CN112545211A - Storage unit positioning method, system and device, storage medium and storage device - Google Patents
Storage unit positioning method, system and device, storage medium and storage device Download PDFInfo
- Publication number
- CN112545211A CN112545211A CN202011432611.5A CN202011432611A CN112545211A CN 112545211 A CN112545211 A CN 112545211A CN 202011432611 A CN202011432611 A CN 202011432611A CN 112545211 A CN112545211 A CN 112545211A
- Authority
- CN
- China
- Prior art keywords
- positioning point
- linear equation
- positioning
- coordinates
- equation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003860 storage Methods 0.000 title claims abstract description 225
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000000463 material Substances 0.000 description 10
- 239000000047 product Substances 0.000 description 9
- 238000009434 installation Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000004027 cell Anatomy 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 210000000352 storage cell Anatomy 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000013312 flour Nutrition 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 235000021186 dishes Nutrition 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000013067 intermediate product Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000005057 refrigeration Methods 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B81/00—Cabinets or racks specially adapted for other particular purposes, e.g. for storing guns or skis
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The application discloses a storage unit positioning method, a system, a device, a storage medium and a storage device, which are applied to the storage unit positioning of a storage cabinet comprising a plurality of storage units, and the method comprises the following steps: obtaining coordinates of a first positioning point, a second positioning point and a third positioning point of the storage cabinet, and determining a first linear equation according to the coordinates of the first positioning point and the second positioning point; determining a second linear equation according to the coordinates of the first positioning point and the third positioning point; determining a first linear equation set according to the first linear equation, the coordinates of the third positioning point and row and column parameters; determining a second linear equation set according to the second linear equation, the coordinates of the second positioning point and the row and column parameters; and positioning the storage units of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation. The method and the device can be widely applied to the technical field of automation.
Description
Technical Field
The application relates to automation technology, in particular to a storage unit positioning method, a storage unit positioning system, a storage unit positioning device, a storage medium and a storage device.
Background
With the development of industrial automation technology, many storage and manufacturing scenarios have storage cabinets for storing products or intermediate products, and then the products are stored or taken out by an automated robot (e.g., a mechanical arm, etc.). Generally, these storage cabinets are provided with a plurality of storage units (also called storage lattices), the storage lattices are composed of a plurality of transverse and vertical staggered baffles, since the baffles are generally made of rigid materials, if deviation exists in the installation process, each storage unit of the whole storage cabinet can be deformed, the storage surface of each storage unit is generally deformed into a parallelogram from a rectangle, and due to the rigid characteristic of the baffles, the deformation is transmitted to each storage unit, and the angular deformation of each storage unit is generally the same.
In the related art, two points are generally adopted to position the storage units of the storage cabinet, the principle is that two vertexes of the storage surface of the storage cabinet are taken as positioning points, and the storage surface of each storage unit of the storage cabinet is assumed to be a standard rectangle for calculation.
Disclosure of Invention
In view of this, the present application aims to: the storage unit positioning method, the storage unit positioning system, the storage device, the storage medium and the storage device are provided, so that the positioning accuracy of the storage unit is improved.
In a first aspect, an embodiment of the present application provides:
a storage unit positioning method applied to the positioning of a storage unit of a storage cabinet comprising a plurality of storage units, the method comprises the following steps:
acquiring coordinates of a first positioning point of the locker, coordinates of a second positioning point of the locker, coordinates of a third positioning point of the locker and row and column parameters, wherein the first positioning point and the second positioning point are positioned on a first baffle of the locker, the first positioning point and the third positioning point are positioned on a second baffle of the locker, and the first positioning point, the second positioning point and the third positioning point are positioned on a storage surface of the locker;
determining a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point;
determining a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point;
determining a first linear equation set according to the first linear equation, the coordinates of a third positioning point and the row and column parameters, wherein the first linear equation set comprises a plurality of third linear equations parallel to the first linear equation;
determining a second linear equation set according to the second linear equation, the coordinates of the second positioning point and the row and column parameters; the second linear equation set comprises a plurality of fourth linear equations parallel to the second linear equations;
and positioning the storage units of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation.
In some embodiments, the first baffle and the second baffle are both baffles located at the edge of the storage cabinet, the second positioning point is located at the first end of the first baffle, the first positioning point is located at the second end of the first baffle, the second end of the first baffle is connected with the first end of the second baffle, the third positioning point is located at the second end of the second baffle, and the row and column parameters comprise a set number of rows and a set number of columns;
determining a first linear equation set according to the first linear equation, the coordinates of the third positioning point and the row and column parameters, including:
determining a first distance between the coordinates of the third positioning point and the first linear equation;
determining the first linear equation set according to the first linear equation, the first distance and the set line number;
determining a second line equation set according to the second line equation, the coordinate of the second positioning point and the row and column parameters, including:
determining a second distance between the coordinates of the second positioning point and the second linear equation;
and determining the second linear equation set according to the second linear equation, the second distance and the set column number.
In some embodiments, each of said third linear equations in said first set of linear equations corresponds to a different cross bar of said cabinet; each fourth linear equation in the second linear equation set respectively corresponds to a different vertical baffle of the storage cabinet.
In some embodiments, the first linear equation is determined by a first X coefficient, a first Y coefficient, and a first intercept; the second linear equation is determined by a second X coefficient, a second Y coefficient and a second intercept;
determining the first linear equation set according to the first linear equation, the first distance and the set line number, including:
determining each third linear equation according to the first X coefficient, the first Y coefficient, the first intercept and the set line number;
wherein each of the third linear equations is determined by the first X coefficient, the first Y coefficient, and a third intercept corresponding to the third linear equation, and the third intercept corresponding to the third linear equation is determined by:
calculating a square root of a sum of squares of a first X coefficient and the first Y coefficient as a first value;
calculating the number of lines corresponding to the third linear equation minus one to be used as a second value;
dividing the difference between the first distance and the preset line number minus one to obtain a third value;
taking the sum of the product of the first value, the second value and the third value and the first intercept as a third intercept corresponding to the third linear equation;
determining the second line equation set according to the second line equation, the second distance and the set column number, including:
determining each fourth linear equation according to the second X coefficient, the second Y coefficient, the second intercept and the set column number;
wherein each of the fourth linear equations is determined by the second X coefficient, the second Y coefficient and a fourth intercept of the fourth linear equation, and the fourth intercept corresponding to the fourth linear equation is determined by:
calculating a square root of a sum of squares of a second X coefficient and the second Y coefficient as a fourth value;
calculating the column number corresponding to the fourth linear equation minus one to be used as a fifth value;
dividing the second distance by the difference of one less the preset column number to obtain a sixth value;
and determining the sum of the product of the fourth value, the fifth value and the sixth value and a second intercept as a fourth intercept corresponding to the fourth linear equation.
In some embodiments, said positioning the storage cells of the locker according to the intersection of the third and fourth line equations comprises:
and determining the straight line intersection point of each third straight line equation and all fourth straight line equations, and associating all straight line intersection points to the storage units of the locker.
In some embodiments, the first X coefficient is determined from a difference between a Y coordinate of the second positioning point and a Y coordinate of the first positioning point; the first Y coefficient is determined according to the difference between the X coordinate of the first positioning point and the X coordinate of the second positioning point; the second X coefficient is determined according to the difference between the Y coordinate of the third positioning point and the Y coordinate of the first positioning point, and the second Y coefficient is determined according to the difference between the X coordinate of the first positioning point and the X coordinate of the third positioning point.
In a second aspect, embodiments of the present application provide:
a storage unit positioning system for positioning storage units of a storage cabinet comprising a plurality of said storage units, said system comprising:
the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring the coordinates of a first positioning point of a locker, the coordinates of a second positioning point of the locker, the coordinates of a third positioning point of the locker and row and column parameters, the first positioning point and the second positioning point are positioned on a first baffle of the locker, the first positioning point and the third positioning point are positioned on a second baffle of the locker, and the first positioning point, the second positioning point and the third positioning point are positioned on the storage surface of the locker;
the first equation determining unit is used for determining a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point;
the second equation determining unit is used for determining a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point;
the first equation set determining unit is used for determining a first equation set according to the first linear equation, the coordinates of a third positioning point and the row and column parameters, wherein the first equation set comprises a plurality of third linear equations parallel to the first linear equation;
the second equation set determining unit is used for determining a second linear equation set according to the second linear equation, the coordinates of the second positioning point and the row and column parameters; the second linear equation set comprises a plurality of fourth linear equations parallel to the second linear equations;
and the positioning unit is used for positioning the storage unit of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation.
In a third aspect, embodiments of the present application provide:
a storage unit positioning device, comprising:
a memory for storing a program;
and the processor is used for loading the program to execute the storage unit positioning method.
In a fourth aspect, embodiments of the present application provide:
a computer-readable storage medium, in which a program is stored, which, when executed by a processor, implements the storage unit positioning method described above.
In a fifth aspect, embodiments of the present application provide:
a storage device, comprising:
the storage cabinet comprises a plurality of storage units;
the processor is used for acquiring the identification of the target storage unit and inquiring the position of the target storage unit according to the identification of the target storage unit, wherein the position is determined by the storage unit positioning method;
and the actuator is used for storing or taking out the object according to the coordinate of the target storage unit according to the control instruction of the processor.
According to the storage cabinet positioning method and device, the first positioning point, the second positioning point and the third positioning point which are positioned on the two crossed baffles are selected to be positioned based on a three-point positioning mode, and the position of each storage unit can be accurately determined under the condition that the storage cabinet is deformed by combining the deformation characteristic of the storage cabinet, so that the situation that automatic actuators such as mechanical arms cannot smoothly complete storage and taking tasks due to positioning errors can be reduced, and the reliability of automatic equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a cabinet undergoing deformation;
fig. 2 is a flowchart of a storage unit positioning method according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a distribution of locating points of a locker in an XY coordinate system according to an embodiment of the present application;
FIG. 4 is a schematic view illustrating positioning of an nth row and an nth column of storage units according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of the distribution of the linear equation in the XY coordinate system provided in the embodiment of the present application;
FIG. 6 is a schematic diagram illustrating the distribution of location points of a locker in an XY coordinate system according to an embodiment of the present application;
FIG. 7 is a schematic structural view of a storage device according to an embodiment of the present disclosure;
fig. 8 is a block diagram of a storage unit positioning system according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below through embodiments with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the embodiment of the present application, the storage cabinet described herein may be a storage cabinet sold separately as a product, or may be a part of other products, and it should be understood that the storage cabinet in the embodiment of the present application is composed of a plurality of baffles which are staggered with each other, and generally, the storage cabinet in the embodiment of the present application is divided into a plurality of storage units with rectangular access surfaces by the baffles in an ideal installation state. Wherein the access surface is an open surface and thus accessible by a device such as a robotic arm. Since the storage cabinet described in the embodiment of the present application is made of rigid panels, when the installation deviation occurs (for example, two panels which should be vertically installed form an included angle of 85 ° in actual installation), the storage surfaces of all the storage units are deformed, and the deformation of each storage unit is the same or proportional. The deformation process is shown in FIG. 1, the storage surface 110 of the cabinet is shown by the dashed straight line, which represents the normal installation of the cabinet, and the storage surface 120 of the cabinet is shown by the solid straight line, which represents the installation deviation of the cabinet. In the related art, the calculation is performed by using the point P1 and the point P2, and the transverse coordinates are calculated by using Xp2 to Xp1, and the transverse position of the inner storage unit is calculated according to the number of the storage units in each row. Similarly, longitudinal coordinates are calculated by using Yp2-Yp1, and the longitudinal position of each inner storage unit is calculated according to the number of the storage units in each row. However, as can be seen from fig. 1, although the deviation between each corresponding cell is not as large as that in fig. 1 in practical application, it can be understood that even if there is a slight deviation, in the case where there are many storage units, the storage units are relatively small, or the fault tolerance of the robot arm is relatively low, the accumulation of errors still easily causes the automatic actuator such as the robot arm to fail to complete the task normally. The horizontal and vertical (YX) coordinates referred to in this embodiment are all system coordinates of the automation device that performs the storing task as a reference system.
To this end, referring to fig. 2, the present embodiment discloses a storage unit positioning method applied to the storage unit positioning of a storage cabinet including a plurality of storage units, and after the positioning is completed, an automated executor such as a robot arm may perform the storage and retrieval of articles based on the positioning of the storage units.
In this embodiment, the method comprises the steps of:
Referring to fig. 3, the baffle plate in this embodiment includes a bearing plate and a side plate, wherein the bearing plate and the side plate form the storage cabinet, the bearing plate is generally arranged transversely, and the side plate is arranged perpendicularly to the bearing plate, i.e. vertically. In this embodiment, the first positioning point a is located at the lower left corner of the storage cabinet, and the positioning point B is located at the lower right corner of the storage cabinet, and it can be seen that the first positioning point a and the second positioning point B are both located on the horizontal baffle at the bottom of the storage cabinet and located on the access surface of the storage cabinet. And the third positioning point C is positioned at the upper left corner, and the first positioning point A and the third positioning point C are positioned on the leftmost transverse baffle of the storage cabinet. Due to the special structure of the storage cabinet, the position of the storage unit can be determined based on the first positioning point A, the second positioning point B, the third positioning point and the row and column parameters. It should be understood that the coordinates of the positioning points herein may be determined according to calibration parameters of a camera after being captured by the camera of the automation device, or may be manually calibrated.
And step 220, determining a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point.
In this embodiment, a first linear equation passing through the first positioning point a and the second positioning point B can be determined by determining a straight line by two points through the coordinates (Xa, Ya) of the first positioning point and the coordinates (Xb, Yb) of the second positioning point, and specifically, the equation can be described by the following equation:
lab: a1x + B1y + C1 ═ 0, where A1 ═ Yb-Ya; B1-Xa-Xb; c1 ═ Xb ═ Ya-Xa ═ Yb. The first X coefficient A1 is determined according to the difference between the Y coordinate Yb of the second positioning point and the Y coordinate Ya of the first positioning point; the first Y-coefficient B1 is determined from the difference between the X-coordinate Xa of the first localization point and the X-coordinate Xb of the second localization point.
And step 230, determining a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point.
Likewise, a second equation of a straight line passing through the first positioning point a and the second positioning point B can be determined by the coordinates (Xa, Ya) of the first positioning point and the coordinates (Xc, Yc) of the third positioning point, and specifically, the equation can be described by the following equation:
lac: A2X + B2Y + C2 ═ 0, where A2 ═ Yc-Ya; b2 ═ Xa-Xc; c2 ═ Xc Ya-Xa Yc. The second X coefficient A2 is determined according to the difference between the Y coordinate Yc of the third positioning point and the Y coordinate Ya of the first positioning point, and the second Y coefficient B2 is determined according to the difference between the X coordinate Xa of the first positioning point and the X coordinate Xc of the third positioning point.
And 240, determining a first linear equation set according to the first linear equation, the coordinates of the third positioning point and the row and column parameters, wherein the first linear equation set comprises a plurality of third linear equations parallel to the first linear equation.
It should be understood that in some embodiments, the row and column parameters include a predetermined number of rows and a predetermined number of columns, and as the three positioning points are located at the vertex of the storage cabinet, the row and column of the storage cabinet only need to be known, that is, the location of the storage unit in each row or column can be determined in an equal division manner. In the embodiment, the method for constructing the first linear equation set is to construct a linear equation parallel to the first linear equation, and the method conforms to the deformation characteristic of the storage cabinet. Assuming that the size of each storage unit is the same, the intercept of the straight line equation of each line may be calculated by calculating the distance d1 from the third positioning point C to the first straight line equation Lab and then calculating from the maximum number of lines.
As shown in fig. 4, the specific calculation process of the distance d1 is as follows:
the Ny line equation is expressed as: a1x + B1y + C1ny is 0.
Where C1Ny represents the intercept of the Ny-th line equation and My represents the maximum number of lines.
Similarly, referring to fig. 4, the distance d2 from the second positioning point B to the second line equation Lac may be calculated first, and then the fourth line equation of each column may be calculated according to the maximum number of columns.
The equation in column Nx is expressed as: a2x + B2y + C2nx is 0.
Wherein,
c2Nx denotes the intercept of the fourth line equation for the Nx column, and Mx denotes the maximum number of columns.
Based on the above two steps, we can obtain a first set of linear equations and a second set of linear equations.
And step 260, positioning the storage units of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation.
When the storage units in a certain row and a certain column need to be searched, the positioning points can be obtained only by calculating the intersection points of the corresponding third linear equation and the fourth linear equation. For example, locating the storage cell in the nth row and the nth column only requires solving for the intersection of Lnx and Lny.
For example, referring to fig. 5, the positioning point of the storage unit in the second row and the second column needs to be obtained, and only the intersection point of the linear equation l2y and the linear equation l2x needs to be calculated, so that the positioning point can be positioned at the lower left corner of the storage unit in the second row and the second column. Of course, the lower left corner of the storage unit is selected as the positioning point in this embodiment, but actually, the upper right corner, the lower right corner, the upper left corner or the geometric center of the storage unit can be used as the positioning point. It will be appreciated that the first set of line equations comprises in this example the third set of line equations l1y, l2y, l3y and l4y, and the second set of line equations comprises the fourth set of line equations l1x, l2x, l3x and l4 x.
According to the embodiment, the three-point positioning mode is more accurate relative to the two-point positioning mode, and the deformation condition of the storage cabinet can be calculated in the storage cabinet positioning scene in the three-point positioning mode, so that the possibility of operation failure of the mechanical arm can be reduced, and the reliability of the automatic equipment is improved.
With reference to fig. 3 and 6, the present embodiment provides another variation, and the scheme depicted in fig. 6 is a variation of the scheme in fig. 3. The embodiment of figure 6 differs from the embodiment of figure 3 in that the three points of attachment in figure 6 are not located at the edge flaps of the cabinet but at the central flap, but in fact the attachment of the storage units can be achieved as long as three points are located at the two intersecting flaps and one point is located at the junction of the two intersecting flaps. The difference from the embodiment of fig. 3 is that in the embodiment of fig. 6, the operation is also required according to the positional relationship between the three points. For example, a linear equation Lab may be determined according to the first positioning point a and the second positioning point B, and at this time, a linear equation parallel to the Lab and passing through the third positioning point C is constructed. Similarly, all column equations can be constructed based on the same principle. Specifically, a line equation Lac may be determined from the first positioning point a and the third positioning point C, and then a line equation passing through the point B and parallel to the line equation Lac may be constructed, and since the maximum number of columns is known and the point a and the point B are known to be separated by two storage units, all the column line equations may be calculated, and under the teaching of the above embodiment, a person skilled in the art may determine a line equation describing the position of each barrier from the three positioning points satisfying the above conditions according to geometric knowledge and position the storage units based on the intersection points of the line equations.
In some embodiments, the first baffle and the second baffle are both baffles located at the edge of the storage cabinet, the second positioning point is located at the first end of the first baffle, the first positioning point is located at the second end of the first baffle, the second end of the first baffle is connected with the first end of the second baffle, the third positioning point is located at the second end of the second baffle, and the row and column parameters include the set number of rows and the set number of columns.
Specifically, in the embodiment, the scheme shown in fig. 3 is adopted, where the first location point a is located at the lower left corner of the locker, the second location point B is located at the lower right corner of the locker, and the third location point C is located at the upper left corner of the locker. It will be appreciated that the first panel is a bearing plate of the cabinet base, which may also be called a transverse panel, and the second panel is a vertical panel at the left edge, and in this embodiment, the first and second panels are vertical in the normal installed condition, and form an acute angle in the event of installation errors.
According to a first linear equation Lab: a1x + B1y + C1 is 0, the coordinates of the third positioning point C and the row and column parameters determine a first set of linear equations, which includes:
determining the coordinates of the third positioning point C and a first linear equation Lab: a first distance d1 between A1x + B1y + C1 ═ 0; wherein,
according to a first linear equation Lab: and A1x + B1y + C1 is 0, the first distance and the set row number My, and a first linear equation set is determined. As shown in fig. 5, the first set of linear equations includes the third linear equations l1y, l2y, l3y, and l4 y.
According to a second linear equation Lac: a2x + B2y + C2 is 0, the coordinates of the second positioning point and the row and column parameters determine a second set of line equations, which includes:
determining the coordinate B of the second positioning point and a second linear equation Lac: a second distance d2 between A2x + B2y + C2 ═ 0; wherein,
according to a second linear equation Lac: a2x + B2y + C2 is 0, the second distance, and the set number of columns Mx, and a second set of linear equations is determined. As shown in fig. 5, the second set of line equations includes fourth line equations l1x, l2x, l3x, and l4 x.
In some embodiments, the first linear equation is determined by a first X coefficient a1, a first Y coefficient B1, and a first intercept C1; the second line equation is determined by a second X coefficient A2, a second Y coefficient B2, and a second intercept C2.
Specifically, the first linear equation may be expressed as Lab: a1x + B1y + C1 is 0, and the second equation can be expressed as Lac: a2x + B2y + C2 is 0.
According to a first linear equation Lab: a1x + B1y + C1 is 0, the first distance d1 and the set number of rows My, and determining a first set of linear equations comprising:
determining each third line equation according to the first X coefficient a1, the first Y coefficient B1, the first cutoff C1, and the set number of rows;
wherein each third linear equation is determined by the first X coefficient a1, the first Y coefficient B1 and the third intercept C1Ny corresponding to the third linear equation, and the Ny-line linear equation is expressed as: a1x + B1y + C1ny is 0.
The third intercept C1ny corresponding to the third line equation is determined by:
the square root of the sum of the squares of the first X coefficient A1 and the first Y coefficient B1 is calculated as a first value, i.e.
The number of lines corresponding to the third linear equation minus one, i.e., (Ny-1), is calculated as the second value.
The difference between the first distance and the preset line number minus one is divided to obtain a third value, i.e. d1/(My-1), where My represents the maximum line number.
And taking the sum of the product of the first value, the second value and the third value and the first intercept C1 as the third intercept C1ny corresponding to the third straight-line equation. Namely, it is
According to a second linear equation Lac: a2x + B2y + C2 is 0, the second distance d2 and the set number of columns Mx, and a second set of line equations is determined, including:
determining each fourth straight-line equation according to the second X coefficient A2, the second Y coefficient B2, the second intercept C2 and the set column number Mx;
wherein each fourth linear equation is determined by a second X coefficient a2, a second Y coefficient B2, and a fourth intercept C2Nx of the fourth linear equation, and the equation in column Nx is expressed as: a2x + B2y + C2nx is 0.
The fourth intercept C2nx corresponding to the fourth line equation is determined by:
the square root of the sum of the squares of the second X coefficient A2 and the second Y coefficient B2 is calculated as a fourth value, i.e.
The number of columns Nx corresponding to the fourth straight-line equation minus one is calculated as a fifth value, i.e., (Nx-1).
The second distance d2 is divided by the difference between the preset number of columns Mx minus one to obtain a sixth value, d2/(Mx-1), Mx representing the maximum number of columns,
and determining the sum of the product of the fourth value, the fifth value and the sixth value and the second intercept C2 as a fourth intercept C2nx corresponding to the fourth straight-line equation. Wherein,
the embodiment has the advantages that the calculation process is simple, the required operation parameters are less, and the position of the storage unit can be accurately positioned by utilizing the specific deformation of the storage cabinet.
In some embodiments, each third linear equation in the first set of linear equations corresponds to a different cross bar of the locker; and each fourth linear equation in the second linear equation set respectively corresponds to different vertical baffles of the storage cabinet.
Referring to fig. 5, the first set of linear equations includes the third linear equations l1y, l2y, l3y and l4y, which correspond to the four cross fences of the cabinet from bottom to top, respectively. The second set of equations includes the third equations l1x, l2x, l3x and l4x, which correspond to the four vertical flaps of the cabinet from left to right, respectively.
In some embodiments, positioning the storage cells of the locker according to the intersection of the third and fourth line equations comprises:
and determining the straight line intersection point of each third straight line equation and all fourth straight line equations, and associating all straight line intersection points to the storage units of the storage cabinet.
In the present embodiment, referring to fig. 5, the position of each storage unit can be represented by the coordinates of the lower left corner of the storage unit, for example, the position of the storage unit in the first row and the first column can be located by calculating the intersection point of l1x and l1 y. By calculating the intersection point of l2x and l3y, the position of the storage unit in the third row and the second column can be obtained. Therefore, the intersection points of all the third linear equations and the fourth linear equations can be mapped to the cells by establishing a mapping relationship. For example, the intersection of the linear equations in the P-th row and the Q-th column is represented by (P, Q), and the coordinates of the corresponding intersection are (xpq, ypq), so that each intersection corresponds to a coordinate value. After the initialized positioning is completed, the corresponding positioning coordinates can be inquired based on the row and column where the storage units needing to be positioned are located.
Referring to fig. 7, the present embodiment discloses a storage device, including:
the storage cabinet 610 includes a plurality of storage units. The cells may store items 630 therein. It should be understood that, in this embodiment, the storage cabinet is composed of a plurality of rigid baffles, forming a plurality of storage units, and when the storage cabinet is installed inaccurately and deforms, each storage unit deforms proportionally.
And a processor (not shown) for obtaining the identifier of the target storage unit, and querying the location of the target storage unit according to the identifier of the target storage unit, wherein the location is determined by the storage unit locating method. Typically, the identification of the target storage unit is entered by a user, or by an upstream process. In particular, an upstream program may refer to a program that manages the deposit of items, such as a warehouse management program. The identification of the storage unit is used for distinguishing the storage unit, and the identification of the storage unit can be associated based on the position positioned by the storage unit positioning method, so that the corresponding position coordinate can be obtained by looking up the table by obtaining the identification of the storage unit. For example, in FIG. 7, the row parameters are represented by P1-P4, the column parameters are represented by Q1-Q4, and the first row and first column may be represented by (P1, Q1).
When the scheme is applied to a selling device of articles (such as dishes), the identification of the target storage unit can be determined according to a purchase order, and the specific obtaining mode can include: obtaining a purchase order for an item (e.g., a dish); determining a required material according to the type of the item (one type of the item can correspond to at least one material) contained in the purchase order; according to a preset material storage table (the table is used for indicating the row and column stored in any material, such as row 2 and column 2), the row and column corresponding to the required material (in this embodiment, the row and column correspond to the identification of the target storage unit), and then the actual coordinate position corresponding to the row and column can be determined by using the intersection point of the third linear equation and the fourth linear equation, so that the device can drive the clamping jaws to be accurately positioned to the corresponding position to clamp the magazine (container for carrying the required material) according to the actual coordinate position.
And the actuator 620 is used for storing or taking out the articles according to the coordinates of the target storage unit according to the control instruction of the processor. In this embodiment, the actuator 620 may be a robot arm or a robot, which has a function of holding an article and can place or take out the article in or from the storage unit.
In some specific examples, for example, a dining robot, the processed finished products or semi-finished products are generally placed in a storage cabinet to achieve the functions of heat preservation, refrigeration or temporary storage. For example, a topping thermal cabinet of a rice flour vending machine is one of the application scenarios of the above embodiment. The rice flour vending machine topping heat preservation cabinet has 10 layers of topping box storage positions, each layer has 4 rows, and 40 topping box storage positions are total, when the equipment operates, the clamping jaw needs to be driven by a two-shaft mechanical module to be accurately positioned to the corresponding position to clamp the material box, and if each position is set one by one, the equipment debugging time is delayed, and the equipment is a complex process for a debugging engineer. As the storage positions of the material boxes are 10 layers and 4 rows, the storage position of each material box is positioned by using the method of the embodiment, so that the debugging difficulty of the equipment is greatly reduced, and the debugging time is shortened. Referring to fig. 8, the present embodiment discloses a storage unit positioning system, which is applied to positioning storage units of a storage cabinet comprising a plurality of storage units, and the system comprises:
the acquisition unit 710 is used for acquiring coordinates of a first positioning point of the locker, coordinates of a second positioning point of the locker, coordinates of a third positioning point of the locker and row and column parameters, wherein the first positioning point and the second positioning point are positioned on a first baffle of the locker, the first positioning point and the third positioning point are positioned on a second baffle of the locker, and the first positioning point, the second positioning point and the third positioning point are positioned on a storage surface of the locker;
a first equation determining unit 720, configured to determine a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point;
the second equation determining unit 730 is configured to determine a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point;
the first equation set determining unit 740 is configured to determine a first equation set according to a first linear equation, coordinates of a third positioning point, and row and column parameters, where the first equation set includes a plurality of third linear equations parallel to the first linear equation;
the second equation set determining unit 750 is configured to determine a second equation set according to the second equation, the coordinates of the second positioning point, and the row and column parameters; the second linear equation set comprises a plurality of fourth linear equations parallel to the second linear equations;
and the positioning unit 760 is used for positioning the storage units of the storage cabinet according to the intersection points of the third linear equation and the fourth linear equation.
The embodiment discloses a storing unit positioner includes:
a memory for storing a program;
and the processor is used for loading a program to execute the storage unit positioning method.
The embodiment discloses a computer-readable storage medium, wherein a program is stored in the computer-readable storage medium, and when the program is executed by a processor, the storage unit positioning method is realized.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments 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 illustrated herein, and that various obvious changes, rearrangements and substitutions may be made therein by 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 (10)
1. A storage unit positioning method is characterized in that the method is applied to the storage unit positioning of a storage cabinet comprising a plurality of storage units, and comprises the following steps:
obtaining coordinates of a first positioning point of the locker, coordinates of a second positioning point of the locker, coordinates of a third positioning point of the locker and row and column parameters, wherein the first positioning point and the second positioning point are positioned on a first baffle of the locker, the first positioning point and the third positioning point are positioned on a second baffle of the locker, and the first positioning point, the second positioning point and the third positioning point are positioned on a storage surface of the locker;
determining a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point;
determining a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point;
determining a first linear equation set according to the first linear equation, the coordinates of the third positioning point and the row and column parameters, wherein the first linear equation set comprises a plurality of third linear equations parallel to the first linear equation;
determining a second linear equation set according to the second linear equation, the coordinates of the second positioning point and the row and column parameters; the second linear equation set comprises a plurality of fourth linear equations parallel to the second linear equations;
and positioning the storage units of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation.
2. The storage unit positioning method of claim 1, wherein the first flap and the second flap are both flaps at the edge of the storage cabinet, the second positioning point is located at a first end of the first flap, the first positioning point is located at a second end of the first flap, the second end of the first flap is connected with the first end of the second flap, the third positioning point is located at a second end of the second flap, and the row and column parameters include a set number of rows and a set number of columns;
determining a first linear equation set according to the first linear equation, the coordinates of the third positioning point and the row and column parameters includes:
determining a first distance between the coordinates of the third positioning point and the first linear equation;
determining the first linear equation set according to the first linear equation, the first distance and the set line number;
determining a second set of line equations according to the second line equation, the coordinates of the second positioning point and the row and column parameters, including:
determining a second distance between the coordinates of the second positioning point and the second linear equation;
and determining the second linear equation set according to the second linear equation, the second distance and the set column number.
3. The storage unit positioning method of claim 2, wherein each of the third linear equations in the first set of linear equations corresponds to a different crosspiece of the storage cabinet; each fourth linear equation in the second linear equation set respectively corresponds to a different vertical baffle of the storage cabinet.
4. The storage module positioning method according to claim 2, wherein the first linear equation is determined by a first X coefficient, a first Y coefficient, and a first intercept; the second linear equation is determined by a second X coefficient, a second Y coefficient and a second intercept;
determining the first linear equation set according to the first linear equation, the first distance and the set line number, including:
determining each third linear equation according to the first X coefficient, the first Y coefficient, the first intercept and the set line number;
wherein each of the third linear equations is determined by the first X coefficient, the first Y coefficient, and a third intercept corresponding to the third linear equation, and the third intercept corresponding to the third linear equation is determined by:
calculating a square root of a sum of squares of the first X coefficient and the first Y coefficient as a first value;
calculating the number of lines corresponding to the third linear equation minus one to be used as a second value;
dividing the difference between the first distance and the preset line number minus one to obtain a third value;
taking the sum of the product of the first value, the second value and the third value and the first intercept as a third intercept corresponding to the third linear equation;
determining the second line equation set according to the second line equation, the second distance and the set column number, including:
determining each fourth linear equation according to the second X coefficient, the second Y coefficient, the second intercept and the set column number;
wherein each of the fourth linear equations is determined by the second X coefficient, the second Y coefficient and a fourth intercept of the fourth linear equation, and the fourth intercept corresponding to the fourth linear equation is determined by:
calculating a square root of a sum of squares of a second X coefficient and the second Y coefficient as a fourth value;
calculating the column number corresponding to the fourth linear equation minus one to be used as a fifth value;
dividing the second distance by the difference of one less the preset column number to obtain a sixth value;
and determining the sum of the product of the fourth value, the fifth value and the sixth value and the second intercept as a fourth intercept corresponding to the fourth linear equation.
5. The storage unit positioning method of claim 1, wherein the positioning the storage unit of the storage cabinet according to the intersection of the third linear equation and the fourth linear equation comprises:
and determining the straight line intersection point of each third straight line equation and all fourth straight line equations, and associating all straight line intersection points to the storage units of the locker.
6. The storage module positioning method according to claim 4, wherein the first X coefficient is determined according to a difference between a Y coordinate of the second positioning point and a Y coordinate of the first positioning point; the first Y coefficient is determined according to the difference between the X coordinate of the first positioning point and the X coordinate of the second positioning point; the second X coefficient is determined according to the difference between the Y coordinate of the third positioning point and the Y coordinate of the first positioning point, and the second Y coefficient is determined according to the difference between the X coordinate of the first positioning point and the X coordinate of the third positioning point.
7. A storage unit positioning system for use in positioning storage units of a storage cabinet comprising a plurality of said storage units, the system comprising:
the system comprises an acquisition unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring the coordinates of a first positioning point of a locker, the coordinates of a second positioning point of the locker, the coordinates of a third positioning point of the locker and row and column parameters, the first positioning point and the second positioning point are positioned on a first baffle of the locker, the first positioning point and the third positioning point are positioned on a second baffle of the locker, and the first positioning point, the second positioning point and the third positioning point are positioned on the storage surface of the locker;
the first equation determining unit is used for determining a first linear equation according to the coordinates of the first positioning point and the coordinates of the second positioning point;
the second equation determining unit is used for determining a second linear equation according to the coordinates of the first positioning point and the coordinates of the third positioning point;
the first equation set determining unit is used for determining a first equation set according to the first equation, the coordinates of the third positioning point and the row and column parameters, wherein the first equation set comprises a plurality of third equations parallel to the first equation;
the second equation set determining unit is used for determining a second equation set according to the second linear equation, the coordinates of the second positioning point and the row and column parameters; the second linear equation set comprises a plurality of fourth linear equations parallel to the second linear equations;
and the positioning unit is used for positioning the storage unit of the storage cabinet according to the intersection point of the third linear equation and the fourth linear equation.
8. A storage unit positioning device, comprising:
a memory for storing a program;
a processor for loading the program to perform the method of any one of claims 1 to 6.
9. A computer-readable storage medium, in which a program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
10. A storage device, comprising:
the storage cabinet comprises a plurality of storage units;
a processor for obtaining an identification of a target storage unit, and querying a location of the target storage unit according to the identification of the target storage unit, the location being determined by the method according to any one of claims 1-6;
and the actuator is used for storing or taking out the object according to the coordinate of the target storage unit according to the control instruction of the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011432611.5A CN112545211B (en) | 2020-12-10 | 2020-12-10 | Storage unit positioning method, system and device, storage medium and storage device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011432611.5A CN112545211B (en) | 2020-12-10 | 2020-12-10 | Storage unit positioning method, system and device, storage medium and storage device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112545211A true CN112545211A (en) | 2021-03-26 |
| CN112545211B CN112545211B (en) | 2022-07-26 |
Family
ID=75060043
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011432611.5A Active CN112545211B (en) | 2020-12-10 | 2020-12-10 | Storage unit positioning method, system and device, storage medium and storage device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112545211B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110310438A (en) * | 2019-06-18 | 2019-10-08 | 深圳怡丰机器人科技有限公司 | A kind of intellectual access system |
| CN110781355A (en) * | 2018-07-31 | 2020-02-11 | 中兴通讯股份有限公司 | Storage information processing method and device, storage cabinet and storage medium |
| CN111003410A (en) * | 2019-12-27 | 2020-04-14 | 广东利元亨智能装备股份有限公司 | Material storing and taking method and device and robot |
| CN111366078A (en) * | 2020-03-30 | 2020-07-03 | 深圳创维－Rgb电子有限公司 | Robot dispensing positioning method, system, server and storage medium |
| US20200372462A1 (en) * | 2017-05-19 | 2020-11-26 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Order display method and apparatus |
-
2020
- 2020-12-10 CN CN202011432611.5A patent/CN112545211B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200372462A1 (en) * | 2017-05-19 | 2020-11-26 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Order display method and apparatus |
| CN110781355A (en) * | 2018-07-31 | 2020-02-11 | 中兴通讯股份有限公司 | Storage information processing method and device, storage cabinet and storage medium |
| CN110310438A (en) * | 2019-06-18 | 2019-10-08 | 深圳怡丰机器人科技有限公司 | A kind of intellectual access system |
| CN111003410A (en) * | 2019-12-27 | 2020-04-14 | 广东利元亨智能装备股份有限公司 | Material storing and taking method and device and robot |
| CN111366078A (en) * | 2020-03-30 | 2020-07-03 | 深圳创维－Rgb电子有限公司 | Robot dispensing positioning method, system, server and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112545211B (en) | 2022-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6746819B1 (en) | High-speed warehouse placement method, equipment and storage medium | |
| DE102019130043B4 (en) | ROBOT SYSTEM WITH ERROR DETECTION AND DYNAMIC PACKING MECHANISM | |
| US20230150134A1 (en) | Robotic system with dynamic pack adjustment mechanism and methods of operating same | |
| DE102019130902B4 (en) | A robot system with a dynamic packing mechanism | |
| WO2017175312A1 (en) | Measurement system and measurement method | |
| CN105046684B (en) | A kind of image matching method based on polygon generalised Hough transform | |
| US20180304466A1 (en) | Calibration system | |
| CN104339353B (en) | Robot system | |
| CN112849899B (en) | Storage management method, device, equipment, medium, program product and system | |
| CN111661548B (en) | Article sorting method, apparatus, device and storage medium | |
| CN113657841A (en) | Intelligent stacking method and device and storage medium | |
| CN115180331A (en) | Virtual three-dimensional shelf warehousing system and comprehensive management method thereof | |
| CN112545211B (en) | Storage unit positioning method, system and device, storage medium and storage device | |
| CN113567964A (en) | Laser radar automatic test method, device and system | |
| CN116101679B (en) | Intelligent warehouse monitoring method and device, electronic equipment and readable storage medium | |
| CN116902467A (en) | Container positioning method, device, equipment and storage medium | |
| Chen et al. | Shape tolerance in feeding and fixturing | |
| Wang et al. | Base detection research of drilling robot system by using visual inspection | |
| Brecher et al. | 3D assembly group analysis for cognitive automation | |
| Iriondo et al. | Dynamic mosaic planning for a robotic bin-packing system based on picked part and target box monitoring | |
| Cong et al. | Application of AHP-FCA modeling in visual guided manipulator | |
| CN114494667B (en) | Data processing system and method for adding crash box | |
| Chen et al. | A Palletizing System for Microchannel Heat Exchangers Based on 3D Visual Guidance | |
| JP2009184807A (en) | Shelf position automatic teaching device used for automated storage for drug discovery | |
| CN117141046B (en) | Safety monitoring method and system of aluminum foil cutlery box punch forming machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |