CN112276955B

CN112276955B - Article distribution method, device and equipment and storage medium

Info

Publication number: CN112276955B
Application number: CN202011188539.6A
Authority: CN
Inventors: 李艳民
Original assignee: Beijing Sensetime Technology Development Co Ltd
Current assignee: Beijing Sensetime Technology Development Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2022-09-30
Anticipated expiration: 2040-10-30
Also published as: CN112276955A

Abstract

The present disclosure provides an article distribution method, apparatus, device and storage medium, including: acquiring an article to be delivered and a map corresponding to a target place, wherein the map comprises a plurality of target areas in the target place; acquiring the position of the movable equipment; and sequentially dispatching the articles to be dispatched according to a designated sequence based on the position of the movable equipment and the positions of the target areas in the map so as to respectively dispatch the articles to be dispatched to the target areas.

Description

Article distribution method, device and equipment and storage medium

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a storage medium for article distribution.

Background

When articles are issued for staff, if the staff issues the articles station by station, the staff needs to perform repeated operation, and the article issuing efficiency is low; if the employees get the unified articles to the designated places, the picking places are limited, and the employees are generally required to register in the picking process, so that the distribution efficiency is low, and the queuing waiting time of the employees is long.

In addition, when a plurality of workers dispense articles, a situation that the articles are wrongly distributed may occur, for example, the same worker dispenses the articles for a plurality of times, or a certain worker fails to distribute the articles.

Disclosure of Invention

The embodiment of the disclosure at least provides an article distribution method, an article distribution device, article distribution equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides an article distribution method, including:

acquiring an article to be delivered and a map corresponding to a target place, wherein the map comprises a plurality of target areas in the target place;

acquiring the position of the movable equipment;

and sequentially dispatching the articles to be dispatched according to a designated sequence based on the position of the movable equipment and the positions of the target areas in the map so as to respectively dispatch the articles to be dispatched to the target areas.

By the method, the articles to be distributed can be automatically distributed to each target area according to the designated sequence based on the acquired articles to be distributed, the map corresponding to the target place and the position of the movable equipment, so that the process of manually and repeatedly distributing the articles can be avoided, and the article distribution efficiency and the distribution accuracy are improved.

In a possible embodiment, the mobile device comprises a camera, a gripping member and a storage box, the acquisition of the items to be dispensed comprises:

acquiring a first target image containing the article to be delivered through the camera;

identifying external features of the to-be-delivered objects based on the first target image, and determining the grabbing positions of the to-be-delivered objects based on the identified external features;

controlling the grabbing parts to grab the articles to be delivered according to the determined grabbing positions;

and placing the grabbed object to be dispensed in the storage box.

According to the method, the grabbing position of the article to be delivered can be automatically determined based on the first target image acquired by the camera, and then the grabbing component is controlled to grab the article to be delivered based on the grabbing position, so that the article to be delivered can be grabbed accurately.

In a possible embodiment, the method further comprises:

acquiring a second target image of the target area in response to the movable device reaching the target area;

and identifying the second target image, and issuing the article to be dispensed according to the character identification result.

Here, different character recognition results may correspond to different dispensing manners of the articles to be dispensed, so that the dispensing manners of the articles to be dispensed may be enriched, the dispensing manner of the article to be dispensed corresponding to each character recognition result is the best manner corresponding to the character recognition result, and further the dispensing efficiency of the article to be dispensed may be further improved.

In a possible implementation manner, the issuing the article to be delivered according to the person identification result includes:

and sending prompt information to the target user to prompt the target user to pick up the article to be delivered under the condition that the target user exists in the target area.

By the mode, the articles to be distributed do not need to be unloaded by movable equipment, and the distribution efficiency of the articles to be distributed is improved.

In a possible implementation, after sending the prompt message to the target user, the method further includes:

and acquiring a third target image of the object to be delivered, which is received by the target user, and taking the third target image as an object issuing voucher.

By the mode, the target user can be ensured to receive the articles to be delivered, and the problem of delivery omission in the target area is avoided.

In one possible embodiment, the obtaining of the third target image of the item picked up by the target user includes at least one of the following:

controlling a camera of the movable equipment to acquire an image of the object to be delivered received by the target user;

acquiring an image which is deployed in the target place and is acquired by a camera shooting the target area, wherein the image is acquired by the target user and used for picking up the article to be delivered;

and receiving the image which is sent by the target user through the user side and is used for the target user to pick up the article to be delivered.

Based on any mode, the movable equipment can acquire the third target image, so that the acquisition mode of the third target image is enriched, and the problem that the third target image cannot be acquired due to equipment failure is solved.

In one possible embodiment, the issuing the article to be delivered according to the person identification result includes:

and under the condition that the target area is identified to have no target user, determining a placement position in the target area based on the second target image, and placing the object to be dispensed at the determined placement position.

By the method, automatic distribution can be realized under the condition that no target user exists in the target area, and distribution efficiency is improved.

In a possible embodiment, the method further comprises:

in response to the determined placement position of the article to be delivered, acquiring a fourth target image of the article to be delivered placed at the placement position, and taking the fourth target image as an article issuance certificate.

In this way, when the target user cannot find the item to be delivered after the delivery is completed, the target user can be assisted to find the item to be delivered in the target area.

In a possible embodiment, said placing the grasped article to be dispensed in the storage compartment comprises:

determining the target number of the to-be-delivered articles which can be accommodated by the storage box and the placing mode of the to-be-delivered articles with the target number based on the volume information of the to-be-delivered articles and the volume information of the storage box;

and placing the grabbed objects to be delivered in the target number into the storage box according to the placing mode.

Through pre-estimating the target quantity and the placing mode, the articles to be delivered are placed in the storage box, a plurality of articles to be delivered can be delivered in one-time delivery process, and therefore when the articles to be delivered are more, the delivery efficiency is improved.

In a second aspect, embodiments of the present disclosure also provide an article dispensing device, including:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring an article to be delivered and a map corresponding to a target place, and the map comprises a plurality of target areas in the target place;

a second obtaining module, configured to obtain a location of the mobile device;

and the distribution module is used for sequentially distributing the articles to be distributed according to a specified sequence based on the position of the movable equipment and the positions of the target areas in the map so as to distribute the articles to be distributed to the target areas respectively.

In a possible embodiment, the mobile device comprises a camera, a gripping member and a storage box, the second acquisition module, when acquiring the article to be dispensed, being configured to:

and placing the grabbed object to be dispensed in the storage box.

In a possible implementation, the delivery module is further configured to:

In one possible embodiment, the delivery module, when dispensing the article to be delivered according to the person identification result, is configured to:

In a possible implementation manner, after sending the prompt message to the target user, the delivery module is further configured to:

and acquiring a third target image of the object to be delivered received by the target user, and taking the third target image as an object issuing certificate.

In one possible embodiment, the delivery module, when obtaining the third target image of the item picked up by the target user, includes at least one of:

controlling a camera of the movable equipment to acquire an image of the object to be delivered, which is received by the target user;

acquiring an image which is deployed in the target place and is acquired by the target user and shot by a camera in the target area to obtain the article to be delivered;

In a possible implementation, the delivery module is further configured to:

In a possible embodiment, the dispensing module, when placing the grasped article to be dispensed in the storage box, is configured to:

In a third aspect, an embodiment of the present disclosure further provides a computer device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect described above, or any possible implementation of the first aspect.

In a fourth aspect, this disclosed embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps in the first aspect or any one of the possible implementation manners of the first aspect.

For the description of the effects of the article distribution device, the computer device, and the computer-readable storage medium, reference is made to the description of the article distribution method, and details are not repeated here.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

Fig. 1 illustrates a flow chart of a method of dispensing an item provided by an embodiment of the present disclosure;

FIG. 2 illustrates a schematic view of an article dispensing device provided by an embodiment of the present disclosure;

fig. 3 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

In the related art, when the articles are issued, the articles are generally issued directly by manual work, and since the issued articles are the same, a large amount of repeated work needs to be performed by workers in charge of issuing the articles, and the efficiency is low.

Based on the research, the present disclosure provides an article distribution method, which may automatically distribute articles to be distributed to each target area according to a designated sequence based on the acquired articles to be distributed, a map corresponding to a target location, and a position of a mobile device, thereby avoiding a process of manually repeatedly distributing articles, and improving article distribution efficiency and distribution accuracy.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

For the convenience of understanding of the present embodiment, first, a detailed description is given to an article distribution method disclosed in the embodiments of the present disclosure, where an execution main body of the article distribution method provided in the embodiments of the present disclosure is generally a movable device, and specifically, may be a processor of the movable device, and for example, the movable device may include a distribution robot.

Referring to fig. 1, a flowchart of an article distribution method provided in an embodiment of the present disclosure is shown, where the method includes steps S101 to S103, where:

s101: the method comprises the steps of obtaining an article to be delivered and a map corresponding to a target place, wherein the map comprises a plurality of target areas in the target place.

S102: a position of the movable device is obtained.

S103: and sequentially dispatching the articles to be dispatched according to a designated sequence based on the position of the movable equipment and the positions of the target areas in the map so as to respectively dispatch the articles to be dispatched to the target areas.

The following is a detailed description of the above steps:

in a possible implementation manner, a user may send a delivery instruction to the mobile device through a user terminal, where the delivery instruction may carry information about a location where an item to be delivered is located.

Here, when the user sends the distribution instruction to the mobile device through the user side, in a possible implementation, the mobile device may be configured with an operation panel, and the user may directly input the location information of the object to be distributed on the operation panel, so as to generate the distribution instruction, and transmit the distribution instruction to the processor of the mobile device; in another possible implementation, the connection between the user terminal and the mobile device may be pre-established, and then the user may input the location information of the object to be dispensed through the user terminal, so as to generate a dispensing instruction, and then send the dispensing instruction to the processor of the mobile device.

Here, the connection between the user terminal and the mobile device includes, but is not limited to, bluetooth connection, lan connection, wireless network connection, and other communication connection.

It should be noted that, in the method provided by the present disclosure, the items to be delivered in each delivery instruction are the same, that is, the application scenario of the method provided by the present disclosure delivers uniform items to be delivered to a plurality of users.

In a possible implementation manner, when the user sends a distribution instruction to the mobile device through the user side, a map corresponding to a target location may also be sent to the mobile device at the same time, where the target location may be, for example, an office area, and a plurality of target areas in the target location included in the map may be location areas corresponding to a plurality of workstations.

In another possible implementation manner, the mobile device may further acquire a map corresponding to the target location through a simultaneous localization and mapping (SLAM) technique.

After the movable equipment acquires the articles to be delivered, the movable equipment can reach a position area where the articles to be delivered are placed according to the position information of the articles to be delivered in the delivery instruction and a pre-stored map.

In one possible embodiment, the mobile device may include a camera, a gripping member and a storage case, and this may include both the case where the mobile device itself has a camera, a gripping member and a storage case, and the case where the camera, gripping member and storage case are subsequently mounted to the mobile device.

In one possible implementation, step S101 may be implemented as steps S1011 to S1014:

s1011, acquiring a first target image containing the article to be delivered through the camera.

S1012, identifying the external features of the to-be-delivered articles based on the first target image, and determining the grabbing positions of the to-be-delivered articles based on the identified external features.

And S1013, controlling the grabbing parts to grab the to-be-delivered objects according to the determined grabbing positions.

S1014, placing the grabbed articles to be delivered in the storage box.

In the above step, the grabbing position of the article to be delivered can be automatically determined based on the first target image acquired by the camera, and then the grabbing component is controlled to grab the article to be delivered based on the grabbing position, so that the article to be delivered can be grabbed accurately.

For S1011, there may be a plurality of first target images, and when the first target image including the article to be delivered is obtained by the camera, the movable device may be controlled to move around the article to be delivered to obtain the first target images acquired at different positions, such as different angles and/or different distances, relative to the article to be delivered, for example, the movable device may be controlled to rotate, or the camera of the movable device may be controlled to rotate around the article to be delivered to obtain a plurality of first target images including the article to be delivered at different angles.

For S1012, the external feature may reflect an external structure of the to-be-delivered item, for example, in one possible embodiment, the external feature may be a shape feature, and when determining the grasping position of the to-be-delivered item based on the identified external feature, the center of gravity of the to-be-delivered item may be predicted based on the external feature of the to-be-delivered item, and then the grasping position of the to-be-delivered item may be determined based on the center of gravity of the to-be-delivered item.

When the barycenter of the to-be-delivered article is predicted based on the external features of the to-be-delivered article, a three-dimensional model of the to-be-delivered article in the first target image is built based on the external features of the to-be-delivered article under an ideal condition that an interference term with unequal density distribution is not considered, and the barycenter of the to-be-delivered article is determined based on the built three-dimensional model.

Further, when the grasping position is determined, a target point closest to the predicted center of gravity on the surface of the article to be delivered may be determined, a direction to which a line connecting the target point and the predicted center of gravity points is directed is a grasping direction, a surface area of the article to be delivered corresponding to the grasping direction is a grasping position, and the movable apparatus may grasp the article to be delivered based on the grasping position.

In a further possible embodiment, after the determination of the gripping direction, the gripping elements can be controlled to grip the items to be dispensed directly as a function of the gripping direction. Specifically, the gripping member may be controlled to directly grip the article to be delivered according to the determined gripping direction.

In a possible embodiment, for said objects to be dispensed with different shapes, preset gripping positions corresponding to different template shapes (including template shapes of different sizes of the same shape) can be preset, such as:

for a cuboid box, such as an express box, the main parameters in the corresponding geometric model are three parameters of length, width and height, and the preset grabbing position can be set at the central position of the plane where the width and the height of the cuboid are located;

the preset grabbing positions can be arranged at the edge positions close to the top ends of the bags, so that the paper documents which are easy to break and bend cannot be damaged due to external force in the loading process;

the bag with the extraction position, which is packed and finished with the articles such as the worker clothes, the fruits and the like, can reserve the extraction position which can be grabbed during packing, the extraction position is used as the preset grabbing position, for example, the worker clothes can be placed in the bag with the extraction position such as a hand bag, and the grabbing component directly grabs the extraction position to finish loading in the loading process.

Further, after the external features of the to-be-delivered articles are identified, the template shape closest to the external features of the to-be-delivered articles can be determined, then the preset grabbing position corresponding to the determined template shape is used as the grabbing position of the to-be-identified articles, and grabbing is performed according to the determined grabbing position.

When the template shape closest to the external feature of the article to be delivered is determined, the matching degree between the article to be delivered and each template shape can be determined based on the size information of the article to be delivered and the preset size information corresponding to the template shape, and the template shape with the highest matching degree is used as the template shape closest to the external feature of the article to be delivered.

After the grasping position is determined, the grasping part can be controlled to perform multiple attempted grasping when the grasping part is controlled to grasp the article to be delivered according to the determined grasping position. The grabbing force of the grabbing part can be increased from small to large in the grabbing process of each time of trying to grab the goods, the increased force can be the same each time, and when the goods to be delivered are detected to be completely separated from the goods shelf or the ground, namely the goods to be delivered are successfully grabbed, the current force is kept.

For example, if the mass of the article to be dispensed is 1 kg, the gravity corresponding to the article to be dispensed is about 10 newton N, and the gripping member may grip the article to be dispensed with a gripping force of 5N when trying to grip the article to be dispensed for the first time, and then overlap 1N each time until the article to be dispensed is completely gripped.

In this way, damage to the articles to be delivered due to excessive grabbing force of the grabbing parts of the movable equipment can be prevented, and the integrity of the articles to be delivered in the loading process is guaranteed.

In another possible implementation manner, when the user sends the delivery instruction, the delivery instruction may carry the quality of the article to be delivered, and based on the quality of the article to be delivered, the grasping strength of the grasping part may be directly determined, and the grasping may be performed according to the grasping strength.

In a possible implementation mode, the grabbing position can be adjusted under the condition that grabbing is attempted for a plurality of times based on the determined grabbing position and grabbing fails, grabbing is attempted again according to the adjusted grabbing position, and the like is performed, and the grabbing position and the grabbing strength are adjusted for a plurality of times until grabbing is successful.

When the grabbing position is adjusted, the preset distance can be horizontally moved on the basis of the existing grabbing position, and then the position after movement is used as the re-determined grabbing position, for example, the position away from the left side of the current grabbing position can be horizontally preset at a distance, or the position away from the right side of the current grabbing position can be horizontally preset at a distance, and the position is used as the adjusted grabbing position.

For example, after the first attempt to grab fails, the mobile device may adjust the grabbing strength, perform the second attempt to grab, after the nth attempt to grab fails, adjust the grabbing position, perform N +1 attempt to grab … …, and so on, and after the mth attempt to grab fails, determine that grabbing fails, where M and N are both preset positive integers, and M is greater than N.

Here, after the nth adjustment, the gripping part may adjust the value of the maximum gripping force, and after the nth gripping failure, the article to be delivered may exceed the maximum gripping force, or the gripping position may be unreasonable, so that after the nth failure, the gripping position may be adjusted, and it may be detected whether the article to be delivered fails to be gripped due to the unreasonable gripping position, and after the mth gripping failure, it may be determined that neither the gripping force nor the gripping position that the movable device can provide cannot grip the article to be delivered.

Wherein, N's setting is related to the initial dynamics of snatching, the biggest dynamics of snatching the part and the dynamics of snatching that increases when adjusting each time, and M can be set up according to experience value artificially.

Further, after it is determined that the object to be dispensed fails to be gripped, gripping failure information may be fed back to the user side that sends the distribution instruction corresponding to the object to be dispensed, so as to remind the user that the object to be dispensed fails to be gripped.

When the article to be delivered is detected to be successfully grabbed, any one of the following methods can be included:

the first method,

And acquiring an image of the grabbing process in real time through the camera of the movable equipment, and determining that the article to be delivered is successfully grabbed when the article to be delivered is judged to be completely separated from the goods shelf or the ground, namely, the article to be delivered is displaced.

The second method,

Based on a mechanical sensor, the mass of the article to be dispensed (the mass of the article to be dispensed may be carried in the dispensing instruction) may be preset, then the gravity of the article to be dispensed is determined, and then when the fact that the gravity borne by the gripping part is the same as the gravity of the article to be dispensed is detected, the article to be dispensed can be successfully gripped, and here, the mechanical sensor may be placed at the position of the tail end of the clamping jaw.

In one possible embodiment, the robot arm in the gripping member may comprise either a single robot arm or a dual robot arm. The single mechanical arm has the advantages of low cost, high cost performance and easy control; the two mechanical arms can simulate the grabbing operation of a human body in the process of grabbing the articles, the grabbing mode is firmer, and under the condition that the grabbing part comprises the two mechanical arms, one of the two mechanical arms can be selected to grab the articles to be delivered.

When the movable equipment provided with the two mechanical arms controls the grabbing parts to grab the articles to be delivered, the two mechanical arms can be selected to grab the articles, any one of the two mechanical arms can also be selected to grab the articles to be delivered, specifically, before the articles to be delivered are grabbed, the volume of the articles to be delivered can be judged first, if the volume of the articles to be delivered does not exceed the preset volume, the articles to be delivered can be grabbed by any one of the two mechanical arms in the movable equipment, and if the volume of the articles to be delivered exceeds the preset volume, the articles to be delivered can be grabbed by the two mechanical arms in order to ensure the stability of the articles to be delivered in the grabbing process.

In a possible embodiment, the movable device is further provided with a storage box, and after the grabbing component is controlled to grab the article to be dispensed according to the determined grabbing position, the grabbing component can be controlled to place the grabbed article to be dispensed into the storage box.

In a specific implementation process, the target number of the to-be-delivered articles that can be accommodated by the storage box and the placing mode of the to-be-delivered articles in the target number can be determined based on the volume information of the to-be-delivered articles and the volume information of the storage box, and then the grabbing component is controlled to grab the to-be-delivered articles according to the target number and place the to-be-delivered articles into the storage box according to the determined placing mode.

In one possible embodiment, when determining the target number of the to-be-dispensed items and the placement of the to-be-dispensed items, the target number of the to-be-dispensed items and the placement of the to-be-dispensed items may be estimated based on the volume of the to-be-dispensed items and the volume of the storage boxes, and may be calculated by any one of a plurality of open-source algorithms for solving the bin loading problem, such as a branch and bound method, for example.

In another possible embodiment, a pressure sensor is further configured at the bottom of the storage box of the movable device, and during the process of placing the target number of articles to be dispensed in the storage box, the total mass of the articles to be dispensed can be detected in real time through the pressure sensor, and if the total mass of the articles to be dispensed loaded in the storage box exceeds a preset mass (i.e., the maximum mass that can be borne by the movable device), the loading of the articles to be dispensed is stopped.

After the loading process is completed, the article to be delivered needs to be transported to a target area corresponding to the article to be delivered, specifically, the delivery instruction may carry user information to be delivered, and based on the user information to be delivered in the delivery instruction and a correspondence relationship between delivery position areas corresponding to each piece of pre-stored user information, the target area with the same number of articles to be delivered may be determined, for example, if there are 5 articles to be delivered and 5 pieces of employee information, each piece of employee information corresponds to one target area, the target area may be a position area where an employee workstation is located, and based on the 5 pieces of employee information, the 5 target areas may be determined.

In a possible application scenario, there may be a plurality of articles to be delivered, and there may also be a plurality of corresponding target areas, so when each article to be delivered is transported to a corresponding target area, to increase the delivery speed, the delivery sequence corresponding to different target areas may be determined in advance, and then the articles to be delivered are delivered based on the determined delivery sequence.

In a possible embodiment, when determining the distribution order corresponding to different target areas, the specified order is the distribution order corresponding to each target area, and may be any one of the following methods:

the method I comprises the following steps of based on the sequence of user information to be distributed in a distribution instruction:

in a specific implementation, the delivery instruction may carry a plurality of pieces of user information to be delivered, and a sequence corresponding to the plurality of pieces of user information to be delivered is a delivery sequence of a target area corresponding to the user information.

For example, if the sequence of the user information to be distributed in the distribution instruction is zhang, lie si, and wang, the target area corresponding to zhang is the location area a, the target area corresponding to lie si is the location area B, and the target area corresponding to wang is the location area C, then the distribution sequence of the corresponding distribution areas is the location area a, the location area B, and the location area C.

Determining the shortest distribution route in different target areas, and determining the distribution sequence corresponding to the target areas based on the shortest distribution route:

in specific implementation, each target area is determined, then the position of the movable equipment is obtained, and then the distribution sequence corresponding to different target areas is determined based on the shortest path from the movable equipment to each target area and the determined shortest path.

When acquiring the position of the mobile device, the position may be acquired by a Positioning method such as a Global Positioning System (GPS) or SLAM.

The shortest path algorithm in determining the shortest path here may be any one of the following open-source shortest path algorithms:

dijkstra algorithm, Bellman-Ford algorithm, Floyd algorithm, SPFA algorithm, etc.

The mobile device needs to dispense the item to be dispensed after reaching the target area. Here, after the mobile device reaches the target area, in response to the mobile device reaching the target area, a second target image of the target area may be acquired, and then the second target image is subjected to person recognition, and the article to be dispensed is dispensed according to a result of the person recognition.

In a specific implementation process, when the article to be dispensed is dispensed according to the person identification result, the following two situations may be included:

in case 1, the target user exists in the target area.

And under the condition that the target user exists in the target area, sending prompt information to the target user to prompt the target user to pick up the article, acquiring a third target image of the target user for picking up the article to be delivered, and taking the third target image as an article issuing certificate.

The sending of the prompt information to the target user may be, for example, sending a short message to a user side of the target user, or directly playing a voice, and after obtaining a third target image of the object to be delivered, the third target image may be stored.

By the mode, the articles to be delivered are unloaded without movable equipment, and the delivery efficiency of the articles to be delivered is improved.

When the target user gets the object, the target user can directly get the object in the storage box after receiving the prompt message, or the target user can grab the object to be delivered through the grabbing component, wait for the target user to get the object, and withdraw the mechanical arm after the target user gets the object to be delivered.

Specifically, the force detection can be performed through a sensor arranged on the gripping part, and when the sensor detects that the force state of the front end of the gripping part changes, that is, it is determined that the target user is picking up the article to be delivered, the gripping part is controlled to release the article to be delivered.

Here, the target user may be a user corresponding to the target area, or may be any user.

Specifically, when the target user is any user, after the person identification is performed on the second target image, if it is detected that any user is included in the second target image, the article to be delivered can be released; when the target user is the user corresponding to the target area, the face recognition can be performed on the user in the second target image, and if the user in the second user image is recognized as the user corresponding to the target area, the article to be dispensed can be dispensed directly.

For example, if the number of users in the target area a is three, the mobile device may directly deliver the items to be delivered after reaching the target area, in a possible implementation, if it is detected that any user is included in the target area (the user is not necessarily three), and in another possible implementation, the items to be delivered may be directly delivered only when it is detected that the number of users in the target area is three.

In one possible embodiment, when the third target image of the item to be delivered received by the target user is obtained, any one of the following manners may be adopted:

in the first mode, a camera of the movable equipment is controlled to collect the image of the object to be delivered, which is received by the target user.

And secondly, acquiring an image of the object to be delivered acquired by the object user, which is acquired by a camera arranged in the object place and used for shooting the object area.

In a possible implementation manner, it may be determined that a target user receives a target time corresponding to an article to be delivered, and then an image acquired by a camera shooting the target area at the target time is acquired, and the image is taken as the third target image.

And receiving the image of the object user for picking up the article to be delivered, which is sent by the object user through the user side.

In an example of the present disclosure, a plurality of images may be acquired through any two or three of the above manners, and then an optimal image is screened out from the acquired plurality of images as a third target image, for example, an image with the highest resolution may be selected as the third target image.

The second target image and the fourth target image described below may be acquired in the above manner.

Case 2, no target user is in the target area.

In a possible implementation manner, in the case that there is no target user in the target area, the delivery order corresponding to the target area may be adjusted to the tail of the current delivery order, and after the other objects to be delivered are delivered, the current target area is delivered.

In another possible implementation, in the case that no target user is identified in the target area, a placement position may be determined in the target area based on the second target image, and the article to be dispensed may be placed at the determined placement position to complete the dispensing process of the article to be dispensed.

In specific implementation, when the placement position is determined, the second target image may be subjected to semantic segmentation to determine each article in the second target image and the position occupied by each article, then at least one blank position area in the second target image is determined according to each article in the second target image and the position occupied by each article, and then the corresponding placement position is determined according to the volume of the article to be delivered and the determined at least one blank position area.

In order to record and prove that the article to be delivered is delivered successfully, the fourth target image of the article to be delivered placed at the placement position may be acquired and stored to be used as an article issuing certificate, and meanwhile, notification information of delivery success may be sent to the user side corresponding to the target area.

When no target user is identified in the target area and the blank position area is not found for placing the to-be-delivered article, a delivery failure notification message may be sent to the user corresponding to the target area to notify the user that delivery fails, and the user can pick up the delivery failure and deliver the delivery to the next target user.

Here, different person identification results may correspond to different dispensing manners of articles to be dispensed, and thus, the dispensing manners of articles to be dispensed may be enriched, and the dispensing manner of articles to be dispensed corresponding to each person identification result is the optimal manner corresponding to the person identification result, and further, the dispensing efficiency of articles to be dispensed may be further improved.

Finally, after the distribution of all the items to be distributed is completed, the movable device may send a distribution completion instruction to the user side that sends the distribution instruction, where the distribution completion instruction may include the quantity of the items that are successfully distributed and the quantity of the items that are identified for distribution, and return to a preset initial position to perform charging or next distribution.

In a possible embodiment, there may be a plurality of mobile devices responsible for delivering the to-be-delivered objects, the storage boxes of different mobile devices may have the same volume, and when the to-be-delivered objects are delivered, the number of the mobile devices to be called may be determined according to the number and the volume of the to-be-delivered objects and the volume of the storage boxes, and then for each mobile device, the above-mentioned S101 to S103 may be performed to complete the delivery of the to-be-delivered objects.

Here, when a plurality of movable devices simultaneously perform distribution while S103 is executed, each movable device corresponds to one designated order, and target areas in the designated orders corresponding to different movable devices are different.

Specifically, when the number of movable devices to be called is determined according to the number and volume of articles to be dispensed and the volume of the storage box, for example, the number of articles to be dispensed that can be loaded by each movable device may be determined by calculating through any one of a plurality of open-source algorithms for solving the bin loading problem, such as a bifurcation boundary method, and then the number of movable devices to be called is determined based on the number of articles to be dispensed that can be loaded by each movable device.

The method comprises the steps that in the process of placing all movable devices in a storage box according to the determined quantity, the total mass of articles to be delivered can be detected in real time through a pressure sensor, if the total mass of the articles to be delivered loaded in the storage box exceeds the preset mass (namely the maximum mass which can be borne by a movable device), the articles to be delivered are stopped to be loaded, and the quantity of the movable devices to be called is determined again according to the quantity of the rest unloaded articles to be delivered.

When any movable equipment finishes delivery, the movable equipment can be called again for subsequent delivery; when there is only one movable device, the number of the movable devices to be called is the number of times that the movable device needs to be called.

In another possible embodiment, different mobile devices may be responsible for delivering different target areas, for example, mobile device a may be responsible for delivering target area 1 and target area 2, mobile device B may be responsible for delivering target area 3 and target area 4, and when delivering the items to be delivered, the items to be delivered may be distributed to the respective mobile devices based on the target areas for which the respective mobile devices are responsible.

The article distribution method provided by the embodiment of the disclosure can automatically distribute the articles to be distributed to each target area according to the specified sequence based on the acquired articles to be distributed, the map corresponding to the target place and the position of the movable device, thereby avoiding the process of manually and repeatedly distributing the articles, and improving the efficiency and the accuracy of distributing the articles.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides an article dispensing device corresponding to the article dispensing method, and since the principle of solving the problem of the device in the embodiment of the present disclosure is similar to that of the article dispensing method in the embodiment of the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.

Referring to fig. 2, a schematic diagram of an architecture of an article dispensing device according to an embodiment of the present disclosure is provided, the device including: a first acquisition module 201, a second acquisition module 202 and a distribution module 203; wherein,

a first obtaining module 201, configured to obtain an article to be delivered and a map corresponding to a target location, where the map includes a plurality of target areas in the target location;

a second obtaining module 202, configured to obtain a location of the mobile device;

and the distribution module 203 is configured to sequentially distribute the to-be-distributed items according to a specified order based on the position of the movable device and the positions of the target areas in the map, so as to distribute the to-be-distributed items to the target areas respectively.

In a possible embodiment, the mobile device comprises a camera, a gripping member and a storage box, and the second acquisition module 202, when acquiring the items to be dispensed, is configured to:

and placing the grabbed object to be dispensed in the storage box.

In a possible implementation, the delivery module 203 is further configured to:

In a possible implementation manner, the delivery module 203, when dispensing the article to be delivered according to the person identification result, is configured to:

In a possible implementation, after sending a prompt to the target user, the delivery module 203 is further configured to:

In one possible embodiment, the delivery module 203, when acquiring the third target image of the item picked up by the target user, includes at least one of the following:

In a possible implementation, the delivery module 203 is further configured to:

In a possible embodiment, the dispensing module 203, when placing the grasped article to be dispensed in the storage box, is configured to:

The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.

Based on the same technical concept, the embodiment of the disclosure also provides computer equipment. Referring to fig. 3, a schematic structural diagram of a computer device 300 provided in the embodiment of the present disclosure includes a processor 301, a memory 302, and a bus 303. The memory 302 is used for storing execution instructions and includes a memory 3021 and an external memory 3022; the memory 3021 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 301 and data exchanged with an external memory 3022 such as a hard disk, the processor 301 exchanges data with the external memory 3022 through the memory 3021, and when the computer device 300 is operated, the processor 301 communicates with the memory 302 through the bus 303, so that the processor 301 executes the following instructions:

acquiring a position of the mobile device;

In a possible implementation, the instructions executed by the processor 301 include that the mobile device comprises a camera, a gripping member and a storage box, and the acquiring of the to-be-dispensed items comprises:

and placing the grabbed object to be dispensed in the storage box.

In a possible implementation manner, the instructions executed by the processor 301 further include:

In a possible implementation manner, the instructions executed by the processor 301 for issuing the article to be delivered according to the person identification result includes:

In a possible implementation, the instructions executed by the processor 301, after sending the prompt message to the target user, further include:

In one possible embodiment, the instructions executed by the processor 301 for obtaining a third target image of the item picked up by the target user include at least one of:

and receiving the image which is sent by the target user through a user side and used for the target user to pick up the article to be distributed.

and under the condition that the target area is identified to have no target user, determining a placement position in the target area based on the second target image, and placing the article to be dispensed at the determined placement position.

In a possible implementation, the instructions executed by the processor 301 for placing the grasped article to be dispensed in the storage box include:

determining the target number of the articles to be delivered which can be accommodated by the storage box and the placing mode of the articles to be delivered with the target number based on the volume information of the articles to be delivered and the volume information of the storage box;

The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the article distribution method in the above method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The computer program product of the article distribution method provided by the embodiment of the disclosure includes a computer readable storage medium storing program codes, where the program codes include instructions for executing the steps of the article distribution method in the above method embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solutions of the present disclosure, which are essential or part of the technical solutions contributing to the prior art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. An article distribution method applied to a mobile device, the method comprising:

acquiring a first target image containing an article to be delivered through a camera of the movable equipment;

identifying external features of the to-be-delivered articles based on the first target image, and establishing a three-dimensional model corresponding to the to-be-delivered articles based on the external features;

determining a center of gravity of the item to be delivered based on the three-dimensional model;

determining a gripping position of the article to be delivered based on the center of gravity, and controlling a gripping part of the movable device to grip the article to be delivered according to the gripping position;

obtaining a map corresponding to a target place, wherein the map comprises a plurality of target areas in the target place;

acquiring the position of the movable equipment;

based on the position of the movable equipment and the positions of the target areas in the map, the articles to be delivered are sequentially delivered according to a specified sequence, so that the articles to be delivered are respectively delivered to the target areas; wherein, the objects to be distributed in each target area are the same;

acquiring a second target image of the target area;

and performing person identification on the second target image, determining a placement position in the target area based on the second target image when the target area is identified that no target user exists, and placing the article to be dispensed at the determined placement position.

2. The method of claim 1, further comprising, after the identifying the second target image:

3. The method of claim 2, wherein after sending the alert message to the target user, the method further comprises:

4. The method of claim 3, wherein obtaining a third target image of a target user picked up item comprises at least one of:

5. The method of claim 2, further comprising:

6. The method according to any one of claims 2 to 5, wherein after controlling the gripping member of the movable device to grip the item to be dispensed, the method further comprises placing the gripped item to be dispensed in a storage bin of the movable device according to a method comprising:

7. An article dispensing device, comprising:

the system comprises an image acquisition module, a distribution module and a distribution module, wherein the image acquisition module is used for acquiring a first target image containing an article to be distributed through a camera of the movable equipment;

the establishing module is used for identifying the external characteristics of the to-be-distributed articles based on the first target image and establishing a three-dimensional model corresponding to the to-be-distributed articles based on the external characteristics;

a determining module for determining the center of gravity of the item to be delivered based on the three-dimensional model;

the first acquisition module is used for determining the grabbing position of the article to be delivered based on the gravity center and controlling the grabbing component of the movable equipment to grab the article to be delivered according to the grabbing position;

the map acquisition module is used for acquiring a map corresponding to a target place, wherein the map comprises a plurality of target areas in the target place;

the distribution module is used for sequentially distributing the articles to be distributed according to a specified sequence based on the position of the movable equipment and the positions of the target areas in the map so as to distribute the articles to be distributed to the target areas respectively; wherein, the objects to be distributed in each target area are the same;

the third acquisition module is used for acquiring a second target image of the target area;

and the placing module is used for identifying the person of the second target image, determining a placing position in the target area based on the second target image when the target area is identified that no target user exists, and placing the article to be delivered at the determined placing position.

8. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when a computer device is operated, the machine-readable instructions when executed by the processor performing the steps of the article dispensing method of any one of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the item distribution method according to any one of claims 1 to 6.