CN111673740A

CN111673740A - Method, system, medium and robot for automatically identifying articles

Info

Publication number: CN111673740A
Application number: CN202010423838.7A
Authority: CN
Inventors: 沈扣华; 唐旋来
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2020-09-18
Anticipated expiration: 2040-05-19
Also published as: CN111673740B

Abstract

The embodiment of the application discloses an article autonomous identification method, an article autonomous identification device, a medium and a robot. The method comprises the following steps: acquiring article identification information in at least one cabin of the robot through an article identification device; and determining the articles carried in the at least one cabin according to the article identification information. Through the technical scheme provided by the application, the function of automatically identifying articles in the robot bin can be realized.

Description

Method, system, medium and robot for automatically identifying articles

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to an article autonomous identification method, system, medium and robot.

Background

With the rapid development of science and technology, the living standard of people is gradually improved, and robot service is favored. For example, the delivery robot may deliver the items according to a delivery task, and may be applied to a logistics field or a take-away field. Meanwhile, the robot can be used for realizing the task of delivering food in a restaurant, and the similar applications are also multiple. However, the prior art has the problems that the existing robot for distribution or other transportation services does not have an article perception system, and needs to execute according to the content of the received task, which causes the task configuration process to be complex, and distribution errors can occur and cannot be perceived.

Disclosure of Invention

The embodiment of the application provides an article autonomous identification method, an article autonomous identification system, a medium and a robot, and the function of autonomous identification of articles in a robot bin can be realized.

In a first aspect, an embodiment of the present application provides an autonomous identification method for an article, where the method includes:

acquiring article identification information in at least one cabin of the robot through an article identification device;

and determining the articles carried in the at least one cabin according to the article identification information.

Further, the method further comprises:

if the article is not matched with the pre-loaded article of the current cabin, determining a target cabin of the article;

and generating cabin change prompt information according to the target cabin body so as to change the object to the target cabin body.

Further, the article identification device comprises an image acquisition device; the item identification information comprises an item image;

correspondingly, determining the articles carried in the at least one cabin according to the article identification information comprises:

determining whether the article identification code exists in the article image, if so, determining the articles carried in the cabin according to the article identification code; and/or the presence of a gas in the gas,

and determining whether the article name characters exist in the article image, and determining the articles carried in the cabin body according to the article name characters.

Further, the article identification device further comprises a signal acquisition device, and the article identification information comprises an article identification signal;

determining the item signal tag from the item identification signal;

and determining the articles carried in the cabin body according to the signal tag.

Further, the article identification signal includes: at least one of a radio frequency identification signal, a bluetooth identification signal, and a wireless network identification signal.

Further, the method further comprises:

if the object corresponds to the current cabin, determining a target location of the object;

and if the object is identified to move to the target place, carrying out sorting operation on the object and generating sorting completion information of the object.

Further, prior to determining the target location of the item, the method further comprises:

receiving article carrying task data issued by a background of the identification system; the article carrying task data comprises a mapping relation between an article and a target location of the article;

accordingly, determining a target location for an item includes:

and determining the target location of the object in the current cabin according to the object carrying task data.

In a second aspect, an embodiment of the present application provides an autonomous identification system for an article, where the system is an autonomous identification and background sorting system, and the system includes: background storage and study database, automatic sorting unit etc. this system still includes:

an article identification information acquisition unit for acquiring article identification information in at least one cabin of the robot by an article identification device;

and the identification unit is used for determining the articles carried in the at least one cabin body according to the article identification information.

In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for autonomous identification of an article according to the present application.

In a fourth aspect, the present application provides a robot, including a memory, a processor, and a computer program stored on the memory and executable by the processor, where the processor executes the computer program to implement the method for autonomous identification of a seed item according to the present application.

The technical scheme provided by the embodiment of the application has the technical beneficial effects that:

acquiring article identification information in at least one cabin of the robot through an article identification device; and determining the articles carried in the at least one cabin according to the article identification information. Through adopting the technical scheme that this application provided, can realize the function of the autonomous recognition to article in the robot storehouse.

Drawings

Fig. 1 is a flowchart of an autonomous identification method for an article according to an embodiment of the present application;

FIG. 2 is a schematic view of a robot provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an autonomous identification system for an article according to a second embodiment of the present application;

fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example one

Fig. 1 is a flowchart of an autonomous identification method for an article according to an embodiment of the present disclosure, where the present embodiment is suitable for a robot to identify an article, and the method may be executed by an autonomous identification system for an article according to an embodiment of the present disclosure, where the system may be implemented by software and/or hardware, and may be integrated in a robot with functions of transportation, and distribution.

As shown in fig. 1, the method for autonomously identifying an article includes:

and S110, acquiring article identification information in at least one cabin of the robot through the article identification device.

The robot may include one capsule, and may further include a plurality of capsules. Each compartment may store one item and may also store one type of item. For example, a certain capsule can be used for storing bottled beverages, specifically, any capsule can be used for storing only beverages, and a certain capsule can be used for storing only one type of canned cans. Specifically, the number of tasks and the contents of the tasks may be determined by the number of tasks to be performed for the transport task, or may be determined by the task function setting of the robot.

The article identification device may be a camera, a radio frequency identification device, a bluetooth identification device, or the like. The article identification device may be disposed in each cabin of the robot, and each cabin is not limited to only one article identification device, and for example, a plurality of cameras, a radio frequency identification device, a bluetooth identification device, and the like may be disposed. The camera of the scheme can have the following functions such as high definition, night vision, WI-FI, 4G/5G, off-network video recording, off-power video recording, small size, ultra-long standby, 360-degree panorama, cloud storage and local storage according to use requirements, and in addition, images shot by the camera can support detection and alarm, multi-person watching, video playback, mobile phone or computer implementation and viewing and the like.

The article identification information may be identification information for identifying articles in the cabin, such as image information, radio frequency signals, bluetooth signals, and the like. The article identification information can be obtained by the article identification device and transmitted to a processor, a controller or a single chip microcomputer with identification capability in a wired or wireless transmission mode.

S120, determining the articles carried in the at least one cabin body according to the article identification information.

In the embodiment, taking image recognition as an example, whether an article exists or not can be determined firstly through the image recognition technology, and if so, what article is specifically determined through the image can be further determined. For example, when the item is identified as a canned beverage by the image and 6-packs, the identified item is a 6-pack beverage.

In this technical solution, optionally, the article identification device includes an image acquisition device; the item identification information comprises an item image; correspondingly, determining the articles carried in the at least one cabin according to the article identification information comprises: determining whether the article identification code exists in the article image, if so, determining the articles carried in the cabin according to the article identification code; and/or determining whether the article name characters exist in the article image, and determining the articles carried in the cabin body according to the article name characters.

For example, if an article identification code, a two-dimensional code or a bar code, or a digital code, etc., is recognized in the currently captured image, the article can be identified by recognizing the identification code. And if the identification code is not shot, the article can be further determined by image recognition technology, image matching technology and the like. In the image recognition process, the article name text may be determined, including one or more of a package type, text information, and brand information, for example. The package type may include a bottle type, a filling type, a bag type, and other package types, the text information may be trademark text or name text of the commodity, and the image information may be the type of the commodity used for determining the color, form, specification, size, and the like of the commodity.

According to the scheme, the articles can be identified from the image angle, the advantages of rapid and accurate article identification are achieved, the algorithm is simple, and article identification is easy to achieve.

In this technical solution, optionally, the article identification apparatus further includes a signal obtaining apparatus, and the article identification information includes an article identification signal; correspondingly, determining the articles carried in the at least one cabin according to the article identification information comprises: determining the item signal tag from the item identification signal; and determining the articles carried in the cabin body according to the signal tag. Wherein, the video identification label can be preset on the article. For example, in a supermarket, commodity price and the like can be identified by setting a radio frequency identification tag, and information of articles in the current cabin can be rapidly identified by setting the radio frequency identification tag, so that the articles can be determined. This scheme is through such setting, can assist the discernment work of carrying out article to quick discerning article, improving robot's letter sorting efficiency. It can be understood that different radio frequency reading devices can be arranged in different cabin bodies, and the multiple cabin bodies can be blocked by the electromagnetic blocking partition plates, so that radio frequency identification signals sent by articles in the multiple cabin bodies are prevented from being read by video identification devices in the same cabin body, the signals are disordered, and the articles in each cabin body cannot be distinguished.

In this embodiment, specifically, the article identification signal includes: at least one of a radio frequency identification signal, a bluetooth identification signal, and a wireless network identification signal. The article can be rapidly and accurately identified through the video identification signal, the Bluetooth identification signal and the wireless network identification signal, the hardware configuration cost of the identification modes is low, the application is simple and convenient, the hardware cost of the scheme is reduced, and the method is easy to realize.

On the basis of the above technical solutions, optionally, the method further includes: if the article is not matched with the pre-loaded article of the current cabin, determining a target cabin of the article; and generating cabin change prompt information according to the target cabin body so as to change the object to the target cabin body.

If the identification information of the articles is identified to be inconsistent with the identification information of the articles needing to be carried by the current cabin body in the process of placing the articles in the cabin body, cabin change prompt information can be generated. If, in the process of identifying the article performed by the robot, it is found that the article does not correspond to the current cabin, a target cabin of the article may be determined, for example, an article a in the cabin 1 is found, and if it is set in the robot configuration management system that the article a is placed in the cabin 2, a cabin change prompt message may be sent out, so that the article is changed to the target cabin, that is, the cabin 2. Through the arrangement, the situation that the cabin of the article is placed wrongly can be identified in time, and workers are prompted to correct the situation, so that the sorting accuracy of the robot can be improved.

For example, bottled drinks need to be placed in the current cabin, and chips are actually placed, so that the shape of the placed articles can be identified to be inconsistent with the shape of the articles, and cabin change prompt information can be generated. Thereby the staff can determine whether the object needs to be replaced in the current cabin body. The advantage of this arrangement is that it can determine whether there is abnormality in the placement of the articles by identification during the process of placing the articles in the cabin, and if so, it is convenient to correct in time. But also provides convenience for subsequent sorting work.

If the article is determined to correspond to the current cabin of the article according to the identification result of the article, and the article is not placed in the early stage, the article can be dispatched and subjected to specific sorting work by the robot.

According to the technical scheme, article identification information in at least one cabin of the robot is acquired through the article identification device; and determining the articles carried in the at least one cabin according to the article identification information. Through adopting this scheme, can realize by the functional effect of the interior autonomous recognition article of robot storehouse.

On the basis of the above technical solutions, optionally, the method further includes: if the object corresponds to the current cabin, determining a target location of the object; and if the object is identified to move to the target place, carrying out sorting operation on the object and generating sorting completion information of the object. The target location of the article can be determined by the robot system background, the robot is controlled to move, and after the article is moved to the target location, the article in the cabin can be sorted out. This scheme can realize the accurate letter sorting to article through such setting, avoids appearing the loss that the letter sorting mistake caused.

On the basis of the above technical solutions, optionally, before determining the target location of the article, the method further includes: receiving article carrying task data issued by a background of the identification system; the article carrying task data comprises a mapping relation between an article and a target location of the article; accordingly, determining a target location for an item includes: and determining the target location of the object in the current cabin according to the object carrying task data. In the scheme, during the identification process of the article, the article carrying task data can be received from the background of the robot identification system, and during the image identification or other identification processes, the carrying target position of the article can be determined based on the article carrying task data. And after being transported to the destination location, the articles are sorted. Through the arrangement, the article can be identified more quickly and accurately.

Fig. 2 is a schematic view of a robot according to an embodiment of the present disclosure. As shown in fig. 2, a plurality of capsule bodies may be disposed on the robot body, and four capsule bodies 1, 2, 3 and 4 are illustrated in the figure, wherein articles may be disposed in the capsule body 3, and images of the articles may be acquired through a camera in the capsule body 3 and identified. The robot body may be disposed on a robot base.

In the actual operation process, the camera can record objects firstly, and the robot recognition system records (distinguishes and learns), wherein the camera can be connected with a control unit, such as a control circuit board and the like, the control unit is connected with a central control system of the robot, and then data can be uploaded to a management background to realize the recording function in advance. Specifically, the camera installation is connected to robot control system through the circuit, and the high in the clouds is uploaded to discernment record article, and robot identification system discerns and sorts. For example, after the goods a put into the cabin 3 are identified, the robot sends out a reminder or information to indicate manual or other means to adjust the goods a to the corresponding cabin 2; when the A goods enter the cabin body 2, the identification verification is needed, and when the A goods are correct, the robot generates a green prompting lamp. The system identifies and compares the reference data with the target object to confirm the object, and then realizes the learning function.

Example two

Fig. 3 is a schematic structural diagram of an autonomous identification system for an article according to a second embodiment of the present application. As shown in fig. 3, the system for autonomous identification of articles is an autonomous identification and background sorting system, and the system includes: background storage and study database, automatic sorting unit etc. this system still includes:

an article identification information acquisition unit 310 for acquiring article identification information inside at least one cabin of the robot by an article identification device;

an identifying unit 320, configured to determine, according to the article identification information, an article carried in the at least one cabin;

a background unit 330 for transmitting the article transfer task data to the robot;

a sorting unit 340 for controlling the robot to perform a sorting operation after the robot moves to a target location of the article.

According to the technical scheme provided by the embodiment of the application, the article identification information in at least one cabin of the robot is acquired through the article identification device; and determining the articles carried in the at least one cabin according to the article identification information. By adopting the technical scheme provided by the application, the robot can realize the effect of autonomous identification of the object.

The product can operate the method provided by any embodiment of the application, and has the corresponding functional modules and beneficial effects of the operation method.

EXAMPLE III

Embodiments of the present application also provide a storage medium containing computer executable instructions, which when executed by a computer processor, operate a method for autonomous identification of an item, the method comprising:

Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide the program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.

Of course, the storage medium provided in the embodiments of the present application contains computer executable instructions, and the computer executable instructions are not limited to the autonomous identification operation of the seed item described above, and may also execute related operations in the autonomous identification method of the seed item provided in any embodiments of the present application.

Example four

The embodiment of the application provides a robot, and the robot can be integrated with the automatic identification system of the seed article. Fig. 4 is a schematic structural diagram of a robot according to a fourth embodiment of the present application. As shown in fig. 4, the present embodiment provides a robot 400 including: one or more processors 420; the storage device 410 is used for storing one or more programs, and when the one or more programs are executed by the one or more processors 420, the one or more processors 420 implement the method for autonomously identifying an article provided by the embodiment of the present application, the method includes:

The robot 400 shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 4, the robot 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the robot may be one or more, and one processor 420 is taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430 and the output device 440 in the robot may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 4.

The storage device 410 is a computer-readable storage medium for storing a software program, a computer executable program, and module units, such as program instructions corresponding to the method for self-identification of a seed item in the embodiment of the present application.

The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 430 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the robot. The output device 440 may include a display screen, speakers, etc.

The robot provided by the embodiment of the application can identify articles through the robot and realize sorting of the articles, so that the robot has the autonomous identification capability in the whole task execution process, and the accuracy of task execution is improved.

The system, the medium and the robot for automatically identifying the seed product provided by the embodiment can operate the method for automatically identifying the seed product provided by any embodiment of the application, and have corresponding functional modules and beneficial effects for operating the method. Technical details that are not described in detail in the above embodiments may be referred to an autonomous identification method of an article provided in any embodiment of the present application.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for autonomous identification of an item, the method comprising:

and determining at least one article carried in the cabin according to the article identification information.

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the item identification device comprises an image acquisition device; the item identification information comprises an item image;

correspondingly, the process of determining the articles carried in the at least one cabin body according to the article identification information comprises the following steps:

4. The method of claim 3, wherein the item identification device further comprises a signal acquisition device, the item identification information comprising an item identification signal;

determining the item signal tag from the item identification signal;

5. The method of claim 4, wherein the item identification signal comprises: at least one of a radio frequency identification signal, a bluetooth identification signal, and a wireless network identification signal.

6. The method of claim 1, further comprising:

7. The method of claim 6, wherein prior to determining the target location of the item, the method further comprises:

accordingly, determining a target location for an item includes:

8. An autonomous identification system of an item, characterized in that it comprises:

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for autonomous identification of a seed item according to any one of claims 1 to 7.

10. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the method of autonomous identification of a seed item according to any of claims 1-7.