking point, reduces the workload of determining the target path, helps to quickly determine the target path, and further improves the efficiency of the scanning device in scanning goods.

[0078] In other embodiments, the parking point that the scanning device needs to reach by default after scanning the information of the goods in the first scanning area is the first parking point that the scanning device reaches after scanning the information of the goods in the first scanning area, that is, the parking point closest to the location where the scanning device is located after scanning the information of the goods in the first scanning area.

[0079] In some implementation modes, the default parking point to be reached is the parking point where the scanning device parks after scanning the information of the goods in the first scanning area.

[0080] For example, Figure 2 As shown, when the scanning device stops at parking point 206 after scanning the information of the goods in area 1, the parking point to be reached by default is parking point 206.

[0081] In the above embodiment, the default required parking point is the parking point closest to the location where the scanning device is located after scanning the information of the goods in the first scanning area. This, on the one hand, eliminates the need to temporarily determine the target path based on the new parking point, reducing the workload of determining the target path and helping to quickly determine the target path, thereby further improving the scanning device's efficiency in scanning goods. On the other hand, the scanning device can depart directly from the nearest parking point, thereby traveling along the target path earlier, helping to reach the second parking point more quickly, thereby further improving the scanning device's efficiency in scanning goods.

[0082] In some embodiments, the second parking point is a parking point that the scanning device is required to reach by default before scanning the information of the goods in the second scanning area.

[0083] That is, the end point of the target path is a default parking point that the scanning device needs to reach before scanning the information of the goods in the second scanning area.

[0084] In this way, there is no need to additionally determine the second parking point before the scanning device scans the information of the goods in the second scanning area, which improves the automation level of the scanning device from the first scanning area to the next scanning area, and helps to further improve the efficiency of the scanning device in scanning goods.

[0085] In some embodiments, the parking point that the scanning device needs to arrive at before scanning the information of the goods in the second scanning area is a pre-designated parking point by default.

[0086] In some implementation manners, the parking point that the scanning device needs to arrive at by default before scanning the information of the goods in the second scanning area is a parking point pre-specified by the user.

[0087] For example, Figure 2 As shown, when the designated second parking point is parking point 204 , the scanning device drives directly from the first parking point in area 1 to parking point 204 after scanning the information of the goods in area 1 .

[0088] In the above embodiment, before the scanning device scans the cargo information in the second scanning area, it is assumed that the required parking point is the designated parking point, i.e., the destination of the target path is the designated parking point. This eliminates the need to temporarily determine the target path based on a new parking point, reduces the workload of determining the target path, facilitates faster determination of the target path, and further improves the efficiency of the scanning device in scanning cargo.

[0089] In some embodiments, the second parking point is a parking point in the second scanning area that is closest to the first parking point.

[0090] For example, Figure 2As shown, when the first scanning area is area 1 , the second scanning area is area 2 , and the first parking point is parking point 203 , the second parking point in area 2 is parking point 204 .

[0091] For example, Figure 2 As shown, when the first scanning area is area 1 , the second scanning area is area 2 , and the first parking point is parking point 206 , the second parking point in area 2 is parking point 207 .

[0092] In the above embodiment, the second parking point is the closest parking point to the first parking point in the second scanning area. This eliminates the need to temporarily determine the target path based on the new parking point, reducing the workload involved and helping to quickly determine the target path, thereby further improving the scanning device's efficiency in scanning goods. Furthermore, the scanning device can travel from the first parking point to the closest parking point in the second scanning area, helping to reach the second parking point more quickly, further improving the scanning device's efficiency in scanning goods.

[0093] Next, combine Figure 3 and Figure 4 Describes how the scanning device follows the target path.

[0094] Figure 3 is a schematic diagram of a target path according to some embodiments of the present disclosure.

[0095] In some embodiments, the coordinates of the current location of the scanning device are obtained; the baseline for the scanning device to travel, that is, the route to be traveled, is fitted based on the coordinates of the two inflection points before and after the scanning device; combined with the coordinates of the current location of the scanning device, the slope and intercept of the timing offset are fitted based on the least squares method, and the vertical offset distance between the scanning device and the baseline is predicted, and then the angle of wheel adjustment is output.

[0096] like Figure 3 As shown in the figure, the target path starts at point a, passes through two inflection points b and c, and reaches its endpoint d. The angle between the line connecting points a and b and the line connecting points b and c is θ. For example, the line connecting points a and b, the line connecting points b and c, and the line connecting points c and d are the fitted baselines.

[0097] In some embodiments, a straight-line guided driving process can be completed from point a to point b based on the coordinates of point a and point b. Upon reaching point b, the angle θ between the line connecting points a and b and the line connecting points b and c is calculated. Combined with the scanning device's current yaw angle θ1, the yaw angle of the scanning device is adjusted to (θ + θ1). After adjusting the yaw angle, the straight-line driving process continues along the line connecting points b and c. This process continues in this manner until reaching the destination d. For example, the yaw angle refers to the angle formed by the scanning device rotating clockwise about its vertical axis, and the yaw angle is, for example, based on geographic north.

[0098] In the above embodiment, the coordinates of multiple points in the target path are used to control the scanning device to move in a straight line, and the angle at the inflection point and the current yaw angle of the scanning device are combined to control the scanning device to complete the turn, thereby enabling the scanning device to automatically move from the first scanning area to the second scanning area.

[0099] In some embodiments, the scanning device is controlled to turn at the turning point of the target path by Ackermann steering control using an Ackermann steering motion model.

[0100] Figure 4 is a schematic diagram of an Ackerman steering model of a scanning device according to some embodiments of the present disclosure.

[0101] As some embodiments, Figure 4 As shown, the steering angle of the left front wheel of the scanning device is δo=arctan(L / (R+lw / 2)), and the steering angle of the right front wheel is δi=arctan(L / (R-lw / 2)).

[0102] Here, L is the distance from the center of the front wheel of the scanning device to the center of the rear wheel of the scanning device, lw is the distance from the center of the left rear wheel of the scanning device to the center of the right rear wheel of the scanning device, R is the turning radius, O is the center of the circle corresponding to the turning radius R, and O' is the midpoint of the line connecting the center of the left rear wheel to the center of the right rear wheel of the scanning device. It should be understood that the distance from the center of the left front wheel to the center of the right front wheel is the same as the distance from the center of the left rear wheel to the center of the right rear wheel.

[0103] The center of the circle, O, is located on the extended line connecting the center of the left rear wheel to the center of the right rear wheel of the scanning device. The distance from the center of the circle, O', to the midpoint, O', is R. R is related to the yaw angle of the scanning device. The larger the yaw angle, the larger R. For example, the larger the yaw angle (θ + θ1) of the scanning device, the larger R.

[0104] In practical applications, the coordinates of the scanning device's position are affected by the position of a positioning device mounted on the scanning device. For example, if the positioning device is mounted on the front of the scanning device, the coordinates of the scanning device's position are actually the coordinates of the front of the scanning device.

[0105] In order to reduce the influence of the position of the positioning device installed on the scanning device on the steering of the scanning device, the present disclosure also proposes the following technical solutions.

[0106] In some embodiments, when the front of the scanning device reaches a turning point, the scanning device is controlled to start turning.

[0107] In some embodiments, the positioning device of the scanning device is installed at the midpoint of the arm of the scanning device. Here, the scanning device includes a first body, a second body and an arm connecting the first body and the second body. The specific structure of the scanning device will be described later.

[0108] In this case, when the scanning device is traveling along the target path, when the scanning device is traveling in a straight line, when the distance between the position of the scanning device and the next turning point is half the distance from the center of the front wheel of the scanning device to the center of the rear wheel of the scanning device, the scanning device is controlled to start turning.

[0109] For example, in the case where the positioning device of the scanning device is installed at the midpoint of the arm of the scanning device, such as Figure 3 As shown, when the scanning device is traveling from point a to point b, when the scanning device's positioning device is positioned at a distance of L / 2 from point b, the scanning device is controlled to begin turning. In some embodiments, the arm is positioned in front of, in the middle of, or behind the scanning device in its direction of travel. For example, the arm extends perpendicular to the first and second vehicle bodies. The specific position of the arm relative to the scanning device is not limited.

[0110] In the above embodiment, determining the turning timing of the scanning device in combination with the installation position of the positioning device of the scanning device can enable the scanning device to complete the turning more accurately, thereby allowing the scanning device to travel more accurately along the target path.

[0111] Next, combine Figure 5 Dynamic protection of a scanning device according to some embodiments of the present disclosure is introduced.

[0112] Figure 5 is a top view of a scanning device according to some embodiments of the present disclosure.

[0113] In some embodiments, the scanning device includes a first vehicle body 501 , a second vehicle body 502 , and an arm 503 connecting the first vehicle body 501 and the second vehicle body 502 .

[0114] When the scanning device travels along the target path, it detects whether there is an obstacle in the side area of ​​at least one of the first vehicle body 501 and the second vehicle body 502; if there is an obstacle, the scanning device is controlled to stop traveling and report the location of the obstacle.

[0115] Here, the side region includes at least one of a front region, a rear region, a left region, and a right region.

[0116] For example, when the scanning device travels along the target path, any one, two, three or all of the front area Y1, rear area Y2, left area Y3 and right area Y4 of the first vehicle body 501 are detected.

[0117] For another example, when the scanning device travels along the target path, any one, two, three or all of the front area E1, rear area E2, left area E3 and right area E4 of the second vehicle body 502 are detected.

[0118] For example, when the scanning device is traveling along the target path, any one, two, three or all of the front area Y1, rear area Y2, left area Y3 and right area Y4 of the first vehicle body, and any one, two, three or all of the front area E1, rear area E2, left area E3 and right area E4 of the second vehicle body are detected.

[0119] As some embodiments, the detection device for detecting obstacles includes a multi-line laser radar.

[0120] In some embodiments, the front region Y1, the rear region Y2, the front region E1, and the rear region E2 have the same shape, for example, each being a square. For example, the front region Y1 and the rear region Y2 have the same area; and / or the front region E1 and the rear region E2 have the same area. For another example, the front region Y1, the rear region Y2, the front region E1, and the rear region E2 have the same area. For example, the side length of the square region is 2 meters.

[0121] For example, the side length of the front region Y1 on the side close to the first vehicle body 501 is equal to the sum of the width of the left region Y3, the width of the right region Y4, and the width of the first vehicle body 501. The side lengths of the rear region Y2, the front region E1, and / or the rear region E2 on the side close to the vehicle body are similar to the side length of the front region Y1 on the side close to the first vehicle body 501 and are not further described here.

[0122] In some embodiments, the left area Y3, the right area Y4, the left area E3, and the right area E4 have the same shape, for example, they are all rectangular areas.

[0123] For example, the left area Y3 and the right area Y4 have the same area; and / or the left area E3 and the right area E4 have the same area. For another example, the left area Y3, the right area Y4, the left area E3, and the right area E4 have the same area. The length of the rectangle is, for example, the length of the scanning device, and the width is, for example, 0.5 meters.

[0124] In some implementations, the number of the area may be reported to indicate the location of the obstacle. For example, the number “Y1” may be reported to indicate that the obstacle is located in the front area Y1 of the first vehicle body 501 .

[0125] In the above embodiment, while the scanning device is traveling along the target path, it detects whether there are obstacles around the scanning device. If an obstacle is present, the scanning device is controlled to stop and report the location of the obstacle. This improves the safety of the scanning device while traveling along the target path and increases the efficiency of clearing obstacles.

[0126] In some embodiments, the scanning device further comprises a detection device for detecting whether an obstacle exists.

[0127] When the scanning device starts to travel along the target path, the detection range of the detection device is reduced from the first detection range to the second detection range. For example, the power consumption of the detection device when the detection range is the first detection range is greater than the power consumption when the detection range is the second detection range.

[0128] For example, the detection device of the scanning device is configured to detect the approximate position of the goods in the scanning area in order to scan the information of the goods when the scanning device needs to scan the information of the goods. In this case, the detection range of the detection device is the first detection range.

[0129] For example, the detection device of the scanning device is configured to detect obstacles in a lateral area of ​​at least one of the first vehicle body and the second vehicle body when the scanning device is traveling along the target path. Here, the lateral area includes at least one of the front area, the rear area, the left area, and the right area. In this case, the detection range of the detection device is the second detection range.

[0130] In some embodiments, the detection device includes a first sensor, a second sensor, and a third sensor. For example, the first sensor, the second sensor, and the third sensor are multi-line laser radars.

[0131] For example, Figure 5 As shown, the first sensor is configured to detect whether there is an obstacle in at least one of the rear area Y2, the rear area E2 and the left area Y3, the second sensor is configured to detect whether there is an obstacle in at least one of the front area Y1, the front area E1 and the right area E4, and the third sensor is configured to detect whether there is an obstacle in at least one of the right area Y4 and the left area E3.

[0132] In some embodiments, the first sensor is disposed at a corner of one of the first and second vehicle bodies, away from the other vehicle body, at a front end thereof. The first sensor is configured to detect whether there is an obstacle in at least one of a front area, a rear area, a left area, and a right area of ​​the vehicle body where the first sensor is located.

[0133] In some embodiments, the second sensor is disposed at a rear end of the other vehicle body away from a corner of the vehicle body where the first sensor is located. The second sensor is configured to detect whether there is an obstacle in at least one of a front area, a rear area, a left area, and a right area of ​​the vehicle body where the second sensor is located.

[0134] In some embodiments, the third sensor is disposed on a side of one of the first and second vehicle bodies close to the other vehicle body. The third sensor is configured to detect whether there is an obstacle in an area on the side of the vehicle body where the third sensor is located close to the other vehicle body and / or in an area on the side of the other vehicle body close to the vehicle body where the third sensor is located.

[0135] Next, combine Figure 6A and Figure 6B The specific installation location of the detection device according to some embodiments of the present disclosure is introduced. Figure 6A is a front view of a scanning device according to some embodiments of the present disclosure, Figure 6B is a top view of a scanning device according to some embodiments of the present disclosure.

[0136] For example, Figure 6A and Figure 6B As shown, the first sensor 601 is set at the front end of the first vehicle body 501 away from the corner of the second vehicle body 502, the second sensor 602 is set at the rear end of the second vehicle body 502 away from the corner of the first vehicle body 501, and the third sensor 603 is set on the side of the second vehicle body 502 close to the first vehicle body 501.

[0137] In the above embodiment, the scanning device also includes a detection device. When the scanning device starts to travel along the target path, the detection range of the detection device is reduced from the first detection range to the second detection range. This can focus more on detecting whether there are obstacles in the area closer to the scanning device, thereby reducing the amount of sensor data that the detection device needs to process, helping to improve the processing efficiency of the detection device, and thus improving the real-time performance of the dynamic protection of the scanning device.

[0138] Each embodiment in this specification is described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the device embodiments, since they are essentially identical to the method embodiments, their descriptions are relatively simple. For relevant parts, reference can be made to the descriptions of the method embodiments.

[0139] In some embodiments, the information scanning device includes a module for executing the method of any one of the above embodiments.

[0140] Figure 7 It is a structural diagram of an information scanning device according to some embodiments of the present disclosure.

[0141] like Figure 7 As shown, the information scanning device includes a determination module 701 and a control module 702 .

[0142] The determination module 701 is configured to determine a target path from a first parking point in the first scanning area to a second parking point in the second scanning area in response to a user instruction instructing the scanning device to move from the first scanning area to the second scanning area.

[0143] The control module 702 is configured to automatically control the scanning device to start from the first parking point and drive to the second parking point along the target path after scanning the information of the goods in the first scanning area, so that the scanning device can scan the information of the goods in the second scanning area.

[0144] In some embodiments, the information scanning device may further include other modules to execute the information scanning method of any of the above embodiments.

[0145] Figure 8 It is a structural schematic diagram of an information scanning device according to other embodiments of the present disclosure.

[0146] like Figure 8 As shown, the information scanning device 800 includes a memory 801 and a processor 802 coupled to the memory 801 , and the processor 802 is configured to execute the method of any one of the aforementioned embodiments based on instructions stored in the memory 801 .

[0147] The memory 801 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0148] In some embodiments, the information scanning device 800 may further include an input / output interface 803, a network interface 804, a storage interface 805, and the like. The input / output interface 803, the network interface 804, and the storage interface 805, as well as the memory 801 and the processor 802, may be connected, for example, via a bus 806. The input / output interface 803 provides a connection interface for input / output devices such as a display, mouse, keyboard, and touch screen. The network interface 804 provides a connection interface for various networked devices. The storage interface 805 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0149] An embodiment of the present disclosure further provides a scanning device, including a first vehicle body, a second vehicle body, an arm connecting the first vehicle body and the second vehicle body, and a scanning device for information of any one of the above embodiments.

[0150] In some embodiments, the scanning device further comprises a positioning device disposed on the arm and the detection device of any one of the above embodiments, wherein the positioning device is configured to obtain a position of the scanning device.

[0151] As some embodiments, Figure 6A and 6B As shown, the positioning device 604 is provided at the midpoint of the boom 503 away from the ground. The positioning device 604 is, for example, a differential GPS positioning device.

[0152] An embodiment of the present disclosure further provides a computer-readable storage medium, comprising computer program instructions, which implement the steps of the method of any one of the above embodiments when executed by a processor.

[0153] The embodiments of the present disclosure further provide a computer program product, including a computer program, which implements the steps of the method of any one of the above embodiments when executed by a processor.

[0154] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0155] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable, non-transitory storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0156] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate the functions for implementing the functions specified in the flowchart. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0157] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0159] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for scanning information, comprising: In response to a user-initiated instruction instructing the scanning device to move from a first scanning area to a second scanning area, determining a target path from a first parking point in the first scanning area to a second parking point in the second scanning area; The scanning device is automatically controlled to start from the first parking point after scanning the information of the goods in the first scanning area and travel to the second parking point along the target path so that the scanning device can scan the information of the goods in the second scanning area.

2. The method according to claim 1, wherein The instruction is received after the scanning device scans the information of the goods in the first scanning area.

3. The method according to claim 2, wherein: The instruction is received after the scanning device arrives at the first parking point.

4. The method according to claim 1, wherein The instruction further instructs the scanning device to start scanning information of the goods in the first scanning area.

5. The method according to claim 1, wherein The first parking point is a parking point that the scanning device needs to arrive at by default after scanning the information of the goods in the first scanning area.

6. The method according to any one of claims 1 to 5, wherein: The second parking point is a default parking point that the scanning device needs to reach before scanning the information of the goods in the second scanning area.

7. The method according to any one of claims 1 to 5, wherein: The second parking point is a parking point in the second scanning area that is closest to the first parking point.

8. The method according to any one of claims 1 to 5, wherein: The scanning device includes a first vehicle body, a second vehicle body, and an arm connecting the first vehicle body and the second vehicle body, and the method further includes: When the scanning device travels along the target path, detecting whether there is an obstacle in a side area of ​​at least one of the first vehicle body and the second vehicle body, the side area including at least one of a front area, a rear area, a left area, and a right area; When the obstacle exists, the scanning device is controlled to stop traveling and report the location of the obstacle.

9. The method according to claim 8, wherein The scanning device further includes a detection device for the detection, and the method includes: When the scanning device starts to travel along the target path, the detection range of the detection device is reduced from a first detection range to a second detection range. The first detection range is the detection range of the detection device when the scanning device scans the information of the goods.

10. An information scanning device, comprising: A module configured to execute the method according to any one of claims 1 to 9.

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

12. A scanning device comprising: First vehicle body; Second hull; An arm connecting the first vehicle body and the second vehicle body; as well as The information scanning device according to claim 10 or 11.

13. The scanning device according to claim 12, further comprising: a positioning device, disposed on the arm and configured to obtain a position of the scanning device; as well as The detection device includes a first sensor, a second sensor, and a third sensor, and is configured to detect whether there is an obstacle in a side area of ​​at least one of the first vehicle body and the second vehicle body when the scanning device travels along the target path, wherein the side area includes at least one of a front area, a rear area, a left area, and a right area, wherein: The first sensor is disposed at a corner of one of the first and second vehicle bodies away from the other vehicle body at the front end thereof, and is configured to detect whether there is an obstacle in at least one of the front area, rear area, left area, and right area of ​​the vehicle body where the first sensor is located; The second sensor is disposed at a rear end of the other vehicle body away from a corner of the vehicle body where the first sensor is located, and is configured to detect whether there is an obstacle in at least one of a front area, a rear area, a left area, and a right area of ​​the vehicle body where the second sensor is located; and The third sensor is arranged on a side of one of the first vehicle body and the second vehicle body close to the other vehicle body, and is configured to detect whether there is an obstacle in the area on the side of the vehicle body where the third sensor is located close to the other vehicle body and / or the area on the side of the other vehicle body close to the vehicle body where the third sensor is located.

14. A computer-readable storage medium comprising a computer program, wherein: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

15. A computer program product comprising a computer program, wherein When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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