CN109272651A - Coordinate detection method, the apparatus and system in automatic vending warehouse - Google Patents
Coordinate detection method, the apparatus and system in automatic vending warehouse Download PDFInfo
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- CN109272651A CN109272651A CN201810995803.3A CN201810995803A CN109272651A CN 109272651 A CN109272651 A CN 109272651A CN 201810995803 A CN201810995803 A CN 201810995803A CN 109272651 A CN109272651 A CN 109272651A
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- target object
- manipulator
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- article
- original coordinates
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
Abstract
The disclosure is directed to coordinate detection method, the apparatus and systems in a kind of automatic vending warehouse, this method comprises: sending detection instruction to the manipulator for pick-and-place article, the manipulator are made to be moved to the original coordinates position of target object；When the manipulator is moved to the original coordinates position, shooting instruction is sent to the image collecting device being located on the manipulator, obtains image；According to position of the target object in described image, position offset is obtained；When the position offset is greater than preset offset threshold, warning information is issued.The technical solution detects target object coordinate position by image recognition automatically, and warning information can be issued in time when positional shift is excessive, realizes the automatic monitoring to shelf and/or article coordinate position in automatic vending warehouse and abnormality alarming.
Description
Technical field
This disclosure relates to the coordinate detection method in field of automation technology more particularly to automatic vending warehouse, device and be
System.
Background technique
Currently, with the development of Internet of Things and quick payment, automatic vending machine is more widely used.Automatic vending machine
It is a kind of equipment in order to realize the autonomy-oriented of commodity, automated transaction, is mainly distributed on crowded area, such as railway station,
Bus station, hospital, factory, the public place such as market are placed.
In the related technology, existing automatic vending machine can grab article to output port by manipulator, and this requires machines
Tool hand can accurately be directed at article and carry out pick-and-place, and in use, the position of shelf and/or article can change, phase
It answers, the crawl position of manipulator needs to be adjusted according to these change in location, or the position of adjustment shelf and/or article
It sets, matches with the crawl position of manipulator.
Summary of the invention
The embodiment of the present disclosure provides coordinate detection method, the apparatus and system in a kind of automatic vending warehouse, can be to automatic
Sell automatic monitoring and the abnormality alarming of the shelf and/or article coordinate position in warehouse.The technical solution is as follows:
According to the first aspect of the embodiments of the present disclosure, a kind of coordinate detection method in automatic vending warehouse is provided, comprising:
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original seat of target object
Cursor position；
When the manipulator is moved to the original coordinates position, to the image collecting device being located on the manipulator
Shooting instruction is sent, image is obtained；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through image recognition
Target object position offset is detected automatically, and warning information can be issued in time when positional shift is excessive, is realized
Automatic monitoring and abnormality alarming to shelf and/or article coordinate position in automatic vending warehouse.
In one embodiment, the method also includes:
When the target object includes empty shelf, the original coordinates position includes the first original when placing article the first beginning and end
Beginning coordinate position；
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through to empty shelf
It uses different reference coordinates to carry out the detection of positional shift with the shelf for being placed with article, the position offset obtained can be made
It is more accurate.
In one embodiment, the method also includes:
The position according to the target object in described image obtains position offset, comprising:
Determine position of the target object in described image；
Determine that the position at a distance from central area preset in described image, obtains position offset.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through image recognition
Position offset is obtained, automatic identification is realized, position offset is determined by preset central area, simplifies reference coordinate
System, improves computational efficiency.
In one embodiment, the target object includes the article placed；The method also includes:
According to the position offset and the original coordinates position, real coordinate position is determined；The actual coordinate position
It is set to moving coordinate when manipulator crawl article.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution is practical by determining
Coordinate position makes manipulator that can grab article according to actual coordinate under any circumstance, ensure that automatic vending warehouse
It operates normally.
In one embodiment, the method also includes:
It is described the position offset be greater than preset offset threshold when, issue warning information, comprising:
When the position offset is greater than preset offset threshold, described image, original coordinates position and alarm are sent
Information.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution is by sending alarm
It is sent together while information using image and original coordinates as reference information, convenient for carrying out assistant analysis to warning information.
In one embodiment, the method also includes:
It is described the position offset be greater than preset offset threshold when, issue warning information, further includes:
When the position offset is greater than preset offset threshold, the corresponding affiliated partner of the target object is determined；
When the relative position offset of the affiliated partner is greater than preset offset threshold, issue about the association pair
The warning information of elephant；
When the relative position offset of the affiliated partner is not more than preset offset threshold, issue about the target
The warning information of object.
The technical solution that the embodiment of the present disclosure provides can include the following benefits: the technical solution passes through to association pair
The detection of the relative position offset of elephant issues different alarms for the different reasons that target object generates warning information and believes
Breath, can more accurately analyze warning information Producing reason.
According to the second aspect of an embodiment of the present disclosure, a kind of coordinate detecting device in automatic vending warehouse is provided, comprising:
First sending module keeps the manipulator mobile for sending detection instruction to the manipulator for pick-and-place article
To the original coordinates position of target object；
First obtains module, for when the manipulator is moved to the original coordinates position, to being located at the machinery
Image collecting device on hand sends shooting instruction, obtains image；
Second obtains module, for the position according to the target object in described image, obtains position offset；
Second sending module, for issuing warning information when the position offset is greater than preset offset threshold.
In one embodiment, described device further include:
When the target object includes empty shelf, the original coordinates position includes the first original when placing article the first beginning and end
Beginning coordinate position；
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
In one embodiment, described device further include:
Described second obtains module, comprising:
First determines submodule, for determining position of the target object in described image；
Second determines submodule, for determining that the position at a distance from central area preset in described image, obtains
Position offset.
In one embodiment, the target object includes the article placed, described device further include:
Determining module, for determining real coordinate position according to the position offset and the original coordinates position；Institute
Stating real coordinate position is moving coordinate when manipulator grabs article.
In one embodiment, described device further include:
Second sending module, comprising:
First sending submodule is used for when the position offset is greater than preset offset threshold, transmission described image,
Original coordinates position and warning information.
In one embodiment, described device further include:
Second sending module, further includes:
Third determines submodule, for determining the target when the position offset is greater than preset offset threshold
The corresponding affiliated partner of object；
Second sending submodule is greater than preset offset threshold for the relative position offset in the affiliated partner
When, issue the warning information about the affiliated partner；
Third sending submodule is not more than preset offset threshold for the relative position offset in the affiliated partner
When, issue the warning information about the target object.
According to the third aspect of an embodiment of the present disclosure, a kind of coordinate detection system in automatic vending warehouse is provided, comprising: machine
Tool hand, image collecting device and controller；
The manipulator is connected with the controller, is used for pick-and-place article；
Described image acquisition device is connected with the controller, and is located on the manipulator, for obtaining image；
The controller is moved to the manipulator for sending detection instruction to the manipulator for pick-and-place article
The original coordinates position of target object；When the manipulator is moved to the original coordinates position, to positioned at the manipulator
On image collecting device send shooting instruction, obtain image；According to position of the target object in described image, obtain
Position offset；When the position offset is greater than preset offset threshold, warning information is issued.
According to a fourth aspect of embodiments of the present disclosure, a kind of coordinate detecting device in automatic vending warehouse is provided, comprising:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original seat of target object
Cursor position；
When the manipulator is moved to the original coordinates position, to the image collecting device being located on the manipulator
Shooting instruction is sent, image is obtained；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
According to a fifth aspect of the embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine instruction, which is characterized in that the seat in automatic vending warehouse described in any of the above-described scheme is realized in instruction when being executed by processor
The step of marking detection method.
The technical scheme provided by this disclosed embodiment can include the following benefits:
Above-mentioned technical proposal is detected automatically by the coordinate position to shelf and/or article, and can be in positional shift mistake
Warning information is issued in time when big, realizes the automatic monitoring to shelf and/or article coordinate position in automatic vending warehouse,
And abnormality alarming is carried out in time.Background maintenance personnel can carry out timely maintenance management to automatic vending warehouse according to alarm, guarantee
The normal operation in automatic vending warehouse allows users to normal use automatic vending warehouse and does shopping, not only increases maintenance
The efficiency of work also improves customer experience degree.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 2 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 3 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 4 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 5 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 6 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 7 is a kind of block diagram of the coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment.
Fig. 8 is the second acquisition in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
The block diagram of module.
Fig. 9 is a kind of block diagram of the coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment.
Figure 10 is the second hair in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
Send the block diagram of module.
Figure 11 second is obtained in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
The block diagram of modulus block.
Figure 12 is a kind of block diagram of the coordinate detection system in automatic vending warehouse shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
In the related technology, automatic vending warehouse includes host, cabinet body, shelf and manipulator；Host is installed on the cabinet body
Interior, manipulator is installed in the cabinet body, and manipulator is mounted side by side for commodity selected by pick-and-place, shelf front and back in the cabinet body
It is interior.It is taken the article on counter by mobile manipulator, and passs out automatic vending warehouse from the output port on cabinet body by article, it is real
Now to the purpose of user's automatic vending article.Multiple shelf can be set, the kind of the article of placement is increased in multiple rows of shelf
Class meets the needs of article required for user selects.
But since the article on shelf is numerous, shelf may deform in use for some time, such as tilt
Or sink, so that also run-off the straight or sinking or article itself placement location are inaccurate for the position for the article being placed on shelf,
At this point, will lead to manipulator cannot grab article in accurate position.Meanwhile the dispersion of automatic vending warehouse is outdoors, for goods
The deformation of frame can not be monitored and detect, and where can not finding the problem in time, not can be carried out effective maintenance management, further
When leading to user using automatic vending warehouse, article can not be normally obtained.
To solve the above problems, the present embodiment provides coordinate detection method, the apparatus and system in a kind of automatic vending warehouse,
It is detected automatically by the coordinate position to shelf and/or article, and warning information can be issued in time when positional shift is excessive,
The automatic monitoring to shelf and/or article coordinate position in automatic vending warehouse is realized, and carries out abnormality alarming in time.Dimension
Shield personnel can carry out timely maintenance management to automatic vending warehouse according to alarm, guarantee the normal operation in automatic vending warehouse, make
User can normal use automatic vending warehouse do shopping, not only increase the efficiency of maintenance work, also improve client's body
Degree of testing.
Fig. 1 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment,
As shown in Figure 1, this method can be used in server or automatic vending warehouse terminal, include the following steps 101-104:
In a step 101, detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target
The original coordinates position of object.
In a step 102, when the manipulator is moved to the original coordinates position, on the manipulator
Image collecting device sends shooting instruction, obtains image.
In step 103, the position according to the target object in described image obtains position offset.
At step 104, when the position offset is greater than preset offset threshold, warning information is issued.
In this embodiment, target object may include components (such as the bolt, axis at some position of shelf, shelf
Hold, reinforcer or locating part etc.) or article etc., detection instruction is sent to the manipulator, manipulator is moved to target object
Original coordinates position, the original coordinates position indicate the correct position of corresponding target object.Then pass through the figure on manipulator
As acquisition device carries out some position of shelf represented by target object or the target objects such as the components of shelf or article
Image Acquisition obtains the position offset of target object by image recognition, is greater than preset offset in the position offset
When threshold value, illustrates that larger offset has occurred in the relatively primitive position of the present physical location of target object, then issues warning information,
Abnormal offset has occurred in prompt target object.It is subsequent the position of target object to be corrected for the warning information.
Wherein, detection instruction may include original coordinates position, then manipulator is moved to corresponding original according to detection instruction
Beginning coordinate position.Alternatively, detection instruction does not include original coordinates position, then manipulator is according to all target objects having in advance
Original coordinates position list, be moved to each original coordinates position one by one, be equivalent to the traversal to the list.
In this embodiment, for example, target object be shelf some position or shelf components when, such as the target pair
When the position offset of elephant is greater than preset offset threshold, it may illustrate that biggish offset has occurred in some position of shelf, or
Biggish offset has occurred in the components of person's shelf, illustrates that shelf may have occurred inclination, sinking or damage etc., subsequent possibility
It needs to repair shelf.It is placed on shelf if any article, then larger offset can also occur therewith for the position of article, then can
Cause manipulator that can not accurately grab article.When position offset is greater than preset offset threshold, then alarm can be issued in time
Information needs to repair maintenance etc. with prompt.The present embodiment is detected automatically by the coordinate position to article, and can
It issues warning information in time when positional shift is larger, realizes the automatic monitoring to the shelf in automatic vending warehouse, and and
Shi Jinhang abnormality alarming.Background maintenance personnel can carry out timely and effectively maintenance management to automatic vending warehouse according to alarm, protect
The normal operation for demonstrate,proving automatic vending warehouse, allows users to normal use automatic vending warehouse and does shopping, not only increase dimension
The efficiency that nurse makees, also improves customer experience degree.
For another example when being greater than preset offset threshold such as the position offset of article, may be said when target object is article
Biggish offset has occurred in bright article, causes manipulator that cannot accurately grab article, it is also possible to the article adjacent to the article
It impacting, such as two articles are apart from close, and when grabbing an article, another article may be fallen by collision,
So subsequent may need to safeguard article, such as putting on article etc. again.It is greater than in the position offset of article default
Offset threshold when, then can issue warning information in time, with prompt need to be serviced.Maintenance personnel can be according to alarm to automatic
It sells warehouse and carries out timely and effectively maintenance management, guarantee the normal operation in automatic vending warehouse, allow users to normal use
Automatic vending warehouse is done shopping, and the efficiency of maintenance work is not only increased, and also improves customer experience degree.
In one embodiment, when the target object includes empty shelf, the original coordinates position includes putting the first beginning and end
The first original coordinates position when placing articles.
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
In this embodiment, when target object is empty shelf, then manipulator is moved to first when just the beginning and end place article
Original coordinates position, image collecting device obtain image.When target object is the article placed, then manipulator is moved to initially
The second original coordinates position when article is placed, image collecting device obtains image.Due to placed the shelf of article relative to
Empty shelf may run-off the straight or sinking etc., it is not that shelf are damaged that the inclination and sinking, which belong to normal phenomenon,.So just
The shelf for beginning placed article are also changed relative to the original coordinates position of empty shelf, are acquiring image to empty shelf
When, then it is acquired with coordinate position when not placing article, i.e. the first original coordinates position；To the shelf that placed article
It can be target object or the shelf to place article using article as target object, and with initial placement article when acquiring image
When article original coordinates position or the original coordinates position of shelf is acquired when initial placement article.For target object
Different acquires image using different original coordinates, and it is more accurate when obtaining position offset to identify in subsequent image.
Fig. 2 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
As shown in Fig. 2, above-mentioned steps 103 include step 201-202:
In step 201, position of the target object in described image is determined.
In step 202, determine that the position at a distance from central area preset in described image, obtains positional shift
Amount.
In this embodiment, the coordinate position by the determination target object in described image, then determine described in
Coordinate position is at a distance from central area preset in described image to obtain position offset.Preset center in described image
Region not necessarily refers to the middle of image, this and manipulator are related with the installation site of image collecting device.Image can be set
In preset central area coordinate be 0, if target object falls completely within the preset central area, illustrate not inclined
It moves.If target object does not fall completely within the preset central area, it is determined that the coordinate bit of target object in the picture
The coordinate relative to preset central area is set, which is exactly position offset.In default in image in the present embodiment
Heart district domain can be the relative position of the original coordinates position of target object in the picture.The present embodiment is obtained by image recognition
Position offset, realizes automatic identification, and calculated result is more acurrate.By converting reference frame, computational efficiency is improved.
Fig. 3 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 3, above-mentioned steps further include step 301:
In step 301, when the target object includes the article placed, according to the position offset and the original
Beginning coordinate position, determines real coordinate position；The real coordinate position is moving coordinate when manipulator grabs article.
In this embodiment, according to the position offset and original coordinates position, the present reality of target object is determined
Coordinate position, the mobile seat when target object is the article placed, when the real coordinate position is for manipulator crawl article
Mark.
In the present embodiment, manipulator can be made in the case where less offset or larger offset occur for target object, always
Article is accurately grabbed according to real coordinate position, guarantees that user can normally buy article.Wherein, target object occur compared with
When big offset, warning information is issued, at this time, it may be necessary to repair or safeguard, but before maintenance, manipulator still can root
Article is normally grabbed according to real coordinate position, does not influence the use in automatic vending warehouse, improves customer experience degree.
In the present embodiment, original coordinates are stored, to use when subsequent maintenance.
Fig. 4 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 4, above-mentioned steps 104 further include step 401:
In step 401, when the position offset is greater than preset offset threshold, described image, original seat are sent
Cursor position and warning information.
In this embodiment, when the position offset is greater than preset offset threshold, while issuing warning information,
The image for generating warning information and original coordinates are issued together, wherein warning information may include log information or prompt information
Deng the position of prompting maintenance personnel shelf or article is deviated.Meanwhile maintenance when, due in shelf components and
Article is numerous, and original coordinates can be used as the mark of target object, which specific target pair can be determined according to original coordinates
As being deviated.In maintenance maintenance, the target object that will be shifted is needed to be adjusted as far as possible to home position, it can will be former
Reference of the beginning coordinate position as maintenance adjustment.
In the present embodiment, by checking that image can also further determine that the image information of the target object to shift,
It checks whether target object is also damaged, targetedly repairs and safeguard so as to subsequent.
Fig. 5 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 5, above-mentioned steps 104 further include step 501-503:
In step 501, when the position offset is greater than preset offset threshold, determine that the target object is corresponding
Affiliated partner.
In step 502, it when the relative position offset of the affiliated partner is greater than preset offset threshold, issues and closes
In the warning information of the affiliated partner.
In step 503, it when the relative position offset of the affiliated partner is not more than preset offset threshold, issues
Warning information about the target object.
It in this embodiment, may explanation when the position offset of the target object is greater than preset offset threshold
Biggish offset has occurred in some position of shelf or biggish offset has occurred in the components of shelf, illustrates that shelf may
Inclination, sinking or damage etc. has occurred, at this point, warning information will not be issued immediately, but continues to test affiliated partner, so as to
Find the reason of position offset of target object is greater than preset offset threshold, if caused by affiliated partner.Wherein, it closes
Connection object is to generate the object directly contacted with target object to be then associated with for example, target object is the position A or the component of shelf
Object is the position B or the component for having stress relationship with A, the power that B applies A applied force or receiving A.Such as target object is object again
Product, then affiliated partner is the article adjacent with the article.Affiliated partner can be established into corresponding association with target object in advance
Information, and the related information is stored in advance, when the position offset of target object is greater than preset offset threshold, then
Related information according to the pre-stored data determines corresponding affiliated partner.The detection of the relative position offset of affiliated partner can be held
The above-mentioned process as shown in Figures 1 and 2 of row.
In the present embodiment, affiliated partner can be one, be also possible to multiple.When affiliated partner is one, then really
After determining affiliated partner, identify whether the relative position offset of affiliated partner is greater than preset offset threshold；The affiliated partner
Relative position offset when being greater than preset offset threshold, issue warning information about the affiliated partner, illustrate target
The position offset of object be greater than preset offset threshold may be due to the position offset of the affiliated partner it is larger caused by,
The warning information about the affiliated partner is then issued, it is subsequent to need to repair affiliated partner or safeguard.In the association pair
When the relative position offset of elephant is not more than preset offset threshold, the warning information about the target object, explanation are issued
The position offset of target object be greater than preset offset threshold may be it is caused due to the target object itself, then
The warning information about the target object is issued, it is subsequent to need to repair target object or safeguard.
When affiliated partner is multiple, it can carry out whether identification relative position offset is greater than preset offset threshold one by one
Value when the relative position offset of one or more of affiliated partners is greater than preset offset threshold, is issued about the pass
Join object warning information, illustrate target object position offset be greater than preset offset threshold may be due to this or
Caused by the position offset of multiple affiliated partners is larger, then the warning information about the one or more associations object is issued,
It is subsequent to need to repair affiliated partner or safeguard.It is not more than in the relative position offset of all affiliated partners default
Offset threshold when, issue warning information about the target object, it is default to illustrate that the position offset of target object is greater than
Offset threshold may be it is caused due to the target object itself, then issue about the target object alarm believe
Breath, it is subsequent to need to repair target object or safeguard.
In the present embodiment, such as target object run-off the straight or sinking, it may be possible to since target object itself is inclined
Tiltedly or sink, it is also possible to since corresponding affiliated partner is tilted or is sunk, and target object be caused to incline
Tiltedly or sink.By the detection to the corresponding affiliated partner of target object, can further determine that target object run-off the straight or
Position offset caused by sinking etc. is biggish the reason is that the reason of target object itself, or association corresponding with target object
Caused by object, is targetedly safeguarded and repaired convenient for subsequent, saved the time, improved work efficiency.
In one embodiment, above-mentioned steps 502 can comprise the further steps of:
When the relative position offset is greater than preset offset threshold, image, the association of the affiliated partner are sent
The original coordinates position of object and the warning information of affiliated partner.
In one embodiment, above-mentioned steps 503 can comprise the further steps of:
When the relative position offset is not more than preset offset threshold, image, the mesh of the target object are sent
Mark the original coordinates position of object and the warning information of target object.
Above embodiments can be freely combined according to actual needs, described the disclosure below by specific embodiment and mentioned
A kind of update method of the automatic vending warehouse item state supplied.
Fig. 6 is a kind of flow chart of the coordinate detection method in automatic vending warehouse shown according to an exemplary embodiment.
As shown in fig. 6, the present embodiment provides a kind of coordinate detection methods in automatic vending warehouse, comprising:
Step 601, detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to target object
Original coordinates position.
When the target object includes empty shelf, the original coordinates position includes the first original when placing article the first beginning and end
Beginning coordinate position；
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
Step 602, when the manipulator is moved to the original coordinates position, to the image being located on the manipulator
Acquisition device sends shooting instruction, obtains image.
Step 603, position of the target object in described image is determined.
Step 604, determine that the position at a distance from central area preset in described image, obtains position offset.
Step 605, when the position offset is greater than preset offset threshold, the corresponding pass of the target object is determined
Join object.
Step 606, when the relative position offset is greater than preset offset threshold, the figure of the affiliated partner is sent
Picture, the original coordinates position of affiliated partner and the warning information of affiliated partner.
Step 607, when the relative position offset is not more than preset offset threshold, the target object is sent
Image, the original coordinates position of target object and the warning information of target object.
Step 608, the target object includes the article placed, according to the position offset and the original coordinates position
It sets, determines real coordinate position；The real coordinate position is moving coordinate when manipulator grabs article.
Wherein, the execution sequence of step 605- step 607 and step 608 can be exchanged mutually.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Fig. 7 is a kind of block diagram of the coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment, should
Device being implemented in combination with as some or all of of electronic equipment by software, hardware or both.
As shown in fig. 7, the coordinate detecting device in the automatic vending warehouse includes: that the first sending module 701, first obtains mould
Block 702, second obtains module 703 and the second sending module 704.
First sending module 701 moves the manipulator for sending detection instruction to the manipulator for pick-and-place article
Move the original coordinates position of target object.
First obtains module 702, for when the manipulator is moved to the original coordinates position, to being located at the machine
The image collecting device of tool on hand sends shooting instruction, obtains image.
Second obtains module 703, for the position according to the target object in described image, obtains positional shift
Amount.
Second sending module 704, for issuing alarm letter when the position offset is greater than preset offset threshold
Breath.
In one embodiment, when the target object includes empty shelf, the original coordinates position includes putting the first beginning and end
The first original coordinates position when placing articles.
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
Fig. 8 is the second acquisition in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
The block diagram of module.
As shown in figure 8, described second obtains module 703, comprising: first determines that submodule 801 and second determines submodule
802。
First determines submodule 801, for determining position of the target object in described image.
Second determines submodule 802, for determining that the position at a distance from central area preset in described image, is obtained
Take position offset.
Fig. 9 is a kind of block diagram of the coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 9, the coordinate detecting device in the automatic vending warehouse, described device further include: determining module 901.
Determining module 901, when the target object includes the article placed, for according to the position offset and institute
Original coordinates position is stated, determines real coordinate position；The real coordinate position is moving coordinate when manipulator grabs article.
Figure 10 is the second hair in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
Send the block diagram of module.
As shown in Figure 10, second sending module 704, comprising: the first sending submodule 1001.
First sending submodule 1001 is used for when the position offset is greater than preset offset threshold, described in transmission
Image, original coordinates position and warning information.
Figure 11 is the second hair in a kind of coordinate detecting device in automatic vending warehouse shown according to an exemplary embodiment
Send the block diagram of module.
As shown in figure 11, second sending module 704, comprising: third determines submodule 1101, the second sending submodule
1102 and third sending submodule 1103.
Third determines submodule 1101, described in determining when the position offset is greater than preset offset threshold
The corresponding affiliated partner of target object；
Second sending submodule 1102 is greater than preset offset threshold for the relative position offset in the affiliated partner
When value, the warning information about the affiliated partner is issued；
Third sending submodule 1103 is not more than preset offset for the relative position offset in the affiliated partner
When threshold value, the warning information about the target object is issued.
Figure 12 is a kind of block diagram of the coordinate detection system in automatic vending warehouse shown according to an exemplary embodiment.
As shown in figure 12, a kind of coordinate detection system in automatic vending warehouse is provided, comprising: manipulator 1201, image are adopted
Acquisition means 1202 and controller 1203.
The manipulator 1201, is connected with the controller, is used for pick-and-place article.
Described image acquisition device 1202 is connected with the controller, and is located on the manipulator, for obtaining figure
Picture.
The controller 1203 moves the manipulator for sending detection instruction to the manipulator for pick-and-place article
Move the original coordinates position of target object；When the manipulator is moved to the original coordinates position, to positioned at the machine
The image collecting device of tool on hand sends shooting instruction, obtains image；According to position of the target object in described image,
Obtain position offset；When the position offset is greater than preset offset threshold, warning information is issued.
In one embodiment, the controller 1203 can also be used to execute the process as described in Fig. 2-Fig. 5.
In this embodiment, the coordinate detection system in automatic vending warehouse further includes manipulator and image collecting device, machine
Tool hand can be used for grabbing article when selling, and for image collector setting on manipulator, image collecting device can be camera,
For shooting photo.
According to a fourth aspect of embodiments of the present disclosure, a kind of coordinate detecting device in automatic vending warehouse, feature are provided
It is, comprising:
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original seat of target object
Cursor position；
When the manipulator is moved to the original coordinates position, to the image collecting device being located on the manipulator
Shooting instruction is sent, image is obtained；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
Wherein, above-mentioned processor is also configured to
When the target object includes empty shelf, the original coordinates position includes the first original when placing article the first beginning and end
Beginning coordinate position；
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
Wherein, above-mentioned processor is also configured to
The position according to the target object in described image obtains position offset, comprising:
Determine position of the target object in described image；
Determine that the position at a distance from central area preset in described image, obtains position offset.
Wherein, above-mentioned processor is also configured to
When the target object includes the article placed, according to the position offset and the original coordinates position, really
Determine real coordinate position；The real coordinate position is moving coordinate when manipulator grabs article.
Wherein, above-mentioned processor is also configured to
It is described the position offset be greater than preset offset threshold when, issue warning information, comprising:
When the position offset is greater than preset offset threshold, described image, original coordinates position and alarm are sent
Information.
Wherein, the processor is configured to:
When the position offset is greater than preset offset threshold, the corresponding affiliated partner of the target object is determined.
When the relative position offset of the affiliated partner is greater than preset offset threshold, issue about the association pair
The warning information of elephant.
When the relative position offset of the affiliated partner is not more than preset offset threshold, issue about the target
The warning information of object.
According to a fifth aspect of the embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine instruction, which is characterized in that the seat in automatic vending warehouse described in any of the above-described scheme is realized in instruction when being executed by processor
The step of marking detection method.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
A kind of computer readable storage medium makes when the instruction in the storage medium is executed by the processor of device
Obtain the coordinate detection method that device is able to carry out above-mentioned automatic vending warehouse, which comprises
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original seat of target object
Cursor position；
When the manipulator is moved to the original coordinates position, to the image collecting device being located on the manipulator
Shooting instruction is sent, image is obtained；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
In one embodiment, the method also includes:
When the target object includes empty shelf, the original coordinates position includes the first original when placing article the first beginning and end
Beginning coordinate position；
When the target object includes the article placed, second when the original coordinates position includes initial placement article
Original coordinates position.
In one embodiment, the method also includes:
The position according to the target object in described image obtains position offset, comprising:
Determine position of the target object in described image；
Determine that the position at a distance from central area preset in described image, obtains position offset.
In one embodiment, the method also includes:
When the target object includes the article placed, according to the position offset and the original coordinates position, really
Determine real coordinate position；The real coordinate position is moving coordinate when manipulator grabs article.
In one embodiment, the method also includes:
It is described the position offset be greater than preset offset threshold when, issue warning information, comprising:
When the position offset is greater than preset offset threshold, described image, original coordinates position and alarm are sent
Information.
In one embodiment, the method also includes:
When the position offset is greater than preset offset threshold, the corresponding affiliated partner of the target object is determined.
When the relative position offset of the affiliated partner is greater than preset offset threshold, issue about the association pair
The warning information of elephant.
When the relative position offset of the affiliated partner is not more than preset offset threshold, issue about the target
The warning information of object.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (15)
1. a kind of coordinate detection method in automatic vending warehouse characterized by comprising
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original coordinates position of target object
It sets；
When the manipulator is moved to the original coordinates position, sent to the image collecting device being located on the manipulator
Shooting instruction obtains image；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
2. the method as described in claim 1, which is characterized in that when the target object includes empty shelf, the original coordinates
Position includes the first original coordinates position when the first beginning and end placing article；
When the target object includes the article placed, second when the original coordinates position includes initial placement article is original
Coordinate position.
3. the method as described in claim 1, which is characterized in that the position according to the target object in described image
It sets, obtains position offset, comprising:
Determine position of the target object in described image；
Determine that the position at a distance from central area preset in described image, obtains position offset.
4. the method as described in claim 1, which is characterized in that the target object includes the article placed, and the method is also
Include:
According to the position offset and the original coordinates position, real coordinate position is determined；The real coordinate position is
Manipulator grabs moving coordinate when article.
5. the method as described in claim 1, which is characterized in that described to be greater than preset offset threshold in the position offset
When, issue warning information, comprising:
When the position offset is greater than preset offset threshold, described image, original coordinates position and warning information are sent.
6. the method as described in claim 1, which is characterized in that described to be greater than preset offset threshold in the position offset
When, issue warning information, further includes:
When the position offset is greater than preset offset threshold, the corresponding affiliated partner of the target object is determined；
When the relative position offset of the affiliated partner is greater than preset offset threshold, issue about the affiliated partner
Warning information；
When the relative position offset of the affiliated partner is not more than preset offset threshold, issue about the target object
Warning information.
7. a kind of coordinate detecting device in automatic vending warehouse characterized by comprising
First sending module makes the manipulator be moved to mesh for sending detection instruction to the manipulator for pick-and-place article
Mark the original coordinates position of object；
First obtains module, for when the manipulator is moved to the original coordinates position, to being located on the manipulator
Image collecting device send shooting instruction, obtain image；
Second obtains module, for the position according to the target object in described image, obtains position offset；
Second sending module, for issuing warning information when the position offset is greater than preset offset threshold.
8. device as claimed in claim 7, which is characterized in that when the target object includes empty shelf, the original coordinates
Position includes the first original coordinates position when the first beginning and end placing article；
When the target object includes the article placed, second when the original coordinates position includes initial placement article is original
Coordinate position.
9. device as claimed in claim 7, which is characterized in that described second obtains module, comprising:
First determines submodule, for determining position of the target object in described image；
Second determines submodule, for determining that the position at a distance from central area preset in described image, obtains position
Offset.
10. device as claimed in claim 7, which is characterized in that the target object includes the article placed, and described device is also
Include:
Determining module, for determining real coordinate position according to the position offset and the original coordinates position；The reality
Border coordinate position is moving coordinate when manipulator grabs article.
11. device as claimed in claim 7, which is characterized in that second sending module, comprising:
First sending submodule, for sending described image, original when the position offset is greater than preset offset threshold
Coordinate position and warning information.
12. the method for claim 7, which is characterized in that second sending module, further includes:
Third determines submodule, for determining the target object when the position offset is greater than preset offset threshold
Corresponding affiliated partner；
Second sending submodule, when being greater than preset offset threshold for the relative position offset in the affiliated partner, hair
Warning information about the affiliated partner out；
Third sending submodule, when being not more than preset offset threshold for the relative position offset in the affiliated partner,
Issue the warning information about the target object.
13. a kind of coordinate detection system in automatic vending warehouse characterized by comprising manipulator, image collecting device and control
Device processed；
The manipulator is connected with the controller, is used for pick-and-place article；
Described image acquisition device is connected with the controller, and is located on the manipulator, for obtaining image；
The controller makes the manipulator be moved to target for sending detection instruction to the manipulator for pick-and-place article
The original coordinates position of object；When the manipulator is moved to the original coordinates position, on the manipulator
Image collecting device sends shooting instruction, obtains image；According to position of the target object in described image, position is obtained
Offset；When the position offset is greater than preset offset threshold, warning information is issued.
14. a kind of coordinate detecting device in automatic vending warehouse characterized by comprising
Processor；
Memory for storage processor executable instruction；
Wherein, the processor is configured to:
Detection instruction is sent to the manipulator for pick-and-place article, the manipulator is made to be moved to the original coordinates position of target object
It sets；
When the manipulator is moved to the original coordinates position, sent to the image collecting device being located on the manipulator
Shooting instruction obtains image；
According to position of the target object in described image, position offset is obtained；
When the position offset is greater than preset offset threshold, warning information is issued.
15. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the instruction is by processor
The step of coordinate detection method in automatic vending warehouse described in any one of claims 1 to 5 is realized when execution.
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| CN201810995803.3A CN109272651A (en) | 2018-08-29 | 2018-08-29 | Coordinate detection method, the apparatus and system in automatic vending warehouse |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810995803.3A CN109272651A (en) | 2018-08-29 | 2018-08-29 | Coordinate detection method, the apparatus and system in automatic vending warehouse |
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